package com.zy.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.entity.*; import com.zy.mapper.*; import com.zy.service.*; import com.zy.utils.RouteUtils; import com.zy.utils.Utils; import com.zy.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.utils.CollectionUtils; import com.zy.utils.HttpHandler; import com.zy.utils.News; 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 BasDevpService basDevpService; @Autowired private LocDetlService locDetlService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Autowired private WrkMastStaMapper wrkMastStaMapper; @Autowired private BasRgvService basRgvService; @Autowired private BasRgvMapMapper basRgvMapMapper; @Autowired private WrkMastService wrkMastService; @Autowired private BasRgvMapService basRgvMapService; @Value("${wms.url}") private String wmsUrl; public Integer wrkNo = 10000; /** * 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(Integer mark) { String methodName = Thread.currentThread().getStackTrace()[1].getMethodName(); // 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()); LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); // 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; } // 退回 if (back) { // News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg); MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg)); if (!staProtocol.isLoading()){ continue; } if (!staProtocol.isPakMk()) { continue; } staProtocol.setWorkNo(wrkNo); News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo); wrkNo++; staProtocol.setStaNo(inSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.error("输送线下发1："+wrkNo+","+inSta.getBackSta()); } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && staProtocol.isPakMk()) { if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) { News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode); staProtocol.setWorkNo(wrkNo); News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo); wrkNo++; staProtocol.setStaNo(inSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.error("输送线下发1："+wrkNo+","+inSta.getBackSta()); continue; } // 判断重复工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode); if (wrkMast != null) { News.error(methodName + ":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()); if (ledThread != null) { News.error(methodName + ":扫码失败，请重试"); MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "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() + "}, 请手动取消已存在工作档")); } continue; } WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper() .eq("barcode", barcode) .in("io_type", 107,103,57)); if (!Cools.isEmpty(checkPick)) { 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); barcodeThread.setBarcode(""); staProtocol.setWorkNo(dto.getWorkNo()); staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo())); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.error("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo()); if (!result) { News.error(methodName + ":更新plc站点信息失败"); throw new CoolException("更新plc站点信息失败"); }else { ledThread.errorReset(); } } else { staProtocol.setWorkNo(wrkNo); wrkNo++; staProtocol.setStaNo(inSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // // if (ledThread != null) { String errorMsg = jsonObject.getString("msg"); if (!Cools.isEmpty(errorMsg)) { MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); } // } // News.error(methodName + ":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(); } } } } // News.infoNoLog(""+mark+" - 0"+" - 组托 ===》执行完成"); } /** * 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(Integer mark) { // 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.isLoading()){ continue; } if (staProtocol.isAutoing() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999) && staProtocol.isPakMk()) { News.warnNoLog(""+mark+" - 0"+" - 开始执行"); // 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()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.error("输送线下发3："+wrkMast.getWrkNo()+","+wrkMast.getStaNo()); 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) { News.error(""+mark+" - 1"+" - 更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo()); } } else { News.error(""+mark+" - 2"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } }else { News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable() +"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo() +"、锁定标记"+ staProtocol.isPakMk()+"、入库印记：" + staProtocol.getStamp()); } } } // News.infoNoLog(""+mark+" - 0"+" - wms入库 ===》执行完成"); } /** * 拣料、并板、盘点再入库 */ public synchronized void stnToCrnStnPick(Integer mark) { 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)) { // News.info(""+mark+" - 1"+" - {}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()) { News.warnNoLog(""+mark+" - 0"+" - 开始执行"); WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode); // WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue()); 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)) { News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo()); staProtocol.setWorkNo(wrkNo++); staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1)); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.error("输送线下发4："+9989+","+(pickSta.getStaNo().shortValue()-(short)1)); //LED LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed()); // led 异常显示 if (ledThread != null) { String errorMsg = "此为拣料、并板、盘点再入库.