package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.Cools; import com.core.exception.CoolException; import com.zy.asrs.controller.CrnController; import com.zy.asrs.domain.enums.TaskStatusType; import com.zy.asrs.domain.enums.WorkNoType; import com.zy.asrs.domain.param.CrnOperatorParam; import com.zy.asrs.entity.*; import com.zy.asrs.mapper.*; import com.zy.asrs.service.*; import com.zy.asrs.utils.CommandUtils; import com.zy.asrs.utils.RouteUtils; import com.zy.asrs.utils.Utils; import com.zy.common.service.CommonService; import com.zy.common.utils.HttpHandler; import com.zy.core.CrnThread; import com.zy.core.DevpThread; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.*; import com.zy.core.model.CrnSlave; import com.zy.core.model.DevpSlave; import com.zy.core.model.RgvSlave; import com.zy.core.model.Task; import com.zy.core.model.command.CrnCommand; 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.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.io.IOException; import java.util.*; /** * 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 { @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastMapper wrkMastMapper; @Autowired private LocMastService locMastService; @Autowired private BasCrnpService basCrnpService; @Autowired private BasDevpService basDevpService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Autowired private TaskWrkMapper taskWrkMapper; @Autowired private TaskWrkService taskWrkService; @Autowired private StaDescMapper staDescMapper; @Autowired private StaDescService staDescService; @Autowired private ApiLogService apiLogService; @Autowired private CommonService commonService; @Autowired private BasRgvService basRgvService; @Autowired private WrkMastStaMapper wrkMastStaMapper; @Autowired private BasRgvMapMapper basRgvMapMapper; @Value("${wms.url}") private String wmsUrl; @Value("${wms.inboundTaskApplyPath}") private String inboundTaskApplyPath; @Value("${wms.movePath}") private String movePath; @Value("${wms.taskStatusFeedbackPath}") private String taskStatusFeedbackPath; @Autowired private CrnController crnController; @Value("${wms.rgvOpen}") private boolean rgvOpen; public void generateStoreWrkFile() throws IOException, InterruptedException { try { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } Integer workNo = staProtocol.getWorkNo(); Integer stano = staProtocol.getStaNo(); // 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) { if (stano == inSta.getBackSta().shortValue()){ continue; } if (workNo == 0 && stano == 0){ continue; } if (!staProtocol.isPakMk()){ continue; } // News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg); staProtocol.setWorkNo(workNo); staProtocol.setStaNo(inSta.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo)); if (taskWrk != null) { taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示 taskWrk.setModiTime(new Date()); taskWrkMapper.updateById(taskWrk); } continue; } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (workNo == 9991 ) && staProtocol.isPakMk()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode()); if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); if(!Cools.isEmpty(barcode) && !barcode.equals("99999999")) { // 请求wms接口，获取工作号和目标库位 ToWmsDTO toWmsDTO = new ToWmsDTO(barcode,staProtocol.getSiteId(),staProtocol.isHigh() ? 2 : 1); TaskWrk taskWrk1=taskWrkService.selectOne(new EntityWrapper().eq("barcode",barcode)); if(!Cools.isEmpty(taskWrk1)){ log.info("托盘码："+barcode+"任务档存在"); if (taskWrk1.getIoType()==1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())){ StaDesc staDesc = staDescService.selectOne(new EntityWrapper() .eq("crn_no", taskWrk1.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId())); if (Cools.isEmpty(staDesc)){ log.info("托盘码："+barcode+"任务档存在"); return; }else { staProtocol.setWorkNo(taskWrk1.getWrkNo()); staProtocol.setStaNo(staDesc.getCrnStn()); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); } } return; } HashMap headParam = new HashMap<>(); headParam.put("Content-Type","application/json"); String response; try{ response = new HttpHandler.Builder() // .setHeaders(headParam) .setUri(wmsUrl) .setPath(inboundTaskApplyPath) .setJson(JSON.toJSONString(toWmsDTO)) .build() .doPost(); }catch (Exception e){ log.error("请求入库调用接口失败"); log.error("异常信息打印："+e); try{ BasDevp basDevp = basDevpService.selectById(inSta.getStaNo()); if (Cools.isEmpty(basDevp)){ log.error("站点号异常"+inSta.getStaNo()); } else if (basDevp.getStaErr()!