package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.baomidou.mybatisplus.mapper.Wrapper; import com.core.common.Cools; import com.core.common.DateUtils; import com.core.exception.CoolException; import com.zy.asrs.entity.*; import com.zy.asrs.mapper.*; import com.zy.asrs.service.*; import com.zy.asrs.utils.RouteUtils; import com.zy.asrs.utils.Utils; import com.zy.asrs.utils.VersionUtils; import com.zy.common.model.LocTypeDto; import com.zy.common.model.MatDto; import com.zy.common.model.SearchLocParam; import com.zy.common.model.StartupDto; import com.zy.common.service.CommonService; import com.zy.common.utils.CollectionUtils; import com.zy.common.utils.HttpHandler; import com.zy.common.utils.RedisUtil; import com.zy.common.utils.RgvUtils; import com.zy.core.CrnThread; import com.zy.core.DevpThread; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.*; import com.zy.core.model.*; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.command.LedCommand; import com.zy.core.model.command.RgvCommand; import com.zy.core.model.protocol.CrnProtocol; import com.zy.core.model.protocol.RgvProtocol; import com.zy.core.model.protocol.StaProtocol; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.BarcodeThread; import com.zy.core.thread.LedThread; import com.zy.core.thread.RgvThread; import com.zy.core.thread.SiemensDevpThread; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; import org.springframework.transaction.interceptor.TransactionAspectSupport; import java.util.*; import java.util.stream.Collectors; /** * 立体仓库WCS系统主流程业务 * Created by vincent on 2020/8/6 */ @Slf4j @Service("mainService") @Transactional public class MainServiceImpl { public static final long COMMAND_TIMEOUT = 5 * 1000; @Autowired private CommonService commonService; @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastMapper wrkMastMapper; @Autowired private WrkDetlService wrkDetlService; @Autowired private WaitPakinMapper waitPakinMapper; @Autowired private LocMastService locMastService; @Autowired private StaDescService staDescService; @Autowired private BasCrnpService basCrnpService; @Autowired private BasRgvService basRgvService; @Autowired private BasDevpService basDevpService; @Autowired private LocDetlService locDetlService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Autowired private BasRgvErrMapper basRgvErrMapper; @Autowired private BasRgvErrLogService basRgvErrLogService; @Autowired private BasRgvPathService basRgvPathService; @Autowired private RedisUtil redisUtil; @Autowired private WrkMastStaMapper wrkMastStaMapper; @Autowired private BasRgvMapMapper basRgvMapMapper; @Value("${wms.url}") private String wmsUrl; /** * 组托 * 入库站，根据条码扫描生成入库工作档，工作状态 2 */ public synchronized void generateStoreWrkFile() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode()); if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); if (!Cools.isEmpty(barcode)) { // log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode); if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) { continue; } } else { continue; } // 获取入库站信息 // SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 入出库模式判断 // if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; } // if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { // continue; // } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) { // if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) { // log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode); // //条码为空或者不符合，退库到172站点 // staProtocol.setWorkNo((short)32222); // staProtocol.setStaNo((short)172); // devpThread.setPakMk(staProtocol.getSiteId(), false); // boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // if (!result) { // throw new CoolException("更新plc站点信息失败"); // } // continue; // } // 判断重复工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode); if (wrkMast != null) { log.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo()); continue; } // // 获取入库通知档 // List waitPakins = waitPakinMapper.selectList(new EntityWrapper().eq("zpallet", barcode).eq("io_status", "N")); // if (waitPakins.isEmpty()) { // log.error("无此入库条码数据。条码号={}", barcode); // continue; // } try { LocTypeDto locTypeDto = new LocTypeDto(staProtocol); SearchLocParam param = new SearchLocParam(); param.setBarcode(barcode); param.setIoType(1); param.setSourceStaNo(inSta.getStaNo()); param.setLocType1(locTypeDto.getLocType1()); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin/loc/v1") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); barcodeThread.setBarcode(""); staProtocol.setWorkNo(dto.getWorkNo()); if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) { staProtocol.setStaNo(dto.getStaNo()); } else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站 staProtocol.setStaNo(dto.getRgvSstaNo()); } devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败"); } } else { log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * 组托 * 入库站，根据条码扫描通知桁架码垛 */ public synchronized void generateStoreWrkFileFull2LouM() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历码垛口 for (DevpSlave.Sta driveSta : devp.getDriveSta()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, driveSta.getBarcode()); if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); if (!Cools.isEmpty(barcode) && !barcode.equals("") && !barcode.equals(" ")) { if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) { continue; } } else { continue; } // 获取码垛口信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) ) ) { try { BasDevp basDevp = basDevpService.selectById(driveSta.getStaNo()); if (basDevp.getReportSign()>0){ continue; } basDevp.setBarcode(barcode); basDevp.setReportSign(1); basDevpService.updateById(basDevp); } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * wms入库 * 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2 */ public synchronized void generateStoreWrkFile0() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInWmsSta()) { // 获取入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // // 入出库模式判断 // if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { // continue; // } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk()) { // 判断重复工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo()); if (wrkMast == null) { continue; } // 命令下发区 -------------------------------------------------------------------------- // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo()); Integer staNo = wrkMast.getStaNo(); if (wrkMast.getSourceStaNo()==145){ staNo = 147; } staProtocol.setStaNo(staNo); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (result) { // 更新工作主档 wrkMast.setWrkSts(2L); // 工作状态：2.设备上走 wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo()); } } else { log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } } } } } /** * 拣料、并板、盘点再入库 */ public synchronized void stnToCrnStnPick() { for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历拣料入库口 for (DevpSlave.Sta pickSta : devp.getPickSta()) { // // 获取条码扫描仪信息 // BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode()); // if (barcodeThread == null) { // continue; // } // String barcode = barcodeThread.getBarcode(); // if(!Cools.isEmpty(barcode)) { // log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode); // if("NG".endsWith(barcode) || "NoRead".equals(barcode)) { // continue; // } // } else { // continue; // } // 获取拣料入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // // 入出库模式判断 // if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) { // WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode); WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo()); if (wrkMast == null) { // 无拣料数据 continue; } if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107) || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) { continue; } // 拣、盘、并 作业站转换 // int stnNo = 0; // if (wrkMast.getStaNo() == 109) { // stnNo = 127; // } else if (wrkMast.getStaNo() == 113) { // stnNo = 128; // } else { // log.error("{}号任务数据异常！", wrkMast.getWrkNo()); // } // 获取目标站 Wrapper wrapper = new EntityWrapper() .eq("type_no", wrkMast.getIoType() - 50) .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站 .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号 StaDesc staDesc = staDescService.selectOne(wrapper); if (Cools.isEmpty(staDesc)) { log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo()); continue; } try { // 保存工作明细档历史档 if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) { throw new CoolException("保存工作明细档历史档失败"); } // 保存工作主档历史档 if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) { throw new CoolException("保存工作主档历史档失败"); } Date now = new Date(); // 堆垛机站点(目标站) Integer staNo = staDesc.getCrnStn(); // 更新工作档数据状态 wrkMast.setIoTime(now); wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57 wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走 wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站 wrkMast.setStaNo(staNo); // 目标站 wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位 wrkMast.setSourceLocNo(""); // 源库位清空 wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException("更新工作档数据状态失败"); } // 更新明细档io_time (历史档关联使用） wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now); // 修改库位状态 Q.拣料/盘点/并板再入库 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); locMast.setLocSts("Q"); locMast.setModiTime(new Date()); if (!locMastService.updateById(locMast)) { throw new CoolException("修改库位状态失败"); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); continue; } // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } } } } } /** * 拣料、并板、盘点再入库 拆垛位置 */ public synchronized void stnToCrnStnPick2() { for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历拣料入库口 for (DevpSlave.Sta pickSta : devp.getPickSta2()) { // 获取拣料入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId()); if (Cools.isEmpty(basDevp) || basDevp.getReportSign()!=1){ continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) { WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3"); if (wrkMast == null) { // WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3"); // if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){ // WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 9999L); // if (Cools.isEmpty(wrkMastSta)){ // WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId()); // wrkMastSta1.setType(2); // wrkMastSta1.setWrkType(1); // wrkMastStaMapper.insert(wrkMastSta1); // } // continue; // } // log.error("站点号"+staProtocol.getSiteId()+"未查询到工作档案！"); // 无拣料数据 continue; } if (staProtocol.isEmptyMk()){ log.error("站点号"+staProtocol.getSiteId()+"空板信号异常！"); continue; } if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107) || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) { continue; } // 获取目标站 Wrapper wrapper = new EntityWrapper() .eq("type_no", wrkMast.getIoType() - 50) .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站 .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号 StaDesc staDesc = staDescService.selectOne(wrapper); if (Cools.isEmpty(staDesc)) { log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo()); continue; } try { // 保存工作明细档历史档 if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) { throw new CoolException("保存工作明细档历史档失败"); } // 保存工作主档历史档 if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) { throw new CoolException("保存工作主档历史档失败"); } Date now = new Date(); // 堆垛机站点(目标站) Integer staNo = staDesc.getCrnStn(); // 更新工作档数据状态 wrkMast.setIoTime(now); wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57 wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走 wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站 wrkMast.setStaNo(staNo); // 目标站 wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位 wrkMast.setSourceLocNo(""); // 源库位清空 wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException("更新工作档数据状态失败"); } // 更新明细档io_time (历史档关联使用） wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now); // 修改库位状态 Q.拣料/盘点/并板再入库 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); locMast.setLocSts("Q"); locMast.setModiTime(new Date()); if (!locMastService.updateById(locMast)) { throw new CoolException("修改库位状态失败"); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); continue; } // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } } } } } /** * 拣料、并板、盘点再入库 拆垛位置 */ public synchronized void storeEmptyPlt4() { for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历叠盘入库口 for (DevpSlave.Sta pickSta : devp.getEmptyInSta2()) { // 获取入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId()); if (Cools.isEmpty(basDevp) || basDevp.getReportSign()!=1){ continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) { WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3"); if (wrkMast == null) { WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3"); if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L); if (Cools.isEmpty(wrkMastSta)){ WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId()); wrkMastSta1.setType(2); wrkMastSta1.setWrkType(1); wrkMastStaMapper.insert(wrkMastSta1); } } } } } } } /** * 堆垛机站出库到出库站 */ public synchronized void crnStnToOutStn() { 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) { 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.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) { // 移动中 continue; } // 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))) { 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.setResetFlag(true); } else { log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } } } } } } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecute() { try{ for (CrnSlave crn : slaveProperties.getCrn()) { // 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; } // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) { // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc1(crn, crnProtocol); // 入库 crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn1(crn, crnProtocol); // 出库 crnProtocol.setLastIo("I"); } } // 如果最近一次是出库模式 else if (crnProtocol.getLastIo().equals("O")) { if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn1(crn, crnProtocol); // 出库 crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc1(crn, crnProtocol); // 入库 crnProtocol.setLastIo("O"); } } } // 库位移转 this.locToLoc(crn, crnProtocol); // this.crnRebackHp(crnProtocol, crnThread); } }catch (Exception e){ log.error("堆垛机出入库下发报错"+e); } } /** * 搜索RGV车。