请放在"+pickSta.getBackSta().shortValue()+"站点"; MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); } 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((short) 161); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.error("输送线下发5："+wrkMast.getWrkNo()+","+wrkMast.getStaNo()); if (!result) { News.error(""+mark+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } }else { News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable() +"、空板信号："+ staProtocol.isEmptyMk()); } } } // News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库 ===》执行完成"); } //盘点再入库 public synchronized void stnToCrnStnPick2(){ for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历拣料入库口 for (DevpSlave.Sta pickSta : devp.getPickSta()) { // 获取拣料入库站信息 DevpThread devpThread = (DevpThread) 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.isInEnable() && !staProtocol.isEmptyMk() // && staProtocol.getWorkNo() > 0 && staProtocol.isPakMk()){ // 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) || "empty".equals(barcode)) { staProtocol.setWorkNo(wrkNo++); staProtocol.setStaNo(pickSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // led 异常显示 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed()); if (ledThread != null) { String errorMsg = "扫码失败，请重试"; MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); } continue; } } else { staProtocol.setWorkNo(wrkNo++); staProtocol.setStaNo(pickSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // led 异常显示 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed()); if (ledThread != null) { String errorMsg = "扫码失败，请重试"; MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); } continue; } WrkMast wrkMast = wrkMastMapper.selectPickStep2(barcode); if (wrkMast == null) { // 无盘点数据 continue; } // 出库确认信号位 // if ((Cools.isEmpty(wrkMast.getInvWh()) || wrkMast.getInvWh().equals("N")) && wrkMast.getIoType() != 107) { // continue; // } // if ( wrkMast.getIoType() != 107 || Cools.isEmpty(wrkMast.getStaNo()) // || Cools.isEmpty(wrkMast.getSourceStaNo())) { // continue; // } // 获取库位号 try { LocMast locMast = locMastService.selectOne(new EntityWrapper().eq("loc_no", wrkMast.getSourceLocNo())); LocTypeDto locTypeDto = new LocTypeDto(staProtocol); SearchLocParam param = new SearchLocParam(); param.setBarcode(barcode); param.setIoType(107); param.setSourceStaNo(pickSta.getStaNo()); //作业站点 if (!Cools.isEmpty(locMast)){ param.setLocType1(locMast.getLocType1()); }else { param.setLocType1(locTypeDto.getLocType1()); } String response = ""; log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param); try { response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin2/loc/v1") .setJson(JSON.toJSONString(param)) // .setTimeout(15, TimeUnit.SECONDS) .build() .doPost(); } catch(Exception e){ log.error("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param); log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e); e.printStackTrace(); continue; } log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param); log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response); if(response.equals("")) { continue; } JSONObject jsonObject = JSON.parseObject(response); LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed()); Integer code = jsonObject.getInteger("code"); if (code == 200) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) { log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString()); } else { log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString()); try { // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo((short)161); devpThread.setPakMk(staProtocol.getSiteId(), false); ledThread.errorReset(); 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()); } log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库任务下发成功===>>" + staProtocol); } catch (Exception e) { log.error("盘点再入库失败===>>" + e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } else { staProtocol.setWorkNo(wrkNo++); staProtocol.setStaNo(pickSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (ledThread != null) { String errorMsg = jsonObject.getString("msg"); if (!Cools.isEmpty(errorMsg)) { MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); } } log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { log.error("stnToCrnStnPick2===>>fail", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * 堆垛机站出库到出库站 */ public synchronized void crnStnToOutStn(Integer mark) { 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) { News.error("堆垛机出库完成 - 开始执行"); // 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 News.error("出库任务完成下发堆垛机复位", wrkMast.getWrkNo()); crnThread.setResetFlag(true); } else { News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } }else { News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！" +" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO +"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast.getWrkNo().shortValue() +"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING +"、货叉位置："+crnProtocol.forkPosType+"==HOME：0 // 货叉原位：" + CrnForkPosType.HOME); } } } } // News.infoNoLog(""+mark+" - 0"+" - 堆垛机站出库到出库站 ===》执行完成"); } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecute(Integer mark) { 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) { News.error(""+mark+" - 1"+" - {}号堆垛机尚未在数据库进行维护！", crn.getId()); continue; } // //堆垛机回原点任务中 // if(crnThread.isBackHpFlag()){ // 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) { News.warnNoLog(""+mark+" - 0"+" - 开始执行堆垛机入出库作业下发"); // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { //mark - 1 - .... this.crnStnToLoc(crn, crnProtocol,mark); // 入库 crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { //mark - 2 - .... this.locToCrnStn(crn, crnProtocol,mark); // 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,mark); // 出库 crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc(crn, crnProtocol,mark); // 入库 crnProtocol.setLastIo("O"); } } } // 库位移转 //mark - 3 - .... this.locToLoc(crn, crnProtocol,mark); // this.crnRebackHp(crnProtocol, crnThread); } // News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成"); } /** * 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; } News.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) 9999); // 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))) { News.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,Integer mark) { News.warnNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发：执行入库"); 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) { News.infoNoLog(""+mark+" - 1"+" - 1"+" - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol="+staProtocol); continue; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { News.error(""+mark+" - 1"+" - 2"+" - 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) { News.errorNoLog(""+mark+" - 1"+" - 3"+" - 堆垛机入库站信息(以下需要全true):" +"自动信号"+staProtocol.isAutoing()+"有物信号"+staProtocol.isLoading() +"工作号>0"+staProtocol.getWorkNo()+"可入信号"+staProtocol.isInEnable() +"能入信号（wms设置）.equals(\"Y\")"+staDetl.getCanining()); 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) { News.infoNoLog(""+mark+" - 1"+" - 4"+" - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo()); // 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) { News.error(""+mark+" - 1"+" - 5"+" - 查询库存无数据--库位号{}", wrkMast.getLocNo()); continue; } if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) { News.error(""+mark+" - 1"+" - 6"+" - 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) { // News.infoNoLog(""+mark+" - 1"+" - 7"+" - 堆垛机控制过滤:堆垛机是否空闲={}，任务号={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo()); 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())) { News.warnNoLog(""+mark+" - 1"+" - 8"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}",wrkMast.getWrkNo()); 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")) { News.warnNoLog(""+mark+" - 1"+" - 9"+" - // 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！库位状态={}",shallowLoc.getLocSts()); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null == waitWrkMast) { News.error(""+mark+" - 1"+" - 10"+" - {}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) { News.error(""+mark+" - 1"+" - 11"+" - 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")) { News.warnNoLog(""+mark+" - 1"+" - 12"+" - // F、D 库位状态={}",shallowLoc.getLocSts()); // 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,mark); // 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")) { News.warnNoLog(""+mark+" - 1"+" - 13"+" - // Q 库位状态={}",shallowLoc.getLocSts()); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) { News.infoNoLog(""+mark+" - 1"+" - 14"+" - // F、D 工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts()); continue; } } } News.warnNoLog(""+mark+" - 1"+" - 15"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue() ,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue() ,locMast.getRow1().shortValue(),locMast.getBay1().shortValue(),locMast.getLev1().shortValue()); // 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 crnCommand.setTraySize(locMast.getLocType1() == 2); if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error(""+mark+" - 1"+" - 16"+" - 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) { News.error(""+mark+" - 1"+" - 17"+" - 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()); } } } News.infoNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发 ： 入库执行完毕"); } /** * 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,Integer mark) { News.warnNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：执行出库"); 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) { News.error(""+mark+" - 2"+" - 1"+" - 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")) { News.error(""+mark+" - 2"+" - 2"+" - 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) { News.infoNoLog(""+mark+" - 2"+" - 3"+" - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol="+staProtocol); 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) { // News.infoNoLog(""+mark+" - 2"+" - 4"+" - 入出库模式（此处出库方法，出库模式继续=="+devpThread.ioModeOf2F); // continue; // } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { News.error(""+mark+" - 2"+" - 5"+" - 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())) { News.warnNoLog(""+mark+" - 2"+" - 6"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}",wrkMast.getWrkNo()); 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")) { News.warnNoLog(""+mark+" - 2"+" - 7"+" - // 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！库位状态={}",shallowLoc.getLocSts()); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null == waitWrkMast) { News.