=0){ basDevp.setStaErr(2); basDevpService.updateById(basDevp); } }catch (Exception e1){ // 退回 log.error("扫码检测程序异常"+inSta.getStaNo()+"异常信息"+e1); } staProtocol.setWorkNo(9999); staProtocol.setStaNo(inSta.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo)); // if (taskWrk != null) { // taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示 // taskWrkMapper.updateById(taskWrk); // } continue; } JSONObject jsonObject = JSON.parseObject(response); apiLogService.save("wms请求入库货位接口" ,wmsUrl+inboundTaskApplyPath ,null ,"127.0.0.1" ,JSON.toJSONString(toWmsDTO) ,response ,true ); log.info("入库请求参数{}" + JSON.toJSONString(toWmsDTO)); log.info("入库请求返回参数{}" + JSON.toJSONString(response)); if (jsonObject.getInteger("code").equals(200) && !Cools.isEmpty(jsonObject.get("data").toString())) { GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class); try{ BasDevp basDevp = basDevpService.selectById(inSta.getStaNo()); if (Cools.isEmpty(basDevp)){ log.error("站点号异常1"+inSta.getStaNo()); throw new CoolException("站点号异常1,未查询到站点信息"+inSta.getStaNo()); } Integer staNoCrnNo = Utils.StaNoCrnNo(inSta.getStaNo()); if (staNoCrnNo==0){ basDevp.setStaErr(1); basDevpService.updateById(basDevp); log.error("站点号异常2"+inSta.getStaNo()); throw new CoolException("站点号异常2,站点号不存在"+inSta.getStaNo()); }else { LocMast locMast = locMastService.selectOne(new EntityWrapper() .eq("crn_no", staNoCrnNo.longValue()) .eq("loc_no", getWmsDto.getLocNo())); if (Cools.isEmpty(locMast)){ basDevp.setStaErr(1); basDevpService.updateById(basDevp); log.error("站点号异常3"+inSta.getStaNo()); throw new CoolException("站点号异常3：此巷道不存在目标库位"+inSta.getStaNo()); } } } catch (Exception e){ // log.error("扫码检测程序异常"+inSta.getStaNo()+"异常信息"+e); // 退回 log.error("扫码检测程序异常"+inSta.getStaNo()+errMsg); log.error("扫码检测程序异常,异常信息"+e); staProtocol.setWorkNo(9999); staProtocol.setStaNo(inSta.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo)); // if (taskWrk != null) { // taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示 // taskWrkMapper.updateById(taskWrk); // } continue; } //查看该库位是否为空库位 LocMast locMast=locMastService.selectOne(new EntityWrapper() .eq("loc_sts","O") .eq("loc_no",getWmsDto.getLocNo())); if(Cools.isEmpty(locMast)){ try{ HashMap headParam1 = new HashMap<>(); headParam1.put("taskNo",getWmsDto.getTaskNo()); headParam1.put("status",6); headParam1.put("ioType",1); headParam1.put("barcode",barcode); String response2; response2 = new HttpHandler.Builder() // .setHeaders(headParam) .setUri(wmsUrl) .setPath(taskStatusFeedbackPath) .setJson(JSON.toJSONString(headParam1)) .build() .doPost(); JSONObject jsonObject1 = JSON.parseObject(response2); apiLogService.save("wcs派发库位==》不为空《==上报wms" ,wmsUrl+taskStatusFeedbackPath ,null ,"127.0.0.1" ,JSON.toJSONString(headParam1) ,response ,true ); }catch (Exception e){ log.error("wcs派发库位==》不为空《==上报wms", getWmsDto.getWrkNo()); throw new CoolException("wcs派发入库任务上报wms失败,派发库位==》不为空《==，异常信息："+e); } } // 创新一个入库工作档 TaskWrk taskWrk = taskWrkService.selectByTaskNo(getWmsDto.getWrkNo()); if(Cools.isEmpty(taskWrk)) { taskWrk = createTask(getWmsDto,barcode); if (Cools.isEmpty(taskWrk)){ log.error("库位异常，库位号：{}", getWmsDto.getTargetLocationCode()); }else { taskWrkService.insert(taskWrk); StaDesc staDesc = staDescService.selectOne(new EntityWrapper() .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId())); staProtocol.setWorkNo(taskWrk.getWrkNo()); staProtocol.setStaNo(staDesc.getCrnStn()); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); } } }else { continue; } } else { // 退回 log.error("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg); staProtocol.setWorkNo(9999); staProtocol.setStaNo(inSta.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo)); if (taskWrk != null) { taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示 taskWrk.setModiTime(new Date()); taskWrkMapper.updateById(taskWrk); } } } } } } catch (Exception e) { log.error("generateStoreWrkFile e", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 堆垛机站出库到出库站 */ public void crnStnToOutStn() { for (CrnSlave crnSlave : slaveProperties.getCrn()) { // 遍历堆垛机出库站 for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) { List staDescs = staDescMapper.selectList(new EntityWrapper().