通过目标站搜索哪台车可用 */ public synchronized Integer searchRgvNo(Integer staNo) { try{ BasDevp basDevp = basDevpService.selectById(staNo); if (basDevp == null) { return null;//目标站不存在 } //路径值 int path = basDevp.getLocType3().intValue(); ArrayList list = new ArrayList<>(); for (RgvSlave rgv : slaveProperties.getRgv()) { // 获取RGV信息 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgv.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgv.getId()); continue; } list.add(rgvThread); } if (list.size() > 1) { //超过两台车，按照配置的规则进行分配 for (RgvThread rgvThread : list) { //获取车辆配置的路径规则 BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(rgvThread.getSlave().getId()); if (basRgvPath == null) { continue; } //目标站是否包含当前路径中 List rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class); if (rgvPath.contains(path)) { //当前路径中包含目标站，则选定这台车 return rgvThread.getSlave().getId(); } } }else { //小于或等于1台车，分配全路径 BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//获取默认路径 if (basRgvPath == null) { return null; } List rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class); if (rgvPath.contains(path)) { //当前路径中包含目标站，则选定这台车 return list.get(0).getSlave().getId(); } } return null; }catch (Exception e){ log.error("搜索RGV车。通过目标站搜索哪台车可用"+e); return null; } } // /** // * 绑定小车方法 // */ // public synchronized void rgvBindSte() { // //获取等待绑定RGV的任务 // List wrkMasts = wrkMastMapper.selectWaitBindRGV(); // for (WrkMast wrkMast : wrkMasts) { // //目标站 // Integer staNo = wrkMast.getStaNo(); // //源站 // Integer sourceStaNo = wrkMast.getSourceStaNo(); // //通过目标站搜索rgv号 // Integer rgvNo=0; // if (wrkMast.getCrnNo()==1){ // rgvNo=1; // }else if (wrkMast.getCrnNo()==6){ // rgvNo=2; // }else { // rgvNo = this.searchRgvNo(staNo); // } // if (rgvNo == null || rgvNo==0) {//未找到可用的rgv // continue; // } // // wrkMast.setRgvNo(rgvNo);//绑定rgv号 // wrkMast.setRgvDstaNo(wrkMast.getSourceStaNo());//设置RGV前往工作档源站取货 // if (wrkMastMapper.updateById(wrkMast)==0){ // log.error("绑定小车更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo()); // } // } // } /** * 绑定小车方法 */ public synchronized void rgvBindSte() { try { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { if (devp.getId()==2){ continue; } SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); //入库绑小车 for (DevpSlave.Sta Sta : devp.getInRgvSta()) { StaProtocol staProtocol = devpThread.getStation().get(Sta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() < 9990){ List wrkMasts = wrkMastMapper.selectList(new EntityWrapper().eq("wrk_no", staProtocol.getWorkNo()).eq("wrk_sts", 2L)); if (Cools.isEmpty(wrkMasts) || wrkMasts.size()!=1){ continue; } WrkMast wrkMast = wrkMasts.get(0); //目标站 Integer staNo = wrkMast.getStaNo(); //通过目标站搜索rgv号 Integer rgvNo=0; if (wrkMast.getCrnNo()==1){ rgvNo=1; }else if (wrkMast.getCrnNo()==6){ rgvNo=2; }else { rgvNo = this.searchRgvNo(staNo); } if (rgvNo == null || rgvNo==0) {//未找到可用的rgv continue; } wrkMast.setRgvNo(rgvNo);//绑定rgv号 if (wrkMastMapper.updateById(wrkMast)==0){ log.error("绑定小车更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo()); } } } //出库绑小车 for (DevpSlave.Sta Sta : devp.getOutRgvSta()) { StaProtocol staProtocol = devpThread.getStation().get(Sta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() < 9990){ List wrkMasts = wrkMastMapper.selectList(new EntityWrapper().eq("wrk_no", staProtocol.getWorkNo()).eq("wrk_sts", 14L)); if (Cools.isEmpty(wrkMasts) || wrkMasts.size()!=1){ continue; } WrkMast wrkMast = wrkMasts.get(0); //目标站 Integer staNo = wrkMast.getStaNo(); //通过目标站搜索rgv号 Integer rgvNo=0; if (wrkMast.getCrnNo()==1){ rgvNo=1; }else if (wrkMast.getCrnNo()==6){ rgvNo=2; }else { rgvNo = this.searchRgvNo(staNo); } if (rgvNo == null || rgvNo==0) {//未找到可用的rgv continue; } wrkMast.setRgvNo(rgvNo);//绑定rgv号 if (wrkMastMapper.updateById(wrkMast)==0){ log.error("绑定小车更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo()); } } } } }catch (Exception e){ log.error("绑定小车异常：{}", e.getMessage()); } } /** * 绑定小车方法 */ public synchronized void rgvBindSte2() { try{ for (RgvSlave rgv : slaveProperties.getRgv()) { List wrkMasts = wrkMastMapper.selectWaitBindRGVRgvNo(rgv.getId()); if (!Cools.isEmpty(wrkMasts) && wrkMasts.size()!=0){ continue; } List wrkMasts2 = wrkMastMapper.selectWaitBindRgvNo2(rgv.getId()); for (WrkMast wrkMast : wrkMasts2) { if (wrkMastMapper.selectWaitBindRgvNoOneWrkNo(wrkMast.getWrkNo())!=null){ continue; } //目标站 BasDevp basDevp = basDevpService.selectById(wrkMast.getRgvDstaNo()); if (Cools.isEmpty(basDevp) || !basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("N") || basDevp.getWrkNo()!=0){ continue; } wrkMastMapper.insertRgvMast(wrkMast.getWrkNo()); wrkMastMapper.updateRgvMast(wrkMast.getWrkNo()); break; } } }catch (Exception e){ log.error("小车搬运任务异常：{}", e.getMessage()); } } /** * 入出库 ===>> RGV入出库作业下发 */ public synchronized void rgvIoExecuteOld() { for (RgvSlave rgv : slaveProperties.getRgv()) { // 获取RGV信息 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgv.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgv.getId()); continue; } // 只有当RGV空闲、自动, if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO // && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0 // && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0 ) { //查找是否存在入出库工作中等待RGV搬运的任务 List wrkMasts = wrkMastMapper.selectIoRgvNo(rgv.getId()); for (WrkMast wrkMast : wrkMasts) { if (wrkMast.getWrkSts() == 2) {//2.设备上走1 => 3.RGV取货中 if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货 continue; } //判断行走路径是否被占用 Integer staNo = wrkMast.getSourceStaNo(); BasDevp basDevp = basDevpService.selectById(staNo); if (basDevp == null) { continue;//目标站不存在 } //起始路径 int startPath = rgvProtocol.getRgvPos().intValue(); //目标路径值 int endPath = basDevp.getLocType3().intValue(); // boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用 boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用 if (pathUsed) { //行走路径被占用，禁止下发命令 continue; } //行走路径空闲，锁定路径 RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true); // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货 rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点 rgvCommand.setCommand((short) 1); //工位1任务确认 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand)); } else { // 修改工作档状态 2.设备上走1 => 3.RGV取货中 Date now = new Date(); wrkMast.setWrkSts(3L); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 2.设备上走1 => 3.RGV取货中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } else if (wrkMast.getWrkSts() == 14) {//4.RGV取货完成 => 5.RGV放货中 14出库完成 if (rgvProtocol.getTaskNo1() == 0 || !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致 continue; } if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物 continue; } //判断行走路径是否被占用 Integer staNo = wrkMast.getStaNo(); BasDevp basDevp = basDevpService.selectById(staNo); if (basDevp == null) { continue;//目标站不存在 } //起始路径 int startPath = rgvProtocol.getRgvPos().intValue(); //目标路径值 int endPath = basDevp.getLocType3().intValue(); boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用 if (pathUsed) { //行走路径被占用，禁止下发命令 continue; } //行走路径空闲，锁定路径 RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true); // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货 rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点 rgvCommand.setCommand((short) 1); //工位1任务确认 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand)); } else { // 修改工作档状态 4.RGV取货完成 => 5.RGV放货中 Date now = new Date(); wrkMast.setWrkSts(5L); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 4.RGV取货完成 => 5.RGV放货中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } else if (wrkMast.getWrkSts() == 23) {//23.设备上走1 => 24.RGV取货中 if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货 continue; } //判断行走路径是否被占用 Integer staNo = wrkMast.getSourceStaNo(); BasDevp basDevp = basDevpService.selectById(staNo); if (basDevp == null) { continue;//目标站不存在 } //起始路径 int startPath = rgvProtocol.getRgvPos().intValue(); //目标路径值 int endPath = basDevp.getLocType3().intValue(); boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用 if (pathUsed) { //行走路径被占用，禁止下发命令 continue; } //行走路径空闲，锁定路径 RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true); // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货 rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点 rgvCommand.setCommand((short) 1); //工位1任务确认 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand)); } else { // 修改工作档状态 23.设备上走1 => 24.RGV取货中 Date now = new Date(); wrkMast.setWrkSts(24L); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 23.设备上走1 => 24.RGV取货中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } else if (wrkMast.getWrkSts() == 25) {//25.RGV取货完成 => 26.RGV放货中 if (rgvProtocol.getTaskNo1() == 0 || !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV必须有任务且任务和当前工作档一致 continue; } if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物 continue; } //判断行走路径是否被占用 Integer staNo = wrkMast.getStaNo(); BasDevp basDevp = basDevpService.selectById(staNo); if (basDevp == null) { continue;//目标站不存在 } //起始路径 int startPath = rgvProtocol.getRgvPos().intValue(); //目标路径值 int endPath = basDevp.getLocType3().intValue(); boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用 if (pathUsed) { //行走路径被占用，禁止下发命令 continue; } //行走路径空闲，锁定路径 RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true); // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货 rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //工位1目标站点 rgvCommand.setCommand((short) 1); //工位1任务确认 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getRgvNo(), new Task(4, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand)); } else { // 修改工作档状态 25.RGV取货完成 => 26.RGV放货中 Date now = new Date(); wrkMast.setWrkSts(26L); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 25.RGV取货完成 => 26.RGV放货中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } } } /** * 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点 */ public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) { // for (CrnSlave crn : slaveProperties.getCrn()) { // // 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.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) { return; } // 已经存在吊车执行任务时，则过滤3,12 if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) { return; } //堆垛机有执行中任务，过滤3,4,11,12 if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) { return; } //输送线没有入库任务，过滤2 if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) { return; } log.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点"); // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo((short) 63333); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点 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((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, crnProtocol.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand)); } crnThread.setBackHpFlag(true); } // } } /** * 入库 ===>> 堆垛机站到库位 */ public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) { for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) { boolean flag = false; // 获取堆垛机入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) { flag = true; } if (!flag) { continue; } // 获取工作状态为2（设备上走）的入库工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo()); if (null == wrkMast) { // log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo()); continue; } // 获取库位信息 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); if (locMast == null) { log.error("查询库存无数据--库位号{}", wrkMast.getLocNo()); continue; } if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) { log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts()); continue; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { continue; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } // 双深库位且浅库位有货，则需先对浅库位进行库位移转 if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) { String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo()); LocMast shallowLoc = locMastService.selectById(shallowLocNo); // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！ if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null == waitWrkMast) { log.error("{}库位异常，未检索到相应工作档！", shallowLocNo); } else { waitWrkMast.setIoPri(15D); waitWrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(waitWrkMast) == 0) { log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo()); } continue; } } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { // 此标记避免多次执行移库任务 if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) { wrkMast.setUpdMk("Y"); wrkMast.setIoPri(14D); wrkMastMapper.updateById(wrkMast); // 生成工作档,将浅库位移转到新的库位中 moveLocForDeepLoc(slave, shallowLoc); // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行) // moveLocForDeepLocPakin(slave, shallowLoc, wrkMast); } continue; } else if (shallowLoc.getLocSts().equals("Q")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) { continue; } } } // 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) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 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 { // long startTime = System.currentTimeMillis(); // while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) { // // if (true) { // break; // } // // try{ // Thread.sleep(500); // }catch(Exception ignore){} // } // 修改工作档状态 2.设备上走 => 3.