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) { News.error(""+mark+" - 2"+" - 8"+" - 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")) { News.warnNoLog(""+mark+" - 2"+" - 9"+" - // F、D 库位状态={}",shallowLoc.getLocSts()); // 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,mark); } News.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")) { News.warnNoLog(""+mark+" - 2"+" - 10"+" - // Q、S 库位状态={}",shallowLoc.getLocSts()); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) { News.infoNoLog(""+mark+" - 2"+" - 11"+" - // F、D 工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts()); continue; } } } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { break; // return; } News.warnNoLog(""+mark+" - 2"+" - 12"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue() ,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue() ,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue()); // 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 crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error(""+mark+" - 2"+" - 13"+" - 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) { News.error(""+mark+" - 2"+" - 14"+" - 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; } } } } News.infoNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发 ： 出库执行完毕"); } // /** // * 出库 ===>> 库位到堆垛机站 // */ // public 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()); // 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) { // continue; // } else { // staProtocol = staProtocol.clone(); // } // //// // 入出库模式判断 //// if (devpThread.ioMode != 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()); // 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; // } // // // 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")) { // // 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"); // wrkMastMapper.updateById(wrkMast); // // 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) // moveLocForDeepLoc(slave, shallowLoc); // } // log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo()); // continue; // } // } // // // 已经存在吊车执行任务时，则过滤 // if (wrkMastMapper.selectWorking(slave.getId()) != null) { // 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()); // } // } // } // } // } /** * 库位移转 */ public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) { // 获取工作档信息 WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId()); if (null == wrkMast) { return; } News.warnNoLog(""+mark+" - 3"+" - 0"+" - 堆垛机入出库作业下发：执行库位移转"); // 获取源库位信息 LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); if (null == sourceSta) { News.error(""+mark+" - 3"+" - 1"+" - 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) { News.error(""+mark+" - 3"+" - 2"+" - 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; } if(sta.getLocType1() != sourceSta.getLocType1()){ News.error("移库目标库位类型与源库位类型不符"); 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; } News.warnNoLog(""+mark+" - 3"+" - 3"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue() ,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue() ,sta.getRow1().shortValue(),sta.getBay1().shortValue(),sta.getLev1().shortValue()); // 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 crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error(""+mark+" - 3"+" - 4"+" - 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) { News.error(""+mark+" - 3"+" - 5"+" - 【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()); } } News.infoNoLog(""+mark+" - 3"+" - 0"+" - 堆垛机入出库作业下发：库位移转完成"); } /** * 执行对工作档的完成操作 */ public synchronized void storeFinished(Integer mark) { 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) { News.warnNoLog(""+mark+" - 0"+" - 开始执行对工作档的完成操作"); if (crnProtocol.getTaskNo() == 9999) { // 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) { News.error(""+mark+" - 1"+" - 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 News.warnNoLog(""+mark+" - 2"+" - 修改成功后复位堆垛机 : 堆垛机号={}",crnThread.getCrnProtocol().getCrnNo()); crnThread.setResetFlag(true); } } } } // News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成"); } /** * 堆垛机异常信息记录 */ public synchronized void recCrnErr(Integer mark) { 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) { News.warnNoLog(""+mark+" - 1"+" - 开始执行：堆垛机异常信息记录 ： 有任务，有异常"); 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)) { News.error(""+mark+" - 2"+" - 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)) { News.error(""+mark+" - 3"+" - 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) { News.warnNoLog(""+mark+" - 4"+" - 开始执行：堆垛机异常信息记录 ： 无任务，有异常"); // 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)) { News.error(""+mark+" - 5"+" - 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)) { News.error(""+mark+" - 6"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } } } } // News.infoNoLog(""+mark+" - 0"+" - 堆垛机异常信息记录执行完成"); } // ------------------------------------------------------------------------------- /** * 空栈板初始化入库,叉车入库站放货 */ public synchronized void storeEmptyPlt(Integer mark) { for (DevpSlave devp : slaveProperties.getDevp()) { // 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(); } LedThread ledThread = null; if (!Cools.isEmpty(emptyInSta.getLed())) { ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed()); } if (!staProtocol.isLoading()){ continue; } // 站点条件判断 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && staProtocol.isPakMk() && (staProtocol.getWorkNo() !