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo())); for (StaDesc staDesc : staDescs){ try{ // 获取堆垛机出库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) { // 查询工作档 TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString()); if (taskWrk == null) { continue; } log.info("下发输送线任务：taskWrk:"+JSON.toJSONString(taskWrk)); // R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false); staProtocol.setWorkNo(taskWrk.getWrkNo()); staProtocol.setStaNo(staDesc.getCrnStn()); boolean offer = false; try{ offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol)); }catch (Exception e){ log.error("下发输送线任务失败：异常:"+e); log.error("下发输送线任务失败：异常:offer:"+offer); } // JSONObject jsonObject = JSON.parseObject(JSON.toJSONString(r)); if (offer){ log.info("下发输送线任务成功：taskWrk:"+JSON.toJSONString(taskWrk)); Date now = new Date(); taskWrk.setStatus(5); taskWrk.setWrkSts(14); taskWrk.setModiTime(now); taskWrk.setCompleteTime(now); taskWrkService.updateById(taskWrk); }else { log.error("下发输送线任务失败：taskWrk:"+JSON.toJSONString(taskWrk)); // log.error("下发输送线任务失败：异常信息:"+JSON.toJSONString(r)); } } }catch (Exception e){ log.error("出库到出库站异常:异常信息："+e); } } } } } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecute() throws IOException { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } BasCrnp basCrnp = basCrnpService.selectById(crn.getId()); if (basCrnp == null) { log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId()); continue; } // 库位移转 this.locToLoc(crn, crnProtocol); // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) { // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc(crn, crnProtocol); // 入库 crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn(crn, crnProtocol); // 出库 crnProtocol.setLastIo("I"); } } // 如果最近一次是出库模式 else if (crnProtocol.getLastIo().equals("O")) { if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn(crn, crnProtocol); // 出库 crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc(crn, crnProtocol); // 入库 crnProtocol.setLastIo("O"); } } } } } /** * 入库 ===>> 堆垛机站到库位 */ public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException { for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) { List staDescs = staDescMapper.selectList(new EntityWrapper().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo())); for (StaDesc staDesc : staDescs) { boolean flag = false; // 获取堆垛机入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable() && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) { flag = true; } if (!flag) { continue; } // 获取工作状态为2（设备上走）的入库工作档 TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString()); if(null == taskWrk) { continue; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { continue; } // 已经存在吊车执行任务时，则过滤 if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) { continue; } // int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号 // taskWrk.setWrkNo(workNo);//工作号 Date now = new Date(); taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态 // taskWrk.setAssignTime(now);//派发时间 taskWrk.setExecuteTime(now); taskWrk.setWrkSts(3);//工作状态 3.吊车入库 taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号 taskWrk.setModiTime(now); taskWrk.setModiUser(9988L); // //取出命令 // List commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo()); // Integer commandStep = taskWrk.getCommandStep(); // if (commandInfos.isEmpty()) { // continue;//命令空 // } // CommandInfo commandInfo = commandInfos.get(commandStep); // CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文 // CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class); // // if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) { // log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand)); // } else { // // 修改工作档状态 2.设备上走 => 3.吊车入库中 // Date now = new Date(); // taskWrk.setWrkSts(3); // taskWrk.setModiTime(now); // if (taskWrkMapper.updateById(taskWrk) == 0) { // log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo()); // } // //开始运行 // String response = CrnStartRunning(taskWrk); // JSONObject jsonObject = JSON.parseObject(response); // if (jsonObject.getInteger("code").equals(200)) { // // }else { // log.error("入库开始运行通讯失败,"+jsonObject.get("msg")); // // } // } // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(staDesc.