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(3L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } /** * 入库 ===>> 堆垛机站到库位 * 2022-12-03 TQS修改，先遍历查询同台堆垛机工作档所有站点入库任务LIST，根据工作档任务排序优先级高于 根据堆垛机入库站点排序 */ public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) { List wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId()); for(WrkMast wrkMast : wrkMasts){ if (wrkMast == null) { continue; } CrnSlave.CrnStn crnStn = null; for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){ if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){ crnStn = crnStn1; break; } } if(Cools.isEmpty(crnStn)){ continue; } boolean flag = false; // 获取堆垛机入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) { flag = true; } if (!flag) { continue; } // 获取库位信息 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); if (locMast == null) { log.error("查询库存无数据--库位号{}", wrkMast.getLocNo()); continue; } if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) { log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts()); continue; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { continue; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } // 双深库位且浅库位有货，则需先对浅库位进行库位移转 if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) { String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo()); LocMast shallowLoc = locMastService.selectById(shallowLocNo); // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！ if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null == waitWrkMast) { log.error("{}库位异常，未检索到相应工作档！", shallowLocNo); } else { waitWrkMast.setIoPri(15D); waitWrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(waitWrkMast) == 0) { log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo()); } continue; } } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { // 此标记避免多次执行移库任务 if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) { wrkMast.setUpdMk("Y"); wrkMast.setIoPri(14D); wrkMastMapper.updateById(wrkMast); // 生成工作档,将浅库位移转到新的库位中 moveLocForDeepLoc(slave, shallowLoc); // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行) // moveLocForDeepLocPakin(slave, shallowLoc, wrkMast); } continue; } else if (shallowLoc.getLocSts().equals("Q")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) { continue; } } } // 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) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 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.设备上走 => 3.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(3L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } /** * 出库 ===>> 库位到堆垛机站 * 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库 */ public synchronized void 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.selectPakOutStep1(slave.getId(), crnStn.getStaNo()); List wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo()); for (WrkMast wrkMast : wrkMasts) { if (wrkMast == null) { continue; } // 工作档状态判断 if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) { log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType()); continue; } // 获取源库位信息 LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) { log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts()); continue; } // 获取堆垛机出库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { break; // continue; } else { staProtocol = staProtocol.clone(); } // // 入出库模式判断 // if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; } if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) { continue; } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); break; // continue; } // 判断堆垛机出库站状态 if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) { // 命令下发区 -------------------------------------------------------------------------- // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // continue; break; } // 双深库位且浅库位有货，则需先对浅库位进行库位移转 if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) { String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo()); LocMast shallowLoc = locMastService.selectById(shallowLocNo); // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！ if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null == waitWrkMast) { log.error("{}库位异常，未检索到相应工作档！", shallowLocNo); } else { if (waitWrkMast.getWrkSts() == 11) { waitWrkMast.setIoPri(15D); waitWrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(waitWrkMast) == 0) { log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo()); } continue; } else { } } } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { // WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); //2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务 WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); // 此标记避免多次执行移库任务 // if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk()) // || Cools.isEmpty(waitWrkMast)) { if (Cools.isEmpty(waitWrkMast)) { wrkMast.setUpdMk("Y"); wrkMastMapper.updateById(wrkMast); // 生成工作档,将浅库位移转到新的库位中 moveLocForDeepLoc(slave, shallowLoc); } log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo); continue; } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) { continue; } } } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { break; // return; } // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 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.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)); } else { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(12L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } break; } } } } } /** * 出库 ===>> 库位到堆垛机站 * 2022-12-03 TQS修改，先遍历查询工作档所有站点出库任务LIST，根据工作档任务排序优先级高于 根据堆垛机入库站点排序 */ public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol) { List wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId()); for (WrkMast wrkMast : wrkMasts) { if (wrkMast == null) { continue; } CrnSlave.CrnStn crnStn = null; for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){ if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){ crnStn = crnStn1; break; } } if(Cools.isEmpty(crnStn)){ continue; } // 工作档状态判断 if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) { log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType()); continue; } // 获取源库位信息 LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) { log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts()); continue; } // 获取堆垛机出库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { break; // continue; } else { staProtocol = staProtocol.clone(); } // // 入出库模式判断 // if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; } if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) { continue; } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); break; // continue; } // 判断堆垛机出库站状态 if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) { // 命令下发区 -------------------------------------------------------------------------- // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // continue; break; } // 双深库位且浅库位有货，则需先对浅库位进行库位移转 if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) { String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo()); LocMast shallowLoc = locMastService.selectById(shallowLocNo); // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！ if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null == waitWrkMast) { log.error("{}库位异常，未检索到相应工作档！", shallowLocNo); } else { if (waitWrkMast.getWrkSts() == 11) { waitWrkMast.setIoPri(15D); waitWrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(waitWrkMast) == 0) { log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo()); } continue; } else { } } } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { // WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); //2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务 WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); // 此标记避免多次执行移库任务 // if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk()) // || Cools.isEmpty(waitWrkMast)) { if (Cools.isEmpty(waitWrkMast)) { wrkMast.setUpdMk("Y"); wrkMastMapper.updateById(wrkMast); // 生成工作档,将浅库位移转到新的库位中 moveLocForDeepLoc(slave, shallowLoc); } log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo); continue; } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) { continue; } } } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { break; // return; } // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 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.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)); } else { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(12L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } break; } } } } /** * 查找工作状态为2（设备上走）,且RGV入库接驳站符合的的入库工作档，提取出最多2笔 * @param slave * @return */ public synchronized List getRgvInTask(RgvSlave slave){ List wrkMastTask = new ArrayList<>(); List staNos = new ArrayList<>(); for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) { staNos.add(rgvStn.getStaNo()); } if(staNos.size() < 1){ return null; } List wrkMasts = wrkMastMapper.selectRgvInStep1(slave.getId(), staNos); for(WrkMast wrkMast : wrkMasts){ Integer plcId = 0; for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) { if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){ plcId = rgvStn.getDevpPlcId(); break; } } DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, plcId); //判断RGV入库源站点，自动、有物，有任务号，可出 boolean flag1 = false; StaProtocol staProtocol1 = devpThread.getStation().get(wrkMast.getRgvSstaNo()); if (staProtocol1 == null) { continue; } else { staProtocol1 = staProtocol1.clone(); } // 查询站点详细信息 BasDevp staDetl1 = basDevpService.selectById(wrkMast.getRgvSstaNo()); if (staDetl1 == null) { log.error("RGV入库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo()); continue; } if (staProtocol1.isAutoing() && staProtocol1.isLoading() && staProtocol1.getWorkNo().intValue() == wrkMast.getWrkNo() && staProtocol1.isOutEnable() && staDetl1.getOutEnable() != null && staDetl1.getOutEnable().equals("Y")) { flag1 = true; } //判断RGV入库目标站点，自动、无物，没有任务号，可入 boolean flag2 = false; StaProtocol staProtocol2 = devpThread.getStation().get(wrkMast.getRgvDstaNo()); if (staProtocol2 == null) { continue; } else { staProtocol2 = staProtocol2.clone(); } // 查询站点详细信息 BasDevp staDetl2 = basDevpService.selectById(wrkMast.getRgvSstaNo()); if (staDetl2 == null) { log.error("RGV入库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo()); continue; } if (staProtocol2.isAutoing() && staProtocol2.isLoading() && staProtocol2.getWorkNo().intValue() == wrkMast.getWrkNo() && staProtocol2.isInEnable() && staDetl2.getCanining() != null && staDetl2.getCanining().equals("Y")) { flag2 = true; } if(flag1 && flag2){ wrkMastTask.add(wrkMast); if(wrkMastTask.size() >= 2) break; } } return wrkMastTask; } /** * 入库 ===>> RGV入库站到站 */ public synchronized void rgvInStn(RgvSlave slave, RgvProtocol rgvProtocol) { WrkMast wrkMast = wrkMastMapper.selectRgvInSteNo(slave.getId()); //查找工作状态为2（设备上走）,且RGV入库接驳站符合的的入库工作档，提取出最多2笔 List wrkMastTask = getRgvInTask(slave); if(wrkMastTask.size() <= 0){ return; } // RGV控制过滤， 必须满足自动、空闲，没有任务号 if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE) || rgvProtocol.getModeType() != RgvModeType.AUTO || rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getTaskNo2() != 0) { return; } // 已经存在RGV执行任务时，则过滤 if(wrkMastMapper.selectRgvInWorking(slave.getId()).size() > 0){ return; } if(wrkMastTask.size() == 2){ //有2笔RGV待入库任务，2个工位，取货、放货任务同时下发 WrkMast wrkMast1 = wrkMastTask.get(0); WrkMast wrkMast2 = wrkMastTask.get(1); if(Cools.isEmpty(wrkMast1) || Cools.isEmpty(wrkMast2)){ log.error("工作档RGV入库数据为空"); return; } // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(slave.getId()); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货 rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点 rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点 rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号 rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 工位2任务模式: 取放货 rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点 rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点 rgvCommand.setCommand((short) 0); //工位1、2任务确认 if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand)); } else { // 修改工作档状态 2.设备上走 => 6.RGV入库取货中 Date now = new Date(); wrkMast1.setWrkSts(6L); wrkMast1.setCrnStrTime(now); wrkMast1.setModiTime(now); if (wrkMastMapper.updateById(wrkMast1) == 0) { log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中 失败！！，工作号={}", wrkMast1.getWrkNo()); } wrkMast2.setWrkSts(6L); wrkMast2.setCrnStrTime(now); wrkMast2.setModiTime(now); if (wrkMastMapper.updateById(wrkMast2) == 0) { log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中 失败！！，工作号={}", wrkMast2.getWrkNo()); } } } else if(wrkMastTask.size() == 1){ //只有1笔RGV待入库任务，先下发取货任务，取货后再判断是否有下一笔待入库任务 WrkMast wrkMast1 = wrkMastTask.get(0); if(Cools.isEmpty(wrkMast1)){ log.error("工作档RGV入库数据为空"); return; } // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(slave.getId()); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货 rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点 rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点 rgvCommand.setCommand((short) 0); //工位1、2任务确认 if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) { //step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认 log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand)); } else { // 修改工作档状态 2.设备上走 => 6.RGV入库取货中 Date now = new Date(); wrkMast1.setWrkSts(6L); wrkMast1.setCrnStrTime(now); wrkMast1.setModiTime(now); if (wrkMastMapper.updateById(wrkMast1) == 0) { log.error("修改工作档状态 2.设备上走 => 6.RGV入库取货中 失败！！，工作号={}", wrkMast1.getWrkNo()); } } } } /** * 出库 ===>> RGV出库站到站 */ public synchronized void rgvOutStn(RgvSlave slave, RgvProtocol rgvProtocol) { //查找工作状态为14（出库完成）,且RGV出库接驳站符合的的出库工作档，提取出最多2笔 List wrkMastTask = getRgvOutTask(slave); if(wrkMastTask.size() <= 0){ return; } // RGV控制过滤， 必须满足自动、空闲，没有任务号 if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE) || rgvProtocol.getModeType() != RgvModeType.AUTO || rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getTaskNo2() != 0) { return; } // 已经存在RGV执行任务时，则过滤 if(wrkMastMapper.selectRgvOutWorking(slave.getId()).size() > 0){ return; } if(wrkMastTask.size() == 2){ //有2笔RGV待入库任务，2个工位，取货、放货任务同时下发 WrkMast wrkMast1 = wrkMastTask.get(0); WrkMast wrkMast2 = wrkMastTask.get(1); if(Cools.isEmpty(wrkMast1) || Cools.isEmpty(wrkMast2)){ log.error("工作档RGV入库数据为空"); return; } // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(slave.getId()); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货 rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点 rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点 rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号 rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 工位2任务模式: 取放货 rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点 rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点 rgvCommand.setCommand((short) 0); //工位1、2任务确认 if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand)); } else { // 修改工作档状态 14.