package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.Cools; import com.core.common.R; import com.core.exception.CoolException; import com.zy.asrs.controller.CrnController; import com.zy.asrs.domain.enums.TaskStatusType; import com.zy.asrs.domain.enums.WorkNoType; import com.zy.asrs.domain.param.CrnOperatorParam; import com.zy.asrs.entity.*; import com.zy.asrs.entity.wms.StorageEscalationParam; import com.zy.asrs.mapper.BasCrnErrorMapper; import com.zy.asrs.mapper.StaDescMapper; import com.zy.asrs.mapper.TaskWrkMapper; import com.zy.asrs.mapper.WrkMastMapper; import com.zy.asrs.service.*; import com.zy.asrs.task.core.ReturnT; import com.zy.asrs.utils.Utils; import com.zy.common.service.CommonService; 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.CrnSlave; import com.zy.core.model.DevpSlave; import com.zy.core.model.Task; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.protocol.CrnProtocol; import com.zy.core.model.protocol.StaProtocol; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.BarcodeThread; 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.io.IOException; import java.util.Date; import java.util.List; import java.util.Random; /** * 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 SlaveProperties slaveProperties; @Autowired private WrkMastMapper wrkMastMapper; @Autowired private LocMastService locMastService; @Autowired private LocDetlService locDetlService; @Autowired private BasCrnpService basCrnpService; @Autowired private BasDevpService basDevpService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Autowired private TaskWrkMapper taskWrkMapper; @Autowired private TaskWrkService taskWrkService; @Autowired private CommonService commonService; @Autowired private StaDescMapper staDescMapper; @Autowired private StaDescService staDescService; @Autowired private ToWmsService toWmsService; @Autowired private CrnController crnController; @Autowired private TransferTaskService transferTaskService; @Autowired private WrkMastService wrkMastService; @Autowired private WrkDetlService wrkDetlService; @Value("${loc-move.enable}") private boolean enable; @Value("${loc-move.crn1}") private boolean crn1; @Value("${loc-move.crn2}") private boolean crn2; @Value("${loc-move.crn3}") private boolean crn3; public void generateStoreWrkFile() throws IOException, InterruptedException { try { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { StorageEscalationParam storageEscalationParam = new StorageEscalationParam(); storageEscalationParam.setStationCode(inSta.getStaNo()); // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } Short workNo = staProtocol.getWorkNo(); // 尺寸检测异常 boolean back = false; String errMsg = ""; if (staProtocol.isFrontErr()) { errMsg = "前超限"; back = true; } if (!back && staProtocol.isBackErr()) { errMsg = "后超限"; back = true; } if (!back && staProtocol.isHighErr()) { errMsg = "高超限"; back = true; } if (!back && staProtocol.isLeftErr()) { errMsg = "左超限"; back = true; } if (!back && staProtocol.isRightErr()) { errMsg = "右超限"; back = true; } if (!back && staProtocol.isWeightErr()) { errMsg = "超重"; back = true; } if (!back && staProtocol.isBarcodeErr()) { errMsg = "扫码失败"; back = true; } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && workNo >= 9790 && staProtocol.isPakMk()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode()); if (barcodeThread == null) { continue; } String BoxNo = barcodeThread.getBarcode(); TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper().eq("barcode", BoxNo)); if (!Cools.isEmpty(taskWrk1)) { log.info("托盘码：" + BoxNo + "任务档存在"); if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) { StaDesc staDesc = staDescService.selectOne(new EntityWrapper() .eq("crn_no", taskWrk1.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId())); if (Cools.isEmpty(staDesc)) { return; } else { continue; } } } if (back) { storageEscalationParam.setWCSStatus(1); storageEscalationParam.setWCSErrorMessage(storageEscalationParam.getWCSErrorMessage() + errMsg); } storageEscalationParam.setBarcode(BoxNo); log.info("组托入库={}", storageEscalationParam); TaskWrk taskWrk = toWmsService.getLocNoFromWms(storageEscalationParam); if (back) { log.info("托盘退回==>{}，{}", BoxNo, errMsg); staProtocol.setStaNo(inSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); } else { if (!Cools.isEmpty(taskWrk)) { StaDesc staDesc = staDescService.selectOne(new EntityWrapper() .eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId())); staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue()); staProtocol.setStaNo(staDesc.getCrnStn().shortValue()); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); //添加上报日志 toWmsService.addReportLog(taskWrk); } else { log.info("创建工作档失败==>{}", taskWrk.getTaskNo()); staProtocol.setStaNo(inSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); } } } } } } catch (Exception e) { log.error("generateStoreWrkFile e", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 堆垛机站出库到出库站 */ public void crnStnToOutStn() { for (CrnSlave crnSlave : slaveProperties.getCrn()) { // 遍历堆垛机出库站 for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) { List staDescs = staDescMapper.selectList(new EntityWrapper().