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位列 crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位层 crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位排 crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列 crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位层 crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排 crnCommand.setCommand((short)1); if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) { log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand)); throw new CoolException("堆垛机命令生成失败"); }else{ try{ taskWrkService.updateById(taskWrk); }catch (Exception e){ log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo()); log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，异常："+e); } try{ HashMap headParam = new HashMap<>(); headParam.put("taskNo",taskWrk.getTaskNo()); headParam.put("status",taskWrk.getStatus()); headParam.put("ioType",taskWrk.getIoType()); headParam.put("barcode",taskWrk.getBarcode()); String response; response = new HttpHandler.Builder() // .setHeaders(headParam) .setUri(wmsUrl) .setPath(taskStatusFeedbackPath) .setJson(JSON.toJSONString(headParam)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); apiLogService.save("wcs派发入库任务上报wms" ,wmsUrl+taskStatusFeedbackPath ,null ,"127.0.0.1" ,JSON.toJSONString(headParam) ,response ,true ); } catch (Exception e){ log.error("wcs派发入库任务上报wms失败", JSON.toJSONString(taskWrk)); // throw new CoolException("wcs派发入库任务上报wms失败"); } } } // return; } } /** * 出库 ===>> 库位到堆垛机站 * 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库 */ public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){ List taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null); if (taskWrksInitial.size()==0){ return; } for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) { List staDescs = staDescMapper.selectList(new EntityWrapper().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo())); for (StaDesc staDesc : staDescs){ // 获取工作状态为11（生成出库ID）的出库工作档 List taskWrks = taskWrkMapper.selectPakOut(slave.getId(),staDesc.getStnNo().toString()); for (TaskWrk taskWrk : taskWrks){ if (taskWrk == null) { continue; } // 工作档状态判断 if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == null || taskWrk.getStartPoint() == null) { log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getStartPoint(), taskWrk.getIoType()); continue; } // 获取堆垛机出库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { break; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); break; } // 判断堆垛机出库站状态 if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y") && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) { // 命令下发区 -------------------------------------------------------------------------- // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { break; } // 已经存在吊车执行任务时，则过滤 if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) { break; } CrnCommand command = new CrnCommand(); command.setCrnNo(taskWrk.getCrnNo()); // 堆垛机编号 command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号 command.setAckFinish((short) 0); // 任务完成确认位 command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式 command.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排 command.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列 command.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层 command.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排 command.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列 command.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层 command.setCommand((short)1); if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command),false)) { log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(command)); throw new CoolException("堆垛机命令生成失败"); }else{ try{ // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); taskWrk.setWrkSts(12); taskWrk.setStatus(2); taskWrk.setModiTime(now); taskWrk.setExecuteTime(now); if (taskWrkMapper.updateById(taskWrk) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo()); } }catch (Exception e){ log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo()); log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，异常："+e); } try{ HashMap headParam = new HashMap<>(); headParam.put("taskNo",taskWrk.getTaskNo()); headParam.put("status",taskWrk.getStatus()); headParam.put("ioType",taskWrk.getIoType()); headParam.put("barcode",taskWrk.getBarcode()); String response; response = new HttpHandler.Builder() // .setHeaders(headParam) .setUri(wmsUrl) .setPath(taskStatusFeedbackPath) .setJson(JSON.toJSONString(headParam)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); apiLogService.save("wcs派发出库任务上报wms" ,wmsUrl+taskStatusFeedbackPath ,null ,"127.0.0.1" ,JSON.toJSONString(headParam) ,response ,true ); }catch (Exception e){ log.error("wcs派发出库任务上报wms失败", JSON.toJSONString(taskWrk)); // throw new