出库完成 => 16.RGV出库取货中 Date now = new Date(); wrkMast1.setWrkSts(16L); wrkMast1.setCrnStrTime(now); wrkMast1.setModiTime(now); if (wrkMastMapper.updateById(wrkMast1) == 0) { log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中 失败！！，工作号={}", wrkMast1.getWrkNo()); } wrkMast2.setWrkSts(16L); wrkMast2.setCrnStrTime(now); wrkMast2.setModiTime(now); if (wrkMastMapper.updateById(wrkMast2) == 0) { log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中 失败！！，工作号={}", wrkMast2.getWrkNo()); } } } else if(wrkMastTask.size() == 1){ //只有1笔RGV待入库任务，先下发取货任务，取货后再判断是否有下一笔待入库任务 WrkMast wrkMast1 = wrkMastTask.get(0); if(Cools.isEmpty(wrkMast1)){ log.error("工作档RGV入库数据为空"); return; } // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(slave.getId()); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货 rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点 rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点 rgvCommand.setCommand((short) 0); //工位1、2任务确认 if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) { //step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认 log.error("RGV命令下发失败，RGV号={}，任务数据={}", slave.getId(), JSON.toJSON(rgvCommand)); } else { // 修改工作档状态 14.出库完成 => 16.RGV出库取货中 Date now = new Date(); wrkMast1.setWrkSts(16L); wrkMast1.setCrnStrTime(now); wrkMast1.setModiTime(now); if (wrkMastMapper.updateById(wrkMast1) == 0) { log.error("修改工作档状态 14.出库完成 => 16.RGV出库取货中 失败！！，工作号={}", wrkMast1.getWrkNo()); } } } } /** * 查找工作状态为14（出库完成）,且RGV出库接驳站符合的的出库工作档，提取出最多2笔 * @param slave * @return */ public synchronized List getRgvOutTask(RgvSlave slave){ List wrkMastTask = new ArrayList<>(); List staNos = new ArrayList<>(); for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) { staNos.add(rgvStn.getStaNo()); } if(staNos.size() < 1){ return null; } List wrkMasts = wrkMastMapper.selectRgvOutStep1(slave.getId(), staNos); for(WrkMast wrkMast : wrkMasts){ Integer plcId = 0; for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) { if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){ plcId = rgvStn.getDevpPlcId(); break; } } DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, plcId); //判断RGV出库源站点，自动、有物，有任务号，可出 boolean flag1 = false; StaProtocol staProtocol1 = devpThread.getStation().get(wrkMast.getRgvSstaNo()); if (staProtocol1 == null) { continue; } else { staProtocol1 = staProtocol1.clone(); } // 查询站点详细信息 BasDevp staDetl1 = basDevpService.selectById(wrkMast.getRgvSstaNo()); if (staDetl1 == null) { log.error("RGV出库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo()); continue; } if (staProtocol1.isAutoing() && staProtocol1.isLoading() && staProtocol1.getWorkNo().intValue() == wrkMast.getWrkNo() && staProtocol1.isOutEnable() && staDetl1.getOutEnable() != null && staDetl1.getOutEnable().equals("Y")) { flag1 = true; } //判断RGV出库目标站点，自动、无物，没有任务号，可入 boolean flag2 = false; StaProtocol staProtocol2 = devpThread.getStation().get(wrkMast.getRgvDstaNo()); if (staProtocol2 == null) { continue; } else { staProtocol2 = staProtocol2.clone(); } // 查询站点详细信息 BasDevp staDetl2 = basDevpService.selectById(wrkMast.getRgvSstaNo()); if (staDetl2 == null) { log.error("RGV出库 ===>> 输送机源站点在数据库不存在, 站点编号={}", wrkMast.getRgvSstaNo()); continue; } if (staProtocol2.isAutoing() && staProtocol2.isLoading() && staProtocol2.getWorkNo().intValue() == wrkMast.getWrkNo() && staProtocol2.isInEnable() && staDetl2.getCanining() != null && staDetl2.getCanining().equals("Y")) { flag2 = true; } if(flag1 && flag2){ wrkMastTask.add(wrkMast); if(wrkMastTask.size() >= 2) break; } } return wrkMastTask; } /** * 根据RGV完成信号，执行对工作档的完成操作，和RGV的任务下发 */ public synchronized void rgvFinished() { Date now = new Date(); for (RgvSlave rgv : slaveProperties.getRgv()) { // 获取RGV信息 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } //判断RGV是否空闲，工位1是否空闲，工位1是否有物，是否为电脑模式，工位1是否有工作号 if (rgvProtocol.statusType1 == RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getTaskNo1() != 0 && rgvProtocol.getStatus() != 0 && rgvProtocol.getStatus1() != 0 ) { WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue()); if (wrkMast1 == null) { log.error("RGV工位1处于等待确认且取货任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgv.getId(), rgvProtocol.getTaskNo1()); continue; } if (wrkMast1.getWrkSts() == 3) {//3.RGV取货中 => 4.RGV取货完成 wrkMast1.setWrkSts(4L); }else if(wrkMast1.getWrkSts() == 5){//5.RGV放货中 => 6.RGV放货完成 rgvProtocol.setTaskNo1((short) 0);//入库任务完成，清空任务号 wrkMast1.setWrkSts(6L); } else if (wrkMast1.getWrkSts() == 24) {//24.RGV取货中 => 25.RGV取货完成 wrkMast1.setWrkSts(25L);// } else if (wrkMast1.getWrkSts() == 26) {//26.RGV放货中 => 27.RGV放货完成 rgvProtocol.setTaskNo1((short) 0);//出库任务完成，清空任务号 wrkMast1.setWrkSts(27L);//27.RGV放货完成 } //解锁路径 RgvUtils.unLockPath(wrkMast1.getRgvNo()); wrkMast1.setModiTime(now); if (wrkMastMapper.updateById(wrkMast1) == 0) { log.error("工位1修改工作档状态失败！！，工作号={}", wrkMast1.getWrkNo()); } // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgv.getId()); // RGV编号 rgvCommand.setAckFinish1((short) 1); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.NONE); // 工位1任务模式: 无 rgvCommand.setCommand((short) 1); //工位1任务确认 if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) { //step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand)); } // //工位1取货完成后，工位2是无货空闲状态时，准备给工位2发任务，确认是否有待执行RGV任务 // if (rgvProtocol.getModeType() == RgvModeType.AUTO // && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() == 0 // && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() == 0 // && rgvProtocol.getStatusType2() == RgvStatusType.IDLE // ) { // WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue()); // if (wrkMast1 == null) { // log.error("RGV工位1处于等待确认且取货任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgv.getId(), rgvProtocol.getTaskNo1()); // continue; // } // List wrkMastTask = new ArrayList<>(); // List list = new ArrayList<>(); // Integer type = 0;//1入库，2出库 // if(wrkMast1.getWrkSts()==6L){ // wrkMastTask = getRgvInTask(rgv); // list = wrkMastMapper.selectRgvInWorking(rgv.getId()); // type = 1; // } else if(wrkMast1.getWrkSts()==16L){ // wrkMastTask = getRgvOutTask(rgv); // list = wrkMastMapper.selectRgvOutWorking(rgv.getId()); // type = 2; // } // if(wrkMastTask.size() > 0){//有继续执行任务，下发取货任务给工位2 // // 已经存在RGV执行任务时，则过滤 // if (list.size() > 1) { // continue; // } // WrkMast wrkMast2 = wrkMastTask.get(0); // // 命令下发区 -------------------------------------------------------------------------- // RgvCommand rgvCommand = new RgvCommand(); // rgvCommand.setRgvNo(rgv.getId()); // RGV编号 // rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 // rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号 // rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式: 取货 // rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点 // rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点 // rgvCommand.setCommand((short) 0); //工位1、2任务确认 // if (!MessageQueue.offer(SlaveType.Crn, wrkMast2.getRgvNo(), new Task(5, rgvCommand))) { // //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 // log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand)); // } else { // // 修改工作档状态 2.设备上走 => 6.RGV入库取货中 // Date now = new Date(); // wrkMast2.setWrkSts(type==1 ? 6L : 16L); // wrkMast2.setCrnStrTime(now); // wrkMast2.setModiTime(now); // if (wrkMastMapper.updateById(wrkMast2) == 0) { // log.error("工位2修改工作档状态 2/14.设备上走 => 6/16.RGV入库取货中 失败！！，工作号={}", wrkMast2.getWrkNo()); // } // } // } else {//没有继续执行任务，下发放货任务给工位1 // if(type == 1 && wrkMast1.getWrkSts() != 6L){//RGV入库取货中 // continue; // } // if(type == 2 && wrkMast1.getWrkSts() != 16L){//RGV出库取货中 // continue; // } // // // 命令下发区 -------------------------------------------------------------------------- // RgvCommand rgvCommand = new RgvCommand(); // rgvCommand.setRgvNo(rgv.getId()); // RGV编号 // rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 // rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号 // rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货 // rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点 // rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点 // rgvCommand.setCommand((short) 0); //工位1、2任务确认 // if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) { // //step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认 // log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand)); // } else { // // 修改工作档状态 6.RGV入库取货中 => 7.RGV入库放货中 // Date now = new Date(); // wrkMast1.setWrkSts(type==1 ? 7L : 17L); // wrkMast1.setCrnEndTime(now); // wrkMast1.setModiTime(now); // if (wrkMastMapper.updateById(wrkMast1) == 0) { // log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中 失败！！，工作号={}", wrkMast1.getWrkNo()); // } // log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand)); // } // } // } else if (rgvProtocol.getModeType() == RgvModeType.AUTO // && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() > 0 // && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() > 0 // && rgvProtocol.statusType2 == RgvStatusType.FETCHWAITING){ // // 工位2状态：也是取货完成等待确认91 并且 任务完成位 = 1, 工位1、2同时下发放货任务 // WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue()); // WrkMast wrkMast2 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo2().intValue()); // // 命令下发区 -------------------------------------------------------------------------- // RgvCommand rgvCommand = new RgvCommand(); // rgvCommand.setRgvNo(rgv.getId()); // RGV编号 // rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 // rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号 // rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货 // rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //工位1源站点 // rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //工位1目标站点 // rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 // rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 工位2工作号 // rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式: 放货 // rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //工位2源站点 // rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //工位2目标站点 // rgvCommand.setCommand((short) 0); //工位1、2任务确认 // if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) { // //step=2,工位1、2任务确认； step=4，工位1确认； step=5，工位2任务确认 // log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand)); // } else { // // 修改工作档状态 2.设备上走 => 6.RGV入库取货中 // Date now = new Date(); // wrkMast1.setWrkSts(wrkMast1.getWrkSts()==6L ? 7L : 17L); // wrkMast1.setCrnStrTime(now); // wrkMast1.setModiTime(now); // if (wrkMastMapper.updateById(wrkMast1) == 0) { // log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中 失败！！，工作号={}", wrkMast1.getWrkNo()); // } // // wrkMast2.setWrkSts(wrkMast2.getWrkSts()==6L ? 7L : 17L); // wrkMast2.setCrnStrTime(now); // wrkMast2.setModiTime(now); // if (wrkMastMapper.updateById(wrkMast2) == 0) { // log.error("修改工作档状态 6/16.RGV入库取货中 => 7/17.RGV入库放货中 失败！！，工作号={}", wrkMast2.getWrkNo()); // } // } // } } } } /** * 入出库 ===>> RGV出库站到堆垛机入库站/系统入库站 * rgvInDStnToCrnStn */ public synchronized void rgvDestStnToCrnStn() { for (RgvSlave rgvSlave : slaveProperties.getRgv()) { // 遍历入库任务的RGV出库站 for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) { // 获取RGV出库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) { // 查询工作档List // List wrkMasts = wrkMastMapper.selectRgvInStep2(staProtocol.getSiteId()); List wrkMasts = wrkMastMapper.selectRgvDestStep2(staProtocol.getSiteId()); for(WrkMast wrkMast : wrkMasts){ // 判断工作档条件 if (wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null || wrkMast.getRgvSstaNo() == null || wrkMast.getRgvDstaNo() == null) { continue; } RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); // 判断RGV状态等待确认,工位1 if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue()) && rgvProtocol.statusType1 == RgvStatusType.WAITING) { // 命令下发区 -------------------------------------------------------------------------- // 下发站点信息 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo()); if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) { continue; } // 更新工作档状态为2,14 wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L); wrkMast.setOnlineYn("Y"); wrkMast.setCrnEndTime(new Date()); if (wrkMastMapper.updateById(wrkMast) != 0) { // 复位RGV工位1 rgvThread.setResetFlag1(true); } else { log.error("RGV工位1接驳，更新工作档的工作状态为{}失败！！！ [工作号:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo()); } } // 判断RGV状态等待确认,工位2 if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue()) && rgvProtocol.statusType2 == RgvStatusType.WAITING) { // 命令下发区 -------------------------------------------------------------------------- // 下发站点信息 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo()); if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) { continue; } // 更新工作档状态为2,14 wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L); wrkMast.setOnlineYn("Y"); wrkMast.setCrnEndTime(new Date()); if (wrkMastMapper.updateById(wrkMast) != 0) { // 复位RGV工位2 rgvThread.setResetFlag2(true); } else { log.error("RGV工位2接驳，更新工作档的工作状态为{}失败！！！ [工作号:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo()); } } } } } } } /** * 出库 ===>> RGV出库站到系统出库站 */ public synchronized void rgvOutDStnToOutStn() { for (RgvSlave rgvSlave : slaveProperties.getRgv()) { // 遍历出库任务的RGV出库站 for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) { // 获取RGV出库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) { // 查询工作档List List wrkMasts = wrkMastMapper.selectRgvOutStep2(staProtocol.getSiteId()); for(WrkMast wrkMast : wrkMasts){ // 判断工作档条件 if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null || wrkMast.getRgvSstaNo() == null || wrkMast.getRgvDstaNo() == null) { continue; } RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); // 判断RGV状态等待确认,工位1 if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue()) && rgvProtocol.statusType1 == RgvStatusType.WAITING) { // 命令下发区 -------------------------------------------------------------------------- // 下发站点信息 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo()); if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) { continue; } // 更新工作档状态为14 wrkMast.setWrkSts(14L); wrkMast.setOnlineYn("Y"); //控制WMS将工作状态14转15的时机，只有RGV运搬完成后才可以转 wrkMast.setCrnEndTime(new Date()); if (wrkMastMapper.updateById(wrkMast) != 0) { // 复位RGV工位1 rgvThread.setResetFlag1(true); } else { log.error("RGV工位1接驳，更新工作档的工作状态为2失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } } // 判断RGV状态等待确认,工位2 if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue()) && rgvProtocol.statusType2 == RgvStatusType.WAITING) { // 命令下发区 -------------------------------------------------------------------------- // 下发站点信息 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo()); if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) { continue; } // 更新工作档状态为14 wrkMast.setWrkSts(14L); wrkMast.setOnlineYn("Y"); //控制WMS将工作状态14转15的时机，只有RGV运搬完成后才可以转 wrkMast.setCrnEndTime(new Date()); if (wrkMastMapper.updateById(wrkMast) != 0) { // 复位RGV工位2 rgvThread.setResetFlag2(true); } else { log.error("RGV工位2接驳，更新工作档的工作状态为2失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } } } } } } } /** * 库位移转 */ public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) { // 获取工作档信息 WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId()); if (null == wrkMast) { return; } // 获取源库位信息 LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); if (null == sourceSta) { log.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo()); return; } // 源库位 库位状态判断 if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) { return; } // 获取目标库位信息 LocMast sta = locMastService.selectById(wrkMast.getLocNo()); if (null == sta) { log.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo()); return; } // 获取堆垛机信息 并 判断是否可入出 BasCrnp basCrnp = basCrnpService.selectById(slave.getId()); if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) { return; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { return; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 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) 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.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(sta.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 11.生成出库ID => 12.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(12L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("【库位移转】 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } /** * 执行对工作档的完成操作 */ public synchronized void storeFinished() { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } // 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()); continue; } // 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; } 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); } } } } } /** * 异常信息记录 */ public synchronized void recErr() { try { this.recCrnErr(); this.recRgvErr(); } catch (Exception e) { log.error("recErr fail", e); } } /** * RGV异常信息记录 */ public synchronized void recRgvErr() { Date now = new Date(); for (RgvSlave rgv : slaveProperties.getRgv()) { // 获取RGV信息 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } if (true) { // 有任务 if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getTaskNo2() != 0) { Integer taskNo = rgvProtocol.getTaskNo1() > 0 ? rgvProtocol.getTaskNo1().intValue() : rgvProtocol.getTaskNo2().intValue(); BasRgvErrLog latest = basRgvErrLogService.findLatestByTaskNo(rgv.getId(), taskNo); // 有异常 if (latest == null) { if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) { WrkMast wrkMast = wrkMastMapper.selectById(taskNo); if (wrkMast == null) { continue; } BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm()); String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName(); BasRgvErrLog basRgvErrLog = new BasRgvErrLog( null, // 编号 wrkMast.getWrkNo(), // 工作号 now, // 发生时间 null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 rgv.getId(), // 堆垛机 null, // plc wrkMast.getLocNo(), // 目标库位 wrkMast.getStaNo(), // 目标站 wrkMast.getSourceStaNo(), // 源站 wrkMast.getSourceLocNo(), // 源库位 wrkMast.getBarcode(), // 条码 (int) rgvProtocol.getAlarm(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "任务中异常" // 备注 ); if (!basRgvErrLogService.insert(basRgvErrLog)) { log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.getId(), errName); } } } else { // 异常修复 if (rgvProtocol.getAlarm() == null || rgvProtocol.getAlarm() == 0) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basRgvErrLogService.updateById(latest)) { log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId()); } } } // 无任务 } else { BasRgvErrLog latest = basRgvErrLogService.findLatest(rgv.getId()); // 有异常 if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) { // 记录新异常 if (latest == null || (latest.getErrCode() != rgvProtocol.getAlarm().intValue())) { BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm()); String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName(); BasRgvErrLog basRgvErrLog = new BasRgvErrLog( null, // 编号 null, // 工作号 now, // 发生时间 null, // 结束时间 null, // 工作状态 null, // 入出库类型 rgv.getId(), // 堆垛机 null, // plc null, // 目标库位 null, // 目标站 null, // 源站 null, // 源库位 null, // 条码 (int) rgvProtocol.getAlarm(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "无任务异常" // 备注 ); if (!basRgvErrLogService.insert(basRgvErrLog)) { log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.getId(), errName); } } // 无异常 } else { // 异常修复 if (latest != null && latest.getStatus() == 1) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basRgvErrLogService.updateById(latest)) { log.error("RGV异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId()); } } } } } } } /** * 堆垛机异常信息记录 */ public synchronized void recCrnErr() { Date now = new Date(); for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } if (true) { // if (crnProtocol.getModeType() != CrnModeType.STOP) { // 有任务 if (crnProtocol.getTaskNo() != 0) { BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue()); // 有异常 if (latest == null) { if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) { WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo()); if (wrkMast == null) { continue; } BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm()); String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName(); BasErrLog basErrLog = new BasErrLog( null, // 编号 wrkMast.getWrkNo(), // 工作号 now, // 发生时间 null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 crn.getId(), // 堆垛机 null, // plc wrkMast.getLocNo(), // 目标库位 wrkMast.getStaNo(), // 目标站 wrkMast.getSourceStaNo(), // 源站 wrkMast.getSourceLocNo(), // 源库位 wrkMast.getBarcode(), // 条码 (int) crnProtocol.getAlarm(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "任务中异常" // 备注 ); if (!basErrLogService.insert(basErrLog)) { log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName); } } } else { // 异常修复 if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basErrLogService.updateById(latest)) { log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } // 无任务 } else { BasErrLog latest = basErrLogService.findLatest(crn.getId()); // 有异常 if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) { // 记录新异常 if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) { BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm()); String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName(); BasErrLog basErrLog = new BasErrLog( null, // 编号 null, // 工作号 now, // 发生时间 null, // 结束时间 null, // 工作状态 null, // 入出库类型 crn.getId(), // 堆垛机 null, // plc null, // 目标库位 null, // 目标站 null, // 源站 null, // 源库位 null, // 条码 (int) crnProtocol.getAlarm(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "无任务异常" // 备注 ); if (!basErrLogService.insert(basErrLog)) { log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName); } } // 无异常 } else { // 异常修复 if (latest != null && latest.getStatus() == 1) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basErrLogService.updateById(latest)) { log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } } } } } // ------------------------------------------------------------------------------- /** * 空栈板初始化入库,叉车入库站放货 */ public synchronized void storeEmptyPlt() { for (DevpSlave devp : slaveProperties.getDevp()) { if (devp.getId()==1) continue; // 遍历空板入库口 for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) { // 获取空板入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 站点条件判断 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) { try { LocTypeDto locTypeDto = new LocTypeDto(staProtocol); SearchLocParam param = new SearchLocParam(); param.setIoType(10); param.setSourceStaNo(emptyInSta.getStaNo()); param.setLocType1(locTypeDto.getLocType1()); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin/loc/v1") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(dto.getWorkNo()); staProtocol.setStaNo(dto.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败"); } } else { log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * 入库 ===>> 空栈板初始化入库,1楼叠盘机叠盘 */ public synchronized void storeEmptyPlt2() { for (DevpSlave devp : slaveProperties.getDevp()) { if (devp.getId()==2) continue; // 遍历空板入库口 for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) { // 获取空板入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 站点条件判断 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) { try { WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L); if (Cools.isEmpty(wrkMastSta)){ WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId()); wrkMastSta1.setType(2); wrkMastSta1.setWrkType(1);//工作类型 1:取（叠盘） 2：拆盘 3：取放 5：满取 6：满放 wrkMastStaMapper.insert(wrkMastSta1); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * 空栈板初始化入库,叉车入库站放货 */ public synchronized void storeEmptyPlt3() { try{ for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV空闲、自动,工位二有物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 && (rgvProtocol.getLoaded2()==2 || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物 ；2一层有物二层无物 （只能满放）；3 1、2层都有物 4：（）只允许拆盘 ) { try { WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122); if (!Cools.isEmpty(wrkMast1)){ continue; } // 获取空板入库站信息 SearchLocParam param = new SearchLocParam(); param.setIoType(10); param.setSourceStaNo(122); param.setLocType1((short)1); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin/empty/loc/v1") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); // 更新站点信息 且 下发plc命令 WrkMast wrkMast = wrkMastMapper.selectPakInStep3(dto.getWorkNo()); if (!Cools.isEmpty(wrkMast) && wrkMast.getIoType()==10 && wrkMast.getWrkSts()==2){ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue()); if (Cools.isEmpty(wrkMastSta)){ WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),wrkMast.getStaNo()); wrkMastSta1.setWrkNo(wrkMast.getWrkNo().longValue()); wrkMastSta1.setType(2); wrkMastSta1.setWrkType(6);//工作类型 1:取（叠盘） 2：拆盘 3：取放 5：满取 6：满放 wrkMastStaMapper.insert(wrkMastSta1); } } } else { log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/empty/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } }catch (Exception e){ log.error("3933行执行小车放空板任务下发失败"); log.error("3933行"+e); } } /** * 出库 ===>> 工作档信息写入led显示器 */ public synchronized void ledExecute() { for (LedSlave led : slaveProperties.getLed()) { // 获取输送线plc线程 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId()); // 命令集合 List commands = new ArrayList<>(); // 工作档集合 List wrkMasts = new ArrayList<>(); for (Integer staNo : led.getStaArr()) { // 获取叉车站点 StaProtocol staProtocol = devpThread.getStation().get(staNo); if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) { continue; } else { staProtocol = staProtocol.clone(); } // 获取工作档数据 WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo()); // if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; } if (null == wrkMast) { continue; } wrkMasts.add(wrkMast); // 组装命令 LedCommand ledCommand = new LedCommand(); ledCommand.setWorkNo(wrkMast.getWrkNo()); ledCommand.setIoType(wrkMast.getIoType()); // 出库模式 switch (wrkMast.getIoType()) { case 1: case 202: ledCommand.setTitle("全板入库"); break; case 10: ledCommand.setTitle("空板入库"); break; case 101: ledCommand.setTitle("全板出库"); break; case 103: ledCommand.setTitle("拣料出库"); break; case 104: ledCommand.setTitle("并板出库"); break; case 107: ledCommand.setTitle("盘点出库"); break; case 110: ledCommand.setTitle("空板出库"); ledCommand.setEmptyMk(true); break; default: log.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType()); break; } ledCommand.setSourceLocNo(wrkMast.getSourceLocNo()); ledCommand.setLocNo(wrkMast.getLocNo()); ledCommand.setStaNo(wrkMast.getStaNo()); // ledCommand.setSourceStaNo(wrkMast.getSourceStaNo()); if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) { List wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo()); wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl))); } commands.add(ledCommand); } Set workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet()); // 获取LED线程 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId()); // 相同工作号集合则过滤 if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) { continue; } // 命令下发 ------------------------------------------------------------------------------- if (!commands.isEmpty()) { // if (led.getId() == 7) { if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) { log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); continue; } else { ledThread.setLedMk(false); } // } // else { // if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) { // log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); // continue; // } else { // ledThread.setLedMk(false); // } // } } try { // 修改主档led标记 for (WrkMast wrkMast : wrkMasts) { wrkMast.setOveMk("Y"); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException("更新工作档失败"); } } // 更新线程当前工作号集合 ledThread.setWorkNos(workNos); } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } /** * 其他 ===>> LED显示器复位，显示默认信息 */ public synchronized void ledReset() { for (LedSlave led : slaveProperties.getLed()) { // 获取输送线plc线程 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId()); // 命令集合 boolean reset = true; for (Integer staNo : led.getStaArr()) { // 获取叉车站点 StaProtocol staProtocol = devpThread.getStation().get(staNo); if (staProtocol == null) { continue; } if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) { reset = false; break; } } // 获取led线程 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId()); // led显示默认内容 if (reset && !ledThread.isLedMk()) { if (led.getId() == 7) { ledThread.setLedMk(true); if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) { log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); } else { } } else { ledThread.setLedMk(true); if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) { log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); } else { } } } } } /** * 因双深库位阻塞，对浅库位进行移转（入库版) * tip：同步 */ @Transactional public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast) { LocMast loc = locMastService.selectById(pakinWrkMast.getLocNo()); // 获取工作号 int workNo = commonService.getWorkNo(0); Date now = new Date(); // 保存工作档 WrkMast wrkMast = new WrkMast(); wrkMast.setWrkNo(workNo); wrkMast.setIoTime(now); wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID wrkMast.setIoType(11); // 入出库状态： 11.库格移载 wrkMast.setIoPri(15D); wrkMast.setCrnNo(crn.getId()); wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位 wrkMast.setLocNo(loc.getLocNo()); // 目标库位 wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板 wrkMast.setPicking("N"); // 拣料 wrkMast.setExitMk("N"); // 退出 wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板 wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码 wrkMast.setLinkMis("N"); wrkMast.setCtnNo("Y"); // 入库阻塞库位移转标记 wrkMast.setAppeTime(now); wrkMast.setModiTime(now); int res = wrkMastMapper.insert(wrkMast); if (res == 0) { throw new CoolException("保存工作档失败"); } // 工作档明细保存 if (shallowLoc.getLocSts().equals("F")) { List locDetls = locDetlService.selectList(new EntityWrapper().eq("loc_no", shallowLoc.getLocNo())); for (LocDetl locDetl : locDetls) { WrkDetl wrkDetl = new WrkDetl(); wrkDetl.setWrkNo(workNo); wrkDetl.setIoTime(now); wrkDetl.setAnfme(locDetl.getAnfme()); VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制 wrkDetl.setAppeTime(now); wrkDetl.setModiTime(now); if (!wrkDetlService.insert(wrkDetl)) { throw new CoolException("保存工作档明细失败"); } } } // 修改源库位状态 if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) { shallowLoc.setLocSts("S"); // S.入库预约，入库阻塞库位移转 shallowLoc.setModiTime(now); if (!locMastService.updateById(shallowLoc)) { throw new CoolException("更新源库位状态失败"); } } else { throw new CoolException("源库位出库失败"); } // // 修改目标库位状态 // if (loc.getLocSts().equals("O")) { // loc.setLocSts("S"); // S.入库预约 // loc.setModiTime(new Date()); // if (!locMastService.updateById(loc)) { // throw new CoolException("更新目标库位状态失败"); // } // } else { // throw new CoolException("移转失败"); // } wrkMast.setLocNo(shallowLoc.getLocNo()); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException("修改阻塞入库任务失败"); } } /** * 因双深库位阻塞，对浅库位进行移转（立即执行版) * tip：同步 */ private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) { try { List rows = locMastService.queryDistinctRow(crn.getId()); LocMast loc = null; for (Integer row : rows) { if (Utils.isDeepLoc(slaveProperties, row)) { loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1()); if (loc != null) { if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) { String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo()); LocMast shallowLoc1 = locMastService.selectById(shallowLocNo); if (!shallowLoc1.getLocSts().equals("O")) { loc = null; } } } if (null != loc) { break; } } } if (null == loc) { for (Integer row : rows) { if (Utils.isShallowLoc(slaveProperties, row)) { loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1()); if (null != loc) {//对应深库位非在库状态,不能移库 String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo()); LocMast deepLoc1 = locMastService.selectById(deepLoc); if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) { loc = null; } } if (null != loc) { break; } } } } if (null == loc) { log.error("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo()); throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo()); } // 获取工作号 int workNo = commonService.getWorkNo(0); // 保存工作档 WrkMast wrkMast = new WrkMast(); wrkMast.setWrkNo(workNo); wrkMast.setIoTime(new Date()); wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID wrkMast.setIoType(11); // 入出库状态： 11.库格移载 wrkMast.setIoPri(13D); wrkMast.setCrnNo(crn.getId()); wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位 wrkMast.setLocNo(loc.getLocNo()); // 目标库位 wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板 wrkMast.setPicking("N"); // 拣料 wrkMast.setExitMk("N"); // 退出 wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板 wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码 wrkMast.setLinkMis("N"); wrkMast.setAppeTime(new Date()); wrkMast.setModiTime(new Date()); int res = wrkMastMapper.insert(wrkMast); if (res == 0) { throw new CoolException("保存工作档失败"); } // 工作档明细保存 if (shallowLoc.getLocSts().equals("F")) { List locDetls = locDetlService.selectList(new EntityWrapper().eq("loc_no", shallowLoc.getLocNo())); for (LocDetl locDetl : locDetls) { WrkDetl wrkDetl = new WrkDetl(); wrkDetl.setWrkNo(workNo); wrkDetl.setIoTime(new Date()); wrkDetl.setAnfme(locDetl.getAnfme()); VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制 wrkDetl.setAppeTime(new Date()); wrkDetl.setModiTime(new Date()); if (!wrkDetlService.insert(wrkDetl)) { throw new CoolException("保存工作档明细失败"); } } } // 修改源库位状态 if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) { shallowLoc.setLocSts("R"); // R.出库预约 shallowLoc.setModiTime(new Date()); if (!locMastService.updateById(shallowLoc)) { throw new CoolException("更新源库位状态失败"); } } else { throw new CoolException("源库位出库失败"); } // 修改目标库位状态 if (loc.getLocSts().equals("O")) { loc.setLocSts("S"); // S.入库预约 loc.setModiTime(new Date()); if (!locMastService.updateById(loc)) { throw new CoolException("更新目标库位状态失败"); } } else { throw new CoolException("移转失败"); } } catch (Exception e) { log.error("双深库位阻塞，对浅库位进行移转失败", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 初始化RGV地图 */ public synchronized void initRgvMap() { Object data = redisUtil.get("rgv_map"); if (data == null) { //重新获取全路径地图 BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//获取默认路径 if (basRgvPath != null) { ArrayList rgvNodes = new ArrayList<>(); List rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class); for (Integer integer : rgvPath) { RgvNode rgvNode = new RgvNode(integer); rgvNodes.add(rgvNode); } //将数据库地图数据存入redis redisUtil.set("rgv_map", JSON.toJSONString(rgvNodes)); } } } /** * 堆垛机演示 ===>> 库位移转 */ public synchronized void crnDemoOfLocMove1() { try { for (CrnSlave crn : slaveProperties.getCrn()) { if (!crn.getDemo()) { continue; } // 必须为演示状态 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { // 获取移库工作档信息 WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId()); if (null != wrkMast) { continue; } LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId()); LocMast loc = locMastService.queryDemoLoc(crn.getId()); if (null == sourceLoc || null == loc) { continue; } String sourceLocNo = sourceLoc.getLocNo(); String locNo = loc.getLocNo(); // 获取工作号 int workNo = commonService.getWorkNo(0); // 保存工作档 wrkMast = new WrkMast(); wrkMast.setWrkNo(workNo); wrkMast.setIoTime(new Date()); wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID wrkMast.setIoType(11); // 入出库状态： 11.库格移载 wrkMast.setIoPri(13D); wrkMast.setCrnNo(crn.getId()); wrkMast.setSourceLocNo(sourceLocNo); // 源库位 wrkMast.setLocNo(locNo); // 目标库位 wrkMast.setFullPlt("N"); // 满板：Y wrkMast.setPicking("N"); // 拣料 wrkMast.setExitMk("N"); // 退出 wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板 wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码 wrkMast.setLinkMis("N"); wrkMast.setAppeTime(new Date()); wrkMast.setModiTime(new Date()); int res = wrkMastMapper.insert(wrkMast); if (res == 0) { throw new CoolException("保存工作档失败"); } // 工作档明细保存 // List locDetls = locDetlService.selectList(new EntityWrapper().eq("loc_no", sourceLocNo)); // for (LocDetl locDetl : locDetls) { // WrkDetl wrkDetl = new WrkDetl(); // wrkDetl.setWrkNo(workNo); // wrkDetl.setIoTime(new Date()); // wrkDetl.setAnfme(locDetl.getAnfme()); // VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制 // wrkDetl.setAppeTime(new Date()); // wrkDetl.setModiTime(new Date()); // if (!wrkDetlService.insert(wrkDetl)) { // throw new CoolException("保存工作档明细失败"); // } // } // 修改源库位状态 if (sourceLoc.getLocSts().equals("D")) { sourceLoc.setLocSts("R"); // R.出库预约 sourceLoc.setModiTime(new Date()); if (!locMastService.updateById(sourceLoc)) { throw new CoolException("更新源库位状态失败"); } } else { throw new CoolException("源库位出库失败"); } // 修改目标库位状态 if (loc.getLocSts().equals("O")) { loc.setLocSts("S"); // S.入库预约 loc.setModiTime(new Date()); if (!locMastService.updateById(loc)) { throw new CoolException("更新目标库位状态失败"); } } else { throw new CoolException("移转失败"); } } } } catch (Exception e) { log.error("堆垛机演示 ===>> 库位移转失败", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 堆垛机命令下发后，异步修改工作档状态 */ public synchronized void crnIoWrkMast() { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } Date now = new Date(); // 堆垛机正在运行 if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { // 获取工作档 WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo()); if (wrkMast == null) { continue; } // 入库 if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 2) { log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo()); // 修改工作档状态 2.设备上走 => 3.吊车入库中 wrkMast.setWrkSts(3L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo()); } // 出库、移库 if (wrkMast.getWrkSts() == 11) { log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo()); // 修改工作档状态 11.生成出库ID => 12.吊车出库中 wrkMast.setWrkSts(12L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo()); } } } } /** * 入出库模式切换函数 */ public synchronized void ioConvert() { try { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); for (DevpSlave.Sta inSta : devp.getInSta()) { if (inSta.getStaNo() == 2) { continue; } WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getStaNo()); switch (inSta.getStaNo()) { case 203://1F if (pakout != null) { if (devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING; WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo()); if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading() && !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading() && devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) { // 出库模式 devpThread.ioModeOf2F = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf2F = IoModeType.PAKIN_MODE; } break; case 401://1F if (pakout != null) { if (devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioModeOf4F = IoModeType.PAKOUT_BOOTING; WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo()); if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading() && !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading() && devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) { // 出库模式 devpThread.ioModeOf4F = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf4F = IoModeType.PAKIN_MODE; } break; } } } } catch (Exception e) { e.printStackTrace(); } } public synchronized void outOfDevp() { List wrkMasts = wrkMastMapper.selectPick(); for (WrkMast wrkMast : wrkMasts) { if (basDevpService.selectCount(new EntityWrapper().eq("wrk_no", wrkMast.getWrkNo())) == 0) { wrkMast.setCtnNo("Y"); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改{}工作档失败，ctn_no", wrkMast.getWrkNo()); } } } } public synchronized void autoEmptyOut() { DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); Integer autoOutSite = 12; //如果站点可出禁用，则不生成空盘出库任务 StaProtocol staProtocol = devpThread.getStation().get(autoOutSite); if (staProtocol == null) { return; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() //自动 && !staProtocol.isLoading() //无物 && staProtocol.isOutEnable() //可出信号 && staProtocol.getWorkNo() == 0 ) { WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(autoOutSite); if (null != pakoutEmpty) { return; } try { String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/auto/emptyOut/v1") .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { JSONObject data = (JSONObject) jsonObject.get("data"); log.info((String) data.get("msg")); } else { log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } public synchronized void autoEmptyIn() { DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); Integer autoInSite = 12; StaProtocol staProtocol = devpThread.getStation().get(autoInSite); if (staProtocol == null) { return; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() //自动 && staProtocol.isLoading() //有物 && staProtocol.isInEnable() //可入信号 && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用） ) { try { LocTypeDto locTypeDto = new LocTypeDto((short) 1, (short) 1, (short) 1); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/auto/emptyIn/v1") .setJson(JSON.toJSONString(locTypeDto)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { log.info((String) jsonObject.get("msg")); } else { log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } // /** // * 其他 ===>> 码垛位自动补充空板：驱动拆盘机输出托盘 // */ // public synchronized void dischargingMachineOutputTray() { // try { // List wrkMasts = wrkMastMapper.selectDischargingMachineOutputTray(); // if (Cools.isEmpty(wrkMasts) || wrkMasts.size()>3){ // return; // } // // // 获取入库站信息 // SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); // StaProtocol staProtocol = devpThread.getStation().get(213); // if (staProtocol == null) { // log.error("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发失败，站点查询失败"); // return; // } else { // staProtocol = staProtocol.clone(); // } // // if (!staProtocol.isLoading()){ // log.info("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发失败，站点无物，正在自动调出空板！"); // int i = wrkMastMapper.selectConfigCount10468N(); // if (i==1){ // wrkMastMapper.updateConfig10468Y(); // } // return; // }else { // int i = wrkMastMapper.selectConfigCount10468N(); // if (i==0){ // return; // } // } // StaProtocol staProtocol214 = devpThread.getStation().get(214); // // 判断是否满足入库条件 // if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk() && staProtocol214.getWorkNo()==0) { // staProtocol.setWorkNo((short)9999); // staProtocol.setStaNo((short)214); // devpThread.setPakMk(staProtocol.getSiteId(), false); // boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol)); // if (!result) { // throw new CoolException("更新plc站点信息失败==>码垛位自动补充空板：驱动拆盘机输出托盘！"); // } // log.info("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发成功：工作号9999、目标站214！"); // }else { // log.error("码垛位自动补充空板：驱动拆盘机输出托盘，任务下发失败，站点状态不符合！"); // } // }catch (Exception e){ // e.printStackTrace(); // TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); // } // } // /** // * 其他 ===>> 拆盘机处空板扫码，驱动托盘向码垛位，不入库 // */ // public synchronized void scanBarcodeEmptyBoard() { // try { // // }catch (Exception e){ // e.printStackTrace(); // TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); // } // } /** * 其他 ===>> 码垛完成驱动托盘进入下一步（入库前扫码） */ public synchronized void stackingCompletionDriveTray() { try { int[] staNos=new int[]{216,220,123};//(3个入库站点，1楼1个退货码垛站，2楼两个入库码垛站) for (int staNo : staNos){ BasDevp basDevp = basDevpService.selectById(staNo); if (basDevp.getWrkNo()!=9992 || Cools.isEmpty(basDevp.getBarcode())){ continue; } Integer zpallet = waitPakinMapper.selectCount(new EntityWrapper().eq("zpallet", basDevp.getBarcode()).eq("status","N")); if (zpallet<=0){ continue; } // 获取入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol = devpThread.getStation().get(staNo); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 入出库模式判断 // if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; } // if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { // continue; // } if (!staProtocol.isLoading()){ log.info("{}站点无物，正在自动调出空板！",staNo); continue; } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 9992 ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) { staProtocol.setWorkNo(9999); staProtocol.setStaNo(staNo + 1); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！"); } } } }catch (Exception e){ // e.printStackTrace(); // TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); log.error("其他 ===>> 码垛完成驱动托盘进入下一步（入库前扫码）"+e); } } /** * 其他 ===>> 码垛完成驱动托盘进入下一步 */ public synchronized void stackingCompletionDriveTray2() { try { int[] staNos=new int[]{131,135};//(2个入库站点，1楼2个出库码垛站,根据现场修改) for (int staNo : staNos){ BasDevp basDevp = basDevpService.selectById(staNo); if (Cools.isEmpty(basDevp) || basDevp.getReportSign()!=1){ continue; } if (basDevp.getWrkNo()!=0 && (basDevp.getWrkNo()<9900 || basDevp.getWrkNo()>9999)){ continue; } WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo); if (Cools.isEmpty(wrkMast)){ continue; } // 获取站点信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol = devpThread.getStation().get(staNo); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 入出库模式判断 // if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; } // if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { // continue; // } if (!staProtocol.isLoading()){ log.info("{}站点无物，异常！",staNo); continue; } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000)) ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) { //任务完成 boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol)); Thread.sleep(100); staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(144); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！"); } wrkMast.setWrkSts(52L); wrkMastMapper.updateById(wrkMast); Thread.sleep(100); //任务完成 boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol)); } } }catch (Exception e){ // e.printStackTrace(); // TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); log.error("其他 ===>> 码垛完成驱动托盘进入下一步"+e); } } /** * 其他 ===>> 码垛完成驱动托盘进入下一步 */ public synchronized void stackingCompletionDriveTrayOk2() { for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历拣料入库口 for (DevpSlave.Sta pickSta : devp.getPickSta2()) { // 获取拣料入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()!=0 && staProtocol.isOutEnable()) {// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo()); if (wrkMast == null) { log.error("站点号"+staProtocol.getSiteId()+"未查询到工作档案！"); // 无拣料数据 continue; } if (!wrkMast.getSheetNo().equals("2") || wrkMast.getIoType()<100 || wrkMast.getWrkSts()!=14){ continue; } if (wrkMast.getIoType()==101){ //任务完成 boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol)); wrkMast.setSheetNo("3"); wrkMastMapper.updateById(wrkMast); }else { if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107) || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) { continue; } //任务完成 boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol)); wrkMast.setSheetNo("3"); wrkMastMapper.updateById(wrkMast); try{ Thread.sleep(100); }catch (Exception e){ } boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol)); } } } } } /** * 其他 ===>> 贴标完成驱动托盘进入下一步 */ public synchronized void stackingCompletionDriveTray3() { try { int[] staNos=new int[]{144};//(1楼1个贴标位,根据现场修改) for (int staNo : staNos){ BasDevp basDevp = basDevpService.selectById(staNo); if ((basDevp.getWrkNo()<9900 || basDevp.getWrkNo()>9999) && basDevp.getWrkNo()!=32222){ continue; } WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo); if (Cools.isEmpty(wrkMast)){ continue; } // 获取站点信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol = devpThread.getStation().get(staNo); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 入出库模式判断 // if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; } // if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { // continue; // } if (!staProtocol.isLoading()){ log.info("{}站点无物，异常！",staNo); continue; } if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo())){ log.info("站点工作号={} 与贴标工作号={} 不一致，异常！",staProtocol.getWorkNo(),wrkMast.getWrkNo().shortValue()); } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) { staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！"); } wrkMast.setWrkSts(55L); wrkMastMapper.updateById(wrkMast); } } }catch (Exception e){ // e.printStackTrace(); // TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); log.error("其他 ===>> 贴标完成驱动托盘进入下一步"+e); } } /** * 其他 ===>> 退货码垛完成托盘继续下一步 */ public synchronized void stackingCompletionDriveTrayOk3() { try { int[] staNos=new int[]{118}; for (int staNo : staNos){ BasDevp basDevp = basDevpService.selectById(staNo); if (Cools.isEmpty(basDevp) || basDevp.getWrkNo()!=0 || basDevp.getReportSign()!=3){ continue; } WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne145(145); if (Cools.isEmpty(wrkMast)){ continue; } // 获取站点信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol = devpThread.getStation().get(staNo); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (!staProtocol.isLoading()){ log.info("{}站点无物，异常！",staNo); continue; } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && !staProtocol.isEmptyMk() ) { staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！"); } wrkMast.setSheetNo("5"); wrkMastMapper.updateById(wrkMast); } } }catch (Exception e){ // e.printStackTrace(); // TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); log.error("其他 ===>> 退货码垛完成托盘继续下一步"+e); } } /** * 其他 ===>> 拆垛完成继续下一步 运行途中自动避让空板 */ public synchronized void stackingCompletionDriveTray4() { try { int[] staNos=new int[]{134};//(134有任务，135空闲，则避让) for (int staNo : staNos){ BasDevp basDevp = basDevpService.selectById(staNo); BasDevp basDevp135 = basDevpService.selectById(135); if (basDevp.getWrkNo()==0 || (basDevp.getWrkNo()<10000 && basDevp.getWrkNo()>9899) ){ continue; } if (basDevp135.getReportSign()!=0){ continue; } WrkMast wrkMast131 = wrkMastMapper.selectWrkMastUnstackingOne202Two(131); if (Cools.isEmpty(wrkMast131)){ continue; } // 获取站点信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol135 = devpThread.getStation().get(135); if (staProtocol135 == null) { continue; } else { staProtocol135 = staProtocol135.clone(); } if (staProtocol135.getWorkNo()<9900 || staProtocol135.getWorkNo()>9999 || staProtocol135.getWorkNo()==0 || !staProtocol135.isLoading() || !staProtocol135.isAutoing()){ continue; } StaProtocol staProtocol = devpThread.getStation().get(staNo); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (!staProtocol.isLoading()){ continue; } // if (!staProtocol.getWorkNo().equals(wrkMast131.getWrkNo())){ // log.info("站点工作号={} 与贴标工作号={} 不一致，异常！",staProtocol.getWorkNo(),wrkMast131.getWrkNo().shortValue()); // } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && basDevp.getReportSign()==0 ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) { if (true){ return; } //任务完成 boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135)); try{ Thread.sleep(100); }catch (Exception e){ } basDevp135.setReportSign(2); basDevpService.updateById(basDevp135); staProtocol135.setWorkNo(32222); staProtocol135.setStaNo(144); devpThread.setPakMk(staProtocol135.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol135)); if (!result) { throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！"); } boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol135)); } } }catch (Exception e){ // e.printStackTrace(); // TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); log.error("其他 ===>> 贴标完成驱动托盘进入下一步"+e); } } /** * 完成小车任务 */ public synchronized void rgvCompleteWrkMastSta() { try{ for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV等待WCS确认、自动 if (rgvProtocol.getStatusType() == RgvStatusType.WORKING && rgvProtocol.getModeType() == RgvModeType.AUTO && ((rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.WAITING ) || (rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING )) ) { log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol); if (rgvProtocol.getTaskNo1()!=0 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){ if (rgvProtocol.getTaskNo1()==(short)32222){ boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo()); if (!rgvComplete){ log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo()); } BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute()); break; } WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue()); if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1 || wrkMastSta.getWrkSts()!=1){ log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta); continue; } boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo()); if (!rgvComplete){ log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo()); break; } DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd()); WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue()); if (!Cools.isEmpty(wrkMast)){ Thread.sleep(200); // 下发站点信息 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo()); if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) { continue; } log.error("小车任务完成下发输送线任务："+staProtocol); try{ Thread.sleep(1000); DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd()); log.error("小车任务完成读取输送线任务："+staProtocolEnd); if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo()) staProtocolEnd.setWorkNo(wrkMast.getWrkNo()); staProtocolEnd.setStaNo(wrkMast.getStaNo()); if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) { continue; } log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd); } }catch (Exception e){ } } wrkMastSta.setWrkSts(3); wrkMastStaMapper.updateById(wrkMastSta); BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute()); }else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){ if (rgvProtocol.getTaskNo2()==(short)32222){ boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo()); if (!rgvComplete){ log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo()); } BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute()); break; } WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().longValue()); if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=2){ log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta); continue; } boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo()); if (!rgvComplete){ log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo()); break; } DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd()); WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue()); if (!Cools.isEmpty(wrkMast)){ Thread.sleep(200); // 下发站点信息 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo()); if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) { continue; } log.error("小车任务完成下发输送线任务："+staProtocol); try{ Thread.sleep(1000); DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd()); log.error("小车任务完成读取输送线任务："+staProtocolEnd); if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo()) staProtocolEnd.setWorkNo(wrkMast.getWrkNo()); staProtocolEnd.setStaNo(wrkMast.getStaNo()); if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) { continue; } log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd); } }catch (Exception e){ } } wrkMastSta.setWrkSts(3); wrkMastStaMapper.updateById(wrkMastSta); BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute()); }else { log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo()); } } } }catch (Exception e){ log.error("小车复位线程报错！"+e); } } /** * 入出库 ===>> 小车作业下发 */ public synchronized void rgvIoExecute(Integer sign) { try{ for (RgvSlave rgvSlave:slaveProperties.getRgv()) { // 获取小车信息 boolean signWork = false; RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV空闲、自动,工位一无物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getLoaded1()==0 && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 ) { switch (sign){ case 1://执行小车货物搬运任务 signWork = rgvRunWrkMastFullSta(); break; case 2://放//拆盘 signWork = rgvRunWrkMastEmptyStaPut(); break; case 3://满放 signWork = rgvRunWrkMastEmptyStaPutFull(); break; case 4://取叠盘 signWork = rgvRunWrkMastEmptyStaTake(); break; case 5:////满取 signWork = rgvRunWrkMastEmptyStaTakeFull(); break; case 6:////提升 // signWork = qwe(); break; default: // signWork = rgvRunWrkMastEmptyStaAvoidance();//避让 break; } } for (int signCount = 1;!signWork && signCount<8;signCount++){ switch (signCount){ case 1://执行小车货物搬运任务 signWork = rgvRunWrkMastFullSta(); break; case 2://放//拆盘 signWork = rgvRunWrkMastEmptyStaPut(); break; case 3://满放 signWork = rgvRunWrkMastEmptyStaPutFull(); break; case 4://取叠盘 signWork = rgvRunWrkMastEmptyStaTake(); break; case 5:////满取 signWork = rgvRunWrkMastEmptyStaTakeFull(); break; case 6:////提升 // signWork = rgvRunWrkMastEmptyStaPut(); break; default: // signWork = rgvRunWrkMastEmptyStaAvoidance();//避让 break; } } } }catch (Exception e){ log.error("RGV小车任务下发报错"+e); } } /** * 执行小车搬运任务 */ public synchronized boolean rgvRunWrkMastFullSta() { try{ for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV空闲、自动,工位一无物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getLoaded1()==0 && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo()); if (basRgvMap == null) { log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo()); continue; } List route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号 List wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route); for (WrkMastSta wrkMastSta : wrkMastStaList){ if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版 3：取放 continue; } BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd()); if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){ continue; } boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); if (sign){ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd()); if (signMap){ wrkMastSta.setWrkSts(1); try{ wrkMastStaMapper.updateById(wrkMastSta); }catch (Exception e){ log.error("更新小车任务失败"); } return true; }else { log.error("3864行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo()); } }else { log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo()); } break; } } } }catch (Exception e){ log.error("3875行执行小车搬运任务下发失败"); log.error("3875行"+e); } return false; } /** * 执行小车搬运任务//拆盘 */ public synchronized boolean rgvRunWrkMastEmptyStaPut() {//拆盘 try{ for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 && (rgvProtocol.getLoaded2()==3 || rgvProtocol.getLoaded2()==1 || rgvProtocol.getLoaded2()==4)////0 无物；1 一层无物二层有物 （只能拆叠） ；2一层有物二层无物() ；3 1、2层都有物 4：（）只允许拆盘 ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); if (basRgvMap == null) { log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo()); continue; } basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号 List route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围 List wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务 for (WrkMastSta wrkMastSta : wrkMastStaList){ if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=2){// 2:空板 || 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放 continue; } boolean sign = false; if ( wrkMastSta.getStaEnd()!=0){//放 BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd()); if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){ continue; } sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘 }else { continue; } if (sign){ boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd()); if (signMap){ wrkMastSta.setWrkSts(2); try{ wrkMastStaMapper.updateById(wrkMastSta); }catch (Exception e){ log.error("更新小车任务失败"); } return true; }else { log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo()); } }else { log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo()); } break; } } } }catch (Exception e){ log.error("3933行执行小车放空板任务下发失败"); log.error("3933行"+e); } return false; } /** * 执行小车搬运任务 */ public synchronized boolean rgvRunWrkMastEmptyStaPutFull() {//满放 try{ for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV空闲、自动,工位二有物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 && (rgvProtocol.getLoaded2()==2 || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物 ；2一层有物二层无物 （只能满放）；3 1、2层都有物 4：（）只允许拆盘 ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); if (basRgvMap == null) { log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo()); continue; } basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号 List route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围 List wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务 for (WrkMastSta wrkMastSta : wrkMastStaList){ if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=6){// 2:空板 || 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放 continue; } boolean sign = false; if ( wrkMastSta.getStaEnd()!=0){//满放 BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd()); if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){ continue; } sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta); }else { continue; } if (sign){ boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd()); if (signMap){ wrkMastSta.setWrkSts(2); try{ wrkMastStaMapper.updateById(wrkMastSta); }catch (Exception e){ log.error("更新小车任务失败"); } return true; }else { log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo()); } }else { log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo()); } break; } } } }catch (Exception e){ log.error("3933行执行小车放空板任务下发失败"); log.error("3933行"+e); } return false; } public synchronized boolean rgvRunWrkMastEmptyStaTake() {//叠盘 try{ for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV空闲、自动,工位二无物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 && (rgvProtocol.getLoaded2()==0 || rgvProtocol.getLoaded2()==1 ) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠） ；2一层有物二层无物 （只能满放）；3 1、2层都有物 4：（）只允许拆盘 ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); if (basRgvMap == null) { log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo()); continue; } List route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号 List wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route); for (WrkMastSta wrkMastSta : wrkMastStaList){ if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:空板 || 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放 continue; } boolean sign = false; if ( wrkMastSta.getStaStart()!=0){//取 BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart()); if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){ continue; } sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘 }else { continue; } if (sign){ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute()); if (signMap){ wrkMastSta.setWrkSts(1); try{ wrkMastStaMapper.updateById(wrkMastSta); }catch (Exception e){ log.error("更新小车任务失败"); } return true; }else { log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo()); } }else { log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo()); } break; } } } }catch (Exception e){ log.error("3989行执行小车取空板任务下发失败"); log.error("3989行"+e); } return false; } public synchronized boolean rgvRunWrkMastEmptyStaTakeFull() {//满取 try{ for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV空闲、自动,工位二无物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 && rgvProtocol.getLoaded2()==0 //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠） ；2一层有物二层无物 （只能满放）；3 1、2层都有物 4：（）只允许拆盘 ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); if (basRgvMap == null) { log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo()); continue; } List route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号 List wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route); for (WrkMastSta wrkMastSta : wrkMastStaList){ if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=5){// 2:空板 || 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放 continue; } boolean sign = false; if (wrkMastSta.getStaStart()!=0){//满取 BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart()); if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){ continue; } sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta); }else { continue; } if (sign){ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute()); if (signMap){ wrkMastSta.setWrkSts(1); try{ wrkMastStaMapper.updateById(wrkMastSta); }catch (Exception e){ log.error("更新小车任务失败"); } return true; }else { log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo()); } }else { log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo()); } break; } } } }catch (Exception e){ log.error("3989行执行小车取空板任务下发失败"); log.error("3989行"+e); } return false; } /* * 有任务但未执行 此时需要调整小车位置 * */ public synchronized void rgvRunWrkMastEmptyStaAvoidance() { try{ Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务 if (integer==0){ return; } //查询是否需要避让 //未完成 Thread.sleep(1000); integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务 if (integer==0){ return; } for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV空闲、自动,工位一无物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接 && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){ continue; } if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){ continue; } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){ continue; } rgvAvoidanceXY(rgvProtocol.getRgvNo()); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute()); } } }catch (Exception e){ log.error("4109行执行小车初始化任务下发失败"); log.error("4109行"+e); } } /* * 刷新地图数据 * */ public synchronized void refreshRgvMap() { try{ for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV空闲、自动,工位一无物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接 && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute()); } } }catch (Exception e){ log.error("4109行执行小车初始化任务下发失败"); log.error("4109行"+e); } } /* * 小车XY移动 避让 * */ public synchronized boolean rgvAvoidanceXY(Integer rgvId){ if (rgvId==1){ try{ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId); // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1((short)32222); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 回原点 //basRgvMap.getLockStartRoute().shortValue() rgvCommand.setSourceStaNo1( (short)101); rgvCommand.setCommand((short) 1); //工位1任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } }else { try{ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId); // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 rgvCommand.setTaskNo2((short)32222); // 工位2工作号 rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式: 回原点 rgvCommand.setSourceStaNo2((short)117); rgvCommand.setCommand((short) 2); //工位2任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } } /* * 小车取货至工位任务 * */ public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货 rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //工位1起点 rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //工位1目标站点 rgvCommand.setCommand((short) 1); //工位1任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 小车取货至工位任务 * */ public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货 rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //工位1起点 rgvCommand.setCommand((short) 1); //工位1任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 小车放货至输送线任务 * */ public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货 rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //工位1目标站点 rgvCommand.setCommand((short) 1); //工位1任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 小车取空板至工位任务 叠盘 * */ public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号 rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式: 取货 rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点 rgvCommand.setCommand((short) 2); //工位2任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 小车放空板至输送线任务 //拆盘 * */ public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号 rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式: 放货 rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //工位2目标站点 rgvCommand.setCommand((short) 2); //工位2任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 小车取空板至工位任务 满取 * */ public synchronized boolean rgvTakeEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号 rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_5); // 工位2任务模式: 满取 rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点 rgvCommand.setCommand((short) 2); //工位2任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 小车放空板至输送线任务 //满放 * */ public synchronized boolean rgvPutEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号 rgvCommand.setTaskMode2(RgvTaskModeType.PUT_6); // 工位2任务模式: 满放 rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //工位2目标站点 rgvCommand.setCommand((short) 2); //工位2任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 小车复位 * */ public synchronized boolean rgvComplete(Integer rgvId){ try{ // 命令下发区 -------------------------------------------------------------------------- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}",rgvId); return false; } else { log.info("RGV命令下发成功，RGV号={}",rgvId); return true; } }catch (Exception e){ log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId); return false; } } /* * 小车地图更新 更新锁 * */ public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){ // List integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute()); //更新当前小车锁 try{ Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点 Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项 basRgvMapCurrent.setLockEndRoute(fallMerge); basRgvMapMapper.updateById(basRgvMapCurrent); //更新另一台小车地图 Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther(); BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther); List integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute()); Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置 basRgvMapOther.setEndRoute(lockEndRoute); basRgvMapMapper.updateById(basRgvMapOther); return true; }catch (Exception e){ log.error("小车地图更新出错！"); return false; } } }