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo())); for (StaDesc staDesc : staDescs) { try { // 获取堆垛机出库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) { // 查询工作档 TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString()); if (taskWrk == null) { continue; } log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk)); staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue()); staProtocol.setStaNo(staDesc.getStnNo().shortValue()); boolean offer = false; try { offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol)); } catch (Exception e) { log.error("下发输送线任务失败：异常:" + e); log.error("下发输送线任务失败：异常:offer:" + offer); } if (offer) { log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk)); taskWrk.setStatus(5); taskWrk.setWrkSts(14); taskWrkService.updateById(taskWrk); } else { log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(taskWrk)); } } } catch (Exception e) { log.error("出库到出库站异常:异常信息：" + e); } } } } } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecute() throws IOException { 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.crnStnToLoc(crn, crnProtocol); // 入库 crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn(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.locToCrnStn(crn, crnProtocol); // 出库 crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc(crn, crnProtocol); // 入库 crnProtocol.setLastIo("O"); } } // 库位移转 this.locToLoc(crn, crnProtocol); } } } /** * 入库 ===>> 堆垛机站到库位 */ public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException { for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) { List staDescs = staDescMapper.selectList(new EntityWrapper().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo())); for (StaDesc staDesc : staDescs) { 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 TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString()); if (null == taskWrk) { 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 (taskWrkMapper.selectCrnWorking(slave.getId()) != null) { continue; } // int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号 // taskWrk.setWrkNo(workNo);//工作号 taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态 taskWrk.setAssignTime(new Date());//派发时间 taskWrk.setWrkSts(3);//工作状态 3.吊车入库 taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号 taskWrk.setModiTime(new Date()); taskWrk.setModiUser(9988L); // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(staDesc.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo(taskWrk.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()); // 源库位列 crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位层 crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位排 crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列 crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位层 crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排 crnCommand.setCommand((short) 1); log.info("堆垛机入库任务下发={}", crnCommand); if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand)); throw new CoolException("堆垛机命令生成失败"); } else { try { taskWrkService.updateById(taskWrk); } catch (Exception e) { 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={}", taskWrk.getWrkNo()); log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，异常：" + e); } } } } } /** * 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 void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) { List taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null); if (taskWrksInitial.size() == 0) { return; } for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) { List staDescs = staDescMapper.selectList(new EntityWrapper().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo())); for (StaDesc staDesc : staDescs) { // 获取工作状态为11（生成出库ID）的出库工作档 List taskWrks = taskWrkMapper.selectPakOut(slave.getId(), staDesc.getStnNo().toString()); for (TaskWrk taskWrk : taskWrks) { if (taskWrk == null) { continue; } // 工作档状态判断 if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == null || taskWrk.getStartPoint() == 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={}", taskWrk.getWrkNo(), taskWrk.getStartPoint(), taskWrk.getIoType()); continue; } LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint()); //判断其库位是否为深库位，如果为深库位找其浅库位是都有货 boolean flag = false; if (locMast.getRow1() == 1 || locMast.getRow1() == 5 || locMast.getRow1() == 9) { flag = true; } else if (locMast.getRow1() == 4 || locMast.getRow1() == 8 || locMast.getRow1() == 12) { flag = true; } if (flag) { LocMast locMast1 = locMastService.selectOne(new EntityWrapper() .eq("row1", (locMast.getRow1() - 1)) .eq("bay1", locMast.getBay1()) .eq("lev1", locMast.getLev1()).eq("loc_sts", "F")); if (!Cools.isEmpty(locMast1)) { log.info(locMast.getLocNo() + "出深库位，浅库位有货"); continue; } } else { LocMast locMast1 = locMastService.selectOne(new EntityWrapper() .eq("row1", (locMast.getRow1() + 1)) .eq("bay1", locMast.getBay1()) .eq("lev1", locMast.getLev1()).eq("loc_sts", "F")); if (!Cools.isEmpty(locMast1)) { log.info(locMast.getLocNo() + "出深库位，浅库位有货"); 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; } else { staProtocol = staProtocol.clone(); } // 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; } // 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) { break; } // 已经存在吊车执行任务时，则过滤 if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) { break; } CrnCommand command = new CrnCommand(); command.setCrnNo(taskWrk.getCrnNo()); // 堆垛机编号 command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号 command.setAckFinish((short) 0); // 任务完成确认位 command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式 command.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排 command.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列 command.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层 command.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排 command.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列 command.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层 command.setCommand((short) 1); if (Cools.isEmpty(taskWrk.getMarkStart()) || taskWrk.getMarkStart() == 0) { toWmsService.addReportLog(taskWrk); taskWrk.setMarkStart(1); } if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command))) { log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(command)); throw new CoolException("堆垛机命令生成失败"); } else { try { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); taskWrk.setWrkSts(12); taskWrk.setStatus(2); taskWrk.setModiTime(now); if (taskWrkMapper.updateById(taskWrk) == 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={}", taskWrk.getWrkNo()); } } catch (Exception e) { 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={}", taskWrk.getWrkNo()); log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，异常：" + e); } } } } } } } /** * 库位移转 */ public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) { for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) { // 获取工作状态为11（生成出库ID）的移库工作档 List taskWrks = taskWrkMapper.selectList(new EntityWrapper() .eq("crn_no", slave.getId()) .eq("wrk_sts", 11) .eq("io_type", 3) .orderBy("io_pri", false)); for (TaskWrk taskWrk : taskWrks) { // 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 (taskWrkMapper.selectCrnWorking(slave.getId()) != null) { continue; } if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("") || taskWrk.getWrkNo() == null) { continue; } // 工作档状态判断 if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) { log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType()); continue; } // 命令下发区 -------------------------------------------------------------------------- // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(taskWrk.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(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排 crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列 crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层 crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排 crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列 crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层 crnCommand.setCommand((short) 1); if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.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(); taskWrk.setWrkSts(12); taskWrk.setStatus(2); taskWrk.setModiTime(now); if (taskWrkMapper.updateById(taskWrk) == 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={}", taskWrk.getWrkNo()); } toWmsService.addReportLog(taskWrk); } return; } } } /** * 执行对工作档的完成操作 */ public void storeFinished() throws InterruptedException { 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.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) { //获取入库待确认工作档 TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(), crnProtocol.getTaskNo().intValue()); if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) { 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; } //确认完成信号 CrnOperatorParam crnOperatorParam = new CrnOperatorParam(); crnOperatorParam.setCrnNo(crn.getId()); R r = crnController.crnTaskComplete(crnOperatorParam); Thread.sleep(1000); if (!r.get("code").equals(200)) { return; } if (!Cools.isEmpty(taskWrk)) { if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) { taskWrk.setWrkSts(4);//入库完成 taskWrk.setStatus(5);//完结 //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint()); locMast.setLocSts("F");//F.在库 locMast.setBarcode(taskWrk.getBarcode());//托盘码 locMast.setModiTime(new Date()); locMast.setModiUser(9999L); locMastService.updateById(locMast); } else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) { taskWrk.setWrkSts(13);//出库完成 taskWrk.setStatus(5);//完结 //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint()); locMast.setLocSts("O");//O.空库位 locMast.setBarcode("");//托盘码 locMast.setModiTime(new Date()); locMast.setModiUser(9999L); locMastService.updateById(locMast); } else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) { taskWrk.setWrkSts(4);//入库完成 taskWrk.setStatus(5);//完结 //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint()); locMast.setLocSts("F");//F.在库 locMast.setBarcode(taskWrk.getBarcode());//托盘码 locMast.setModiTime(new Date()); locMast.setModiUser(9999L); locMastService.updateById(locMast); LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint()); locMast1.setLocSts("O");//O.空库位 locMast1.setBarcode("");//托盘码 locMast1.setModiTime(new Date()); locMast1.setModiUser(9999L); locMastService.updateById(locMast1); } taskWrkService.updateById(taskWrk); } } } } /** * 堆垛机异常信息记录 */ public 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 (false) { // 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.getAlarm1(), // 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.getAlarm1() == null || crnProtocol.getAlarm1() == 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.getAlarm1() != 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.getAlarm1(), // 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()); } } } } } } } //agv取放货任务完成 public synchronized void autoCompleteAGV() { List basDevps = basDevpService.selectList(new EntityWrapper<>()); try { Thread.sleep(500); } catch (Exception e) { } for (BasDevp basDevp : basDevps) { DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (basDevp.getWrkNo() != 0) { if (basDevp.getAgvTargetPick() != 0) {//取货 staProtocol.setAgvTypeSign((short) 0); staProtocol.setStaNo(basDevp.getDevNo().shortValue()); MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol)); } boolean sign = true; if (basDevp.getAgvTargetPlace() != 0) { sign = false; basDevp.setAgvTargetPlace(0); basDevpService.updateById(basDevp); staProtocol.setAgvTypeSign((short) 3);//1 staProtocol.setStaNo(basDevp.getDevNo().shortValue()); MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol)); } } else { if (basDevp.getAgvTargetPlace() != 0) { if (basDevp.getLoading().equals("Y")) { staProtocol.setAgvTypeSign((short) 1); staProtocol.setStaNo(basDevp.getDevNo().shortValue()); MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol)); } else { log.error("AGV放货完成但输送线无物，复位信号 ===>> [staNo:{}] [basDevp:{}]", basDevp.getDevNo(), basDevp); basDevp.setAgvTargetPlace(0); basDevpService.updateById(basDevp); staProtocol.setAgvTypeSign((short) 3);//1 staProtocol.setStaNo(basDevp.getDevNo().shortValue()); MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol)); } } if (basDevp.getAgvTargetPick() != 0) { basDevp.setAgvTargetPick(0); basDevpService.updateById(basDevp); staProtocol.setAgvTypeSign((short) 2);//0 staProtocol.setStaNo(basDevp.getDevNo().shortValue()); MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol)); } } } } /** * 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()) { if (devp.getId() == 2) { continue; } SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); for (DevpSlave.Sta inSta : devp.getInSta()) { WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getBackSta()); switch (inSta.getBackSta()) { case 116: if (pakout != null) { if (devpThread.ioModeOf1F1 != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioModeOf1F1 = IoModeType.PAKOUT_BOOTING; WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo()); if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading() && !devpThread.getStation().get(inSta.getBackSta()).isLoading() && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) { // 出库模式 devpThread.ioModeOf1F1 = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf1F1 = IoModeType.PAKIN_MODE; } break; case 117: if (pakout != null) { if (devpThread.ioModeOf1F2 != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioModeOf1F2 = IoModeType.PAKOUT_BOOTING; WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo()); if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading() && !devpThread.getStation().get(inSta.getBackSta()).isLoading() && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) { // 出库模式 devpThread.ioModeOf1F2 = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf1F2 = IoModeType.PAKIN_MODE; } break; case 118: if (pakout != null) { if (devpThread.ioModeOf1F3 != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioModeOf1F3 = IoModeType.PAKOUT_BOOTING; WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo()); if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading() && !devpThread.getStation().get(inSta.getBackSta()).isLoading() && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) { // 出库模式 devpThread.ioModeOf1F3 = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf1F3 = IoModeType.PAKIN_MODE; } break; case 119: if (pakout != null) { if (devpThread.ioModeOf1F4 != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioModeOf1F4 = IoModeType.PAKOUT_BOOTING; WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo()); if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading() && !devpThread.getStation().get(inSta.getBackSta()).isLoading() && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) { // 出库模式 devpThread.ioModeOf1F4 = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf1F4 = IoModeType.PAKIN_MODE; } break; case 120: if (pakout != null) { if (devpThread.ioModeOf1F5 != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioModeOf1F5 = IoModeType.PAKOUT_BOOTING; WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo()); if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading() && !devpThread.getStation().get(inSta.getBackSta()).isLoading() && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) { // 出库模式 devpThread.ioModeOf1F5 = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf1F5 = IoModeType.PAKIN_MODE; } break; case 203: if (pakout != null) { if (devpThread.ioModeOf2F1 != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioModeOf2F1 = IoModeType.PAKOUT_BOOTING; WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo()); if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading() && !devpThread.getStation().get(inSta.getBackSta()).isLoading() && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) { // 出库模式 devpThread.ioModeOf2F1 = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf2F1 = IoModeType.PAKIN_MODE; } break; case 207: if (pakout != null) { if (devpThread.ioModeOf2F2 != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioModeOf2F2 = IoModeType.PAKOUT_BOOTING; WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo()); if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading() && !devpThread.getStation().get(inSta.getBackSta()).isLoading() && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) { // 出库模式 devpThread.ioModeOf2F2 = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf2F2 = IoModeType.PAKIN_MODE; } break; case 212: if (pakout != null) { if (devpThread.ioModeOf2F3 != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioModeOf2F3 = IoModeType.PAKOUT_BOOTING; WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo()); if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading() && !devpThread.getStation().get(inSta.getBackSta()).isLoading() && devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) { // 出库模式 devpThread.ioModeOf2F3 = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf2F3 = IoModeType.PAKIN_MODE; } break; } } } } catch (Exception e) { e.printStackTrace(); } } /** * 跑库程序 */ public void debug(String sts, Long modiUser, Integer loc_type1) { if (!enable) { return; } List basCrnps = basCrnpService.selectList(new EntityWrapper()); if (basCrnps.isEmpty()) { return; } for (BasCrnp basCrnp : basCrnps) { if (!basCrnp.getInEnable().equals("N") || !basCrnp.getOutEnable().equals("Y")) { continue; } List wrkMasts = wrkMastService.selectList(new EntityWrapper().eq("crn_no", basCrnp.getCrnNo()).eq("io_type", 11)); if (Cools.isEmpty(wrkMasts) || wrkMasts.isEmpty()) { int i = locMastService.selectCount(new EntityWrapper().eq("loc_sts", sts).eq("loc_type1", loc_type1).ne("modi_user", modiUser)); LocMast locMastStart = locMastService.selectOne(new EntityWrapper().eq("loc_sts", sts).eq("loc_type1", loc_type1).ne("modi_user", modiUser)); if (locMastStart == null || i > 1) { continue; } List locMasts = locMastService.selectList(new EntityWrapper() .eq("loc_sts", "O") .eq("crn_no", basCrnp.getCrnNo()) .eq("loc_type1", locMastStart.getLocType1()) .ne("modi_user", 77)); if (Cools.isEmpty(locMasts)) { continue; } Random random = new Random(); LocMast locMastEnd = locMasts.get(random.nextInt(locMasts.size())); ReturnT result = locMove(locMastStart, locMastEnd, basCrnp.getCrnNo()); if (!result.isSuccess()) { log.error("处理失败"); } } } } public void locMove(LocMast sourceLoc, LocMast locNo, Long userId) { List locDetls = locDetlService.selectList(new EntityWrapper().eq("loc_no", sourceLoc.getLocNo())); LocMast loc = locMastService.selectById(locNo); if (!sourceLoc.getCrnNo().equals(loc.getCrnNo())) { throw new CoolException("移转库位属于不同堆垛机"); } Date now = new Date(); // 获取工作号 int workNo = commonService.getWorkNo(WorkNoType.PICK.type); // 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(10D); wrkMast.setCrnNo(sourceLoc.getCrnNo()); wrkMast.setSourceLocNo(sourceLoc.getLocNo()); // 源库位 wrkMast.setLocNo(locNo.getLocNo()); // 目标库位 wrkMast.setFullPlt(Cools.isEmpty(locDetls) ? "N" : "Y"); // 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.setAppeUser(userId); wrkMast.setAppeTime(now); wrkMast.setModiUser(userId); wrkMast.setModiTime(now); boolean res = wrkMastService.insert(wrkMast); if (!res) { throw new CoolException("保存工作档失败"); } // 工作档明细保存 for (LocDetl locDetl : locDetls) { WrkDetl wrkDetl = new WrkDetl(); wrkDetl.sync(locDetl); wrkDetl.setWrkNo(workNo); wrkDetl.setIoTime(now); wrkDetl.setAnfme(locDetl.getAnfme()); wrkDetl.setAppeTime(now); wrkDetl.setAppeUser(userId); wrkDetl.setModiTime(now); wrkDetl.setModiUser(userId); 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.getLocSts().equals("F")) { sourceLoc.setLocSts("R"); // R.出库预约 sourceLoc.setModiUser(userId); sourceLoc.setModiTime(now); 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，状态：" + sourceLoc.getLocSts$()); } // 修改目标库位状态 if (loc.getLocSts().equals("O")) { loc.setLocSts("S"); // S.入库预约 loc.setModiTime(now); loc.setModiUser(userId); if (!locMastService.updateById(loc)) { throw new CoolException("更新目标库位状态失败"); } } else { throw new CoolException("移转失败，目标库位状态：" + loc.getLocSts$()); } } /** * 转移任务下发 */ public void transferTaskStart() { for (DevpSlave.Sta sta : slaveProperties.getDevp().get(1).getInSta()) { try { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2); StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) { // 查询工作档 TransferTask transferTask = transferTaskService.selectByStartPoint(sta.getStaNo()); if (transferTask == null) { continue; } log.info("下发输送线转移任务：taskWrk:" + JSON.toJSONString(transferTask)); staProtocol.setWorkNo(transferTask.getWrkNo().shortValue()); staProtocol.setStaNo(transferTask.getTargetPoint().shortValue()); boolean offer = false; try { offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol)); } catch (Exception e) { log.error("下发输送线转移任务：异常:" + e); log.error("下发输送线转移任务：异常:offer:" + offer); } if (offer) { log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(transferTask)); transferTask.setStatus(2); transferTaskService.updateById(transferTask); } else { log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(transferTask)); } } } catch (Exception e) { log.error("转移任务异常:异常信息：" + e); } } } /** * 转移任务完成 */ public void transferTaskEnd() { for (DevpSlave.Sta sta : slaveProperties.getDevp().get(1).getInSta()) { try { // 获取终点站 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2); StaProtocol staProtocol = devpThread.getStation().get(sta.getOverSta()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) { // 查询工作档 TransferTask transferTask = transferTaskService.selectByEndPoint(sta.getStaNo()); if (transferTask == null) { continue; } log.info("转移任务完成：transferTask:" + JSON.toJSONString(transferTask)); transferTask.setStatus(3); transferTaskService.updateById(transferTask); } } catch (Exception e) { log.error("转移任务异常:异常信息：" + e); } } } }