CoolException("wcs派发入库任务上报wms失败"); } } } } } } } /** * 库位移转 */ public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){ for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) { // 获取工作状态为11（生成出库ID）的移库工作档 List taskWrks = taskWrkMapper.selectList( new EntityWrapper() .eq("CRN_NO",slave.getId()) .eq("WRK_STS",11) .eq("IO_TYPE",3) .orderBy("IO_PRI",false)); for (TaskWrk taskWrk : taskWrks){ // 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, taskWrk.getStartPoint())) { // String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint()); // TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo); // if (!Cools.isEmpty(hallowLocNoTask)){ // continue; // } // } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { continue; } // 已经存在吊车执行任务时，则过滤 if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) { continue; } if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("") || taskWrk.getWrkNo() == null) { continue; } // 工作档状态判断 if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) { log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType()); continue; } // 命令下发区 -------------------------------------------------------------------------- // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排 crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列 crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层 crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排 crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列 crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层 crnCommand.setCommand((short) 1); if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); taskWrk.setWrkSts(12); taskWrk.setStatus(2); taskWrk.setModiTime(now); taskWrk.setExecuteTime(now); if (taskWrkMapper.updateById(taskWrk) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo()); } try{ HashMap headParam = new HashMap<>(); headParam.put("taskNo",taskWrk.getTaskNo()); headParam.put("status",taskWrk.getStatus()); headParam.put("ioType",taskWrk.getIoType()); headParam.put("barcode",taskWrk.getBarcode()); String response; response = new HttpHandler.Builder() // .setHeaders(headParam) .setUri(wmsUrl) .setPath(taskStatusFeedbackPath) .setJson(JSON.toJSONString(headParam)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); apiLogService.save("wcs派发移库任务上报wms" ,wmsUrl+taskStatusFeedbackPath ,null ,"127.0.0.1" ,JSON.toJSONString(headParam) ,response ,true ); }catch (Exception e){ log.error("wcs派发移库库任务上报wms失败", taskWrk); // throw new CoolException("wcs派发移库库任务上报wms失败"); } } return; } } } /** * 执行对工作档的完成操作 */ public void storeFinished() throws InterruptedException { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } // 状态：等待确认 并且 任务完成位 = 1 if (!Cools.isEmpty(crnProtocol.getTaskFinish()) && crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) { //获取入库待确认工作档 TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue()); if (Cools.isEmpty(taskWrk)&&crnProtocol.getTaskNo() !=999) { log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo()); continue; } Thread.sleep(300); //确认完成信号 CrnOperatorParam crnOperatorParam=new CrnOperatorParam(); crnOperatorParam.setCrnNo(crn.getId()); Date now = new Date(); crnController.crnTaskComplete(crnOperatorParam); if(!Cools.isEmpty(taskWrk)){ if(taskWrk.getIoType()==1 && taskWrk.getWrkSts()==3){ taskWrk.setWrkSts(4);//入库完成 taskWrk.setStatus(5);//完结 //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint()); locMast.setLocSts("F");//F.在库 locMast.setBarcode(taskWrk.getBarcode());//托盘码 locMast.setModiTime(now); locMast.setModiUser(9999L); locMastService.updateById(locMast); }else if(taskWrk.getIoType()==2&&taskWrk.getWrkSts()==12){ taskWrk.setWrkSts(13);//出库完成 taskWrk.setStatus(5);//完结 //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint()); locMast.setLocSts("O");//O.空库位 locMast.setBarcode("");//托盘码 locMast.setModiTime(now); locMast.setModiUser(9999L); locMastService.updateById(locMast); }else if(taskWrk.getIoType()==3&&taskWrk.getWrkSts()==12){ taskWrk.setWrkSts(4);//入库完成 taskWrk.setStatus(5);//完结 //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint()); locMast.setLocSts("F");//F.在库 locMast.setBarcode(taskWrk.getBarcode());//托盘码 locMast.setModiTime(now); locMast.setModiUser(9999L); locMastService.updateById(locMast); LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint()); locMast1.setLocSts("O");//O.