=0 && staProtocol.getWorkNo() > 9700) ) { News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货"); 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(staProtocol.getSiteId().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.error("输送线下发6："+dto.getWorkNo()+","+staProtocol.getSiteId()); if (!result) { News.errorNoLog(""+mark+" - 1"+" - 更新plc站点信息失败"); throw new CoolException("更新plc站点信息失败"); } if (ledThread != null) { // 命令集合 List commands = new ArrayList<>(); // 组装命令 LedCommand ledCommand = new LedCommand(); ledCommand.setWorkNo(dto.getWorkNo()); ledCommand.setIoType(1); ledCommand.setTitle("全板入库"); ledCommand.setLocNo(dto.getLocNo()); ledCommand.setStaNo(dto.getStaNo()); commands.add(ledCommand); MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(1, commands)); // ledThread.errorReset(); } } else { // staProtocol.setWorkNo(wrkNo++); // staProtocol.setStaNo(emptyInSta.getBackSta().shortValue()); // devpThread.setPakMk(staProtocol.getSiteId(), false); // boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // if (!result) { // News.errorNoLog(""+mark+" - 2"+" - 更新plc站点信息失败"); // throw new CoolException("更新plc站点信息失败"); // } // if (ledThread != null) { String errorMsg = jsonObject.getString("msg"); if (!Cools.isEmpty(errorMsg)) { MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg)); } } // News.error(""+mark+" - 3"+" - 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(); } } else { News.errorNoLog(""+mark+" - 4"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isAutoing()+"、可入信号：" + staProtocol.isInEnable() +"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo() +"、锁定标记"+ staProtocol.isPakMk()); } } } // News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成"); } /** * 出库 ===>> 工作档信息写入led显示器 */ public synchronized void ledExecute(Integer mark) { 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) { 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: 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: News.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.setStaNo(wrkMast.getStaNo()); ledCommand.setBarcode(wrkMast.getBarcode()); if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) { List wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo()); wrkDetls.forEach(wrkDetl -> { Double total = 0.0; EntityWrapper wrapper = new EntityWrapper<>(); LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr())); if (Cools.isEmpty(locDetl)) { total = wrkDetl.getAnfme(); } else { total = locDetl.getAnfme(); } if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total)); } if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total)); } if (wrkMast.getIoType() == 107) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total)); } }); } 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 (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) { News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); continue; } } 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) { reset = false; break; } } // 获取led线程 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId()); // led显示默认内容 if (reset) { if (ledThread == null) { continue; } ledThread.errorReset(); if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) { News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); } } } } /** * 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,Integer mark) { try { News.warnNoLog(""+mark+"moveLocForDeepLoc"+" - 0"+" - 开始执行:因双深库位阻塞，对浅库位进行移转（立即执行版)"); 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) { News.error(""+mark+"moveLocForDeepLoc"+" - 1"+" - 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) { News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 2"+" - 保存工作档失败"); 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)) { News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 3"+" - 保存工作档明细失败"); 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)) { News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 4"+" - 更新源库位状态失败"); throw new CoolException("更新源库位状态失败"); } } else { News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 5"+" - 源库位出库失败"); 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)) { News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 6"+" - 更新目标库位状态失败"); throw new CoolException("更新目标库位状态失败"); } } else { News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 7"+" - 移转失败"); throw new CoolException("移转失败"); } } catch (Exception e) { News.error(""+mark+"moveLocForDeepLoc"+" - 8"+" - 双深库位阻塞，对浅库位进行移转失败", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 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) { News.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) { News.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) { News.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()); } News.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) { News.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) { News.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()); } News.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(Integer mark) { List wrkMasts = wrkMastMapper.selectPick(); if (wrkMasts.size()!=0){ News.warnNoLog(""+mark+" - 0"+" - 开始执行outOfDevp"); } for (WrkMast wrkMast : wrkMasts) { if (basDevpService.selectCount(new EntityWrapper().eq("wrk_no", wrkMast.getWrkNo())) == 0) { wrkMast.setCtnNo("Y"); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error(""+mark+" - 1"+" - 修改{}工作档失败，ctn_no", wrkMast.getWrkNo()); } } } // News.infoNoLog(""+mark+" - 0"+" - outOfDevp执行完成"); } public synchronized void autoEmptyOut() { SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); List list = new ArrayList<>(); list.add(101);list.add(112); Map map = new HashMap<>(); map.put(101,102);map.put(112,111); for (Integer site:list){ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper().eq("sta_no", map.get(site))); if (!Cools.isEmpty(wrkMast)){ continue; } //如果站点可出禁用，则不生成空盘出库任务 StaProtocol staProtocol = devpThread.getStation().get(site); 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(site); if (null != pakoutEmpty) { return; } Short loctype1 = 1; if (site == 101){ loctype1 = 2; } LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1); locTypeDto.setSiteId(site); try { String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/auto/emptyOut/v1") .setJson(JSON.toJSONString(locTypeDto)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { String data = jsonObject.get("data").toString(); News.info((String) jsonObject.get("msg")+","+data); } else { News.warnNoLog("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() { SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); List list = new ArrayList<>(); list.add(153);list.add(157); for (Integer site:list){ StaProtocol staProtocol = devpThread.getStation().get(site); if (staProtocol == null) { return; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() //自动 && staProtocol.isLoading() //有物 && staProtocol.isInEnable() //可入信号 && staProtocol.isPakMk() && (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 { Short loctype1 = 1; if (site == 153){ loctype1 = 2; } LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1); locTypeDto.setSiteId(site); 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)) { News.info((String) jsonObject.get("msg")); staProtocol.setWorkNo(jsonObject.get("data").hashCode()); staProtocol.setStaNo(site.shortValue()); devpThread.setPakMk(site,false); MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol)); } else { News.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(); } } } } /* * 小车地图更新 更新锁 * */ public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,String sign){ // 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); Integer i = basRgvMapMapper.updateById(basRgvMapCurrent); // if (i>0){ log.error("{}:==>{}:{}号车更新结束锁,{}",sign,new Date(),basRgvMapCurrent.getRgvNo(),JSON.toJSONString(basRgvMapCurrent)); // } //更新另一台小车地图 Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther(basRgvMapCurrent.getRgvNo()); 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); Integer i1 = basRgvMapMapper.updateById(basRgvMapOther); // if (i1>0){ log.error("{}:==>{}:{}号车更新结束位置,{}",sign,new Date(),basRgvMapOther.getRgvNo(),JSON.toJSONString(basRgvMapOther)); // } return true; }catch (Exception e){ log.error("小车地图更新出错！"); return false; } } /* * 刷新地图数据 * */ public synchronized void refreshRgvMap() { try{ List basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>()); for (BasRgvMap rgvSlave:basRgvMaps) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; }else { rgvProtocol = rgvProtocol.clone(); } BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！2", rgvSlave.getRgvNo()); 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) &&rgvThread.isPakMk() ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); Integer rgvNoOther = basRgvMap.getRgvNoOther(rgvProtocol.getRgvNo()); RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther); RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol(); if (rgvProtocolOther == null) { continue; }else { rgvProtocolOther = rgvProtocolOther.clone(); } if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE && rgvProtocolOther.getModeType() == RgvModeType.AUTO && rgvProtocolOther.getLoaded1()==0 && (rgvProtocolOther.getTaskNo1()==0) &&rgvThreadOther.isPakMk() ){ //对工作档进行判断 basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); if (rgvProtocol.getTaskNo1() >0 && rgvProtocol.getTaskNo1()<=9000){ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue()); rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2366"); }else if (rgvProtocol.getTaskNo1() == 0){ rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2366"); } } } } }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); } } /** * 完成小车任务 */ public synchronized void rgvCompleteWrkMastSta() { try{ for (DevpSlave devp : slaveProperties.getDevp()) { List basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>()); for (BasRgvMap rgvSlave:basRgvMaps) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; }else { rgvProtocol = rgvProtocol.clone(); } BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！3", rgvSlave.getRgvNo()); continue; } // 只有当RGV等待WCS确认、自动 if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING) && rgvProtocol.getModeType() == RgvModeType.AUTO && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1) ){ log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol); if (rgvProtocol.getTaskNo1()!=0){ if (rgvProtocol.getTaskNo1()==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(),"2415"); rgvThread.setPakMk(true); break; } WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue()); if (Cools.isEmpty(wrkMastSta) || 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; } SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (!staProtocol.isAutoing() || !staProtocol.isLoading()){ continue; } WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue()); if (!Cools.isEmpty(wrkMast)){ if (!staProtocol.isPakMk()){ continue; } // 下发站点信息 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo()); if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) { continue; } }else { log.error("rgv任务完成给输送线下发命令,但未查询到工作档"); // 下发站点信息 Map map = new HashMap<>(); map.put(101,102);map.put(112,111); map.put(100,100); staProtocol.setWorkNo(rgvProtocol.getTaskNo1().intValue()); staProtocol.setStaNo(map.get(rgvProtocol.getRgvPosI()).shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); // log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo()); if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) { continue; } } boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo()); // boolean rgvComplete = true; if (!rgvComplete){ log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo()); break; } WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1().intValue()); wrkMast1.setUpdMk("Y"); wrkMastService.updateById(wrkMast1); wrkMastSta.setWrkSts(3); wrkMastStaMapper.updateById(wrkMastSta); BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471"); rgvThread.setPakMk(true); } 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); } } /** * 执行小车搬运任务 */ public synchronized void rgvRunWrkMastFullSta() { boolean wrkEnable = false; try{ List basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>()); for (BasRgvMap rgvSlave:basRgvMaps) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; }else { rgvProtocol = rgvProtocol.clone(); } BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！4", rgvSlave.getRgvNo()); 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 && rgvProtocol.getTaskNo1() == 0 ) { 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()!=0 || wrkMastSta.getWrkType()!=3){//1:满版 3：取放 continue; } boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发 wrkEnable = true; if (sign){ rgvThread.setPakMk(false); boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526"); if (signMap){ Thread.sleep(300); wrkMastSta.setWrkSts(1); try{ wrkMastStaMapper.updateById(wrkMastSta); return; }catch (Exception e){ log.error("更新小车任务失败"); } break; }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; } } } if (!wrkEnable){ rgvRunWrkMastEmptyStaAvoidance(); } }catch (Exception e){ log.error("3875行执行小车搬运任务下发失败"); log.error("3875行"+e); } } /** * 执行小车搬运任务 */ // public synchronized void rgvRunWrkMastEmptyStaPut() {//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！5", 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.getLoaded1()==1 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接 // ) { // 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 && wrkMastSta.getWrkType()!=4)){// 2:空板 2:放 4：拆盘 // continue; // } // boolean sign = false; // if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//放 // sign = rgvPutEmpty(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; // }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); // } // } // public synchronized void rgvRunWrkMastEmptyStaTake() {//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！6", 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.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 // ) { // 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 1:取 // continue; // } // boolean sign = false; // if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//取 // sign = rgvTakeEmpty(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; // }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); // } // } /* * 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; } List basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>()); for (BasRgvMap rgvSlave:basRgvMaps) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; }else { rgvProtocol = rgvProtocol.clone(); } BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！1", rgvSlave.getRgvNo()); 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.getStatusType1() == RgvStatusType.IDLE // && rgvProtocol.getTaskNo2()==0 ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){ continue; } // if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){ // continue; // } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157) ){ // continue; // } rgvAvoidanceXY(rgvProtocol.getRgvNo()); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727"); } } }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){ BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId); if (basRgvMap.getStartRoute() == 100 || basRgvMap.getStartRoute() == 101){ 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((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(basRgvMap.getStartRoute().shortValue()); 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{ // 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(basRgvMap.getStartRoute().shortValue()); 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; } } } /* * 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 * */ // 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.Crn, 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 * */ // 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.Crn, 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; } } }