空库位 locMast1.setBarcode("");//托盘码 locMast1.setModiTime(now); locMast1.setModiUser(9999L); locMastService.updateById(locMast1); } taskWrk.setModiTime(now); taskWrk.setCompleteTime(now); taskWrkService.updateById(taskWrk); try{ HashMap headParam = new HashMap<>(); headParam.put("taskNo",taskWrk.getTaskNo()); headParam.put("status",taskWrk.getStatus()); headParam.put("ioType",taskWrk.getIoType()); headParam.put("barcode",taskWrk.getBarcode()); String response; log.error("wcs完结任务上报wms==》", headParam); response = new HttpHandler.Builder() // .setHeaders(headParam) .setUri(wmsUrl) .setPath(taskStatusFeedbackPath) .setJson(JSON.toJSONString(headParam)) .build() .doPost(); log.error("wcs完结任务上报wms==》", response); // JSONObject jsonObject = JSON.parseObject(response); // log.error("wcs完结任务上报wms==》", jsonObject); apiLogService.save("wcs派发入库任务上报wms" ,wmsUrl+taskStatusFeedbackPath ,null ,"127.0.0.1" ,JSON.toJSONString(headParam) ,response ,true ); }catch (Exception e){ log.error("wcs完结任务上报wms失败", taskWrk); log.error("wcs完结任务上报wms失败,报错信息：", e); // throw new CoolException("wcs派发入库任务上报wms失败"); } } } } } /** * 堆垛机异常信息记录 */ public void recCrnErr(){ Date now = new Date(); for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } if (false) { // if (crnProtocol.getModeType() != CrnModeType.STOP) { // 有任务 if (crnProtocol.getTaskNo() != 0) { BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue()); // 有异常 if (latest == null) { if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) { WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo()); if (wrkMast == null) { continue; } BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm()); String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName(); BasErrLog basErrLog = new BasErrLog( null, // 编号 wrkMast.getWrkNo(), // 工作号 now, // 发生时间 null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 crn.getId(), // 堆垛机 null, // plc wrkMast.getLocNo(), // 目标库位 wrkMast.getStaNo(), // 目标站 wrkMast.getSourceStaNo(), // 源站 wrkMast.getSourceLocNo(), // 源库位 wrkMast.getBarcode(), // 条码 (int) crnProtocol.getAlarm(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "任务中异常" // 备注 ); if (!basErrLogService.insert(basErrLog)) { log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName); } } } else { // 异常修复 if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basErrLogService.updateById(latest)) { log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } // 无任务 } else { BasErrLog latest = basErrLogService.findLatest(crn.getId()); // 有异常 if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) { // 记录新异常 if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) { BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm()); String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName(); BasErrLog basErrLog = new BasErrLog( null, // 编号 null, // 工作号 now, // 发生时间 null, // 结束时间 null, // 工作状态 null, // 入出库类型 crn.getId(), // 堆垛机 null, // plc null, // 目标库位 null, // 目标站 null, // 源站 null, // 源库位 null, // 条码 (int)crnProtocol.getAlarm(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "无任务异常" // 备注 ); if (!basErrLogService.insert(basErrLog)) { log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName); } } // 无异常 } else { // 异常修复 if (latest != null && latest.getStatus() == 1) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basErrLogService.updateById(latest)) { log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } } } } } private TaskWrk createTask(GetWmsDto dto, String barcode){ String wcsLocNo = dto.getLocNo(); if(Cools.isEmpty(wcsLocNo)){ return null; } Date now = new Date(); TaskWrk taskWrk = new TaskWrk(); int workNo1 = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号 taskWrk.setTaskNo(dto.getWrkNo());//任务号 taskWrk.setWrkNo(workNo1); taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收 taskWrk.setCreateTime(now); taskWrk.setAssignTime(now); taskWrk.setModiTime(now); taskWrk.setModiUser(5555L); taskWrk.setIoType(1);//任务类型 taskWrk.setIoPri(Cools.isEmpty(dto.getTaskPriority()) ? 300 : Integer.parseInt(dto.getTaskPriority()));//优先级 taskWrk.setBarcode(barcode);//条码 LocMast locMast = locMastService.selectByLocNo(wcsLocNo); taskWrk.setCrnNo(locMast.getCrnNo()); taskWrk.setTargetPoint(wcsLocNo); taskWrk.setStartPoint(dto.getStaNo().toString()); if(taskWrk.getIoType() == 1){ taskWrk.setWrkSts(2); if (!Cools.isEmpty(taskWrk.getTargetPoint())) { taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint()); } // } else if (param.getIoType() == 2) { // taskWrk.setWrkSts(11); // if (!Cools.isEmpty(param.getStartPoint())) { // taskWrk.setStartPoint(Utils.getWcsLocNo(param.getStartPoint()));//起点 // taskWrk.setOriginStartPoint(param.getStartPoint()); // } // taskWrk.setTargetPoint(param.getTargetPoint()); // }else if (param.getIoType() == 3){ // taskWrk.setWrkSts(11); // if (!Cools.isEmpty(param.getStartPoint())) { // taskWrk.setStartPoint(param.getStartPoint());//起点 // taskWrk.setOriginStartPoint(param.getStartPoint()); // } } return taskWrk; } /** * 完成小车任务 */ public synchronized void rgvCompleteWrkMastSta() { try{ for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV等待WCS确认、自动 if (rgvProtocol.getStatusType() == RgvStatusType.WORKING && rgvProtocol.getModeType() == RgvModeType.AUTO && ((rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.WAITING ) || (rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING )) ) { log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol); if (rgvProtocol.getTaskNo1()!=0 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){ if (rgvProtocol.getTaskNo1()==(short)32222){ boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo()); if (!rgvComplete){ log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo()); } BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute()); break; } WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue()); if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1 || wrkMastSta.getWrkSts()!=1){ log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta); continue; } /* WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue()); if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){ Thread.sleep(200); SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (!staProtocol.isAutoing() || !staProtocol.isLoading()){ continue; } // 下发站点信息 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo()); if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) { continue; } log.error("小车任务完成下发输送线任务："+staProtocol); // try{ // Thread.sleep(1000); // DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); // StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd()); // log.error("小车任务完成读取输送线任务："+staProtocolEnd); // if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo()) // staProtocolEnd.setWorkNo(wrkMast.getWrkNo()); // staProtocolEnd.setStaNo(wrkMast.getStaNo()); // if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) { // continue; // } // log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd); // } // }catch (Exception e){ // // } }*/ boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo()); if (!rgvComplete){ log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo()); break; } wrkMastSta.setWrkSts(3); wrkMastStaMapper.updateById(wrkMastSta); BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute()); }else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){ if (rgvProtocol.getTaskNo2()==(short)32222){ boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo()); if (!rgvComplete){ log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo()); } BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute()); break; } WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().longValue()); if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=2){ log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta); continue; } /*WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue()); if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){ Thread.sleep(200); DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd()); if (!staProtocol.isAutoing() || !staProtocol.isLoading()){ continue; } // 下发站点信息 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo()); if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) { continue; } log.error("小车任务完成下发输送线任务："+staProtocol); // try{ // Thread.sleep(1000); // DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); // StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd()); // log.error("小车任务完成读取输送线任务："+staProtocolEnd); // if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo()) // staProtocolEnd.setWorkNo(wrkMast.getWrkNo()); // staProtocolEnd.setStaNo(wrkMast.getStaNo()); // if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) { // continue; // } // log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd); // } // }catch (Exception e){ // // } }*/ boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo()); if (!rgvComplete){ log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo()); break; } wrkMastSta.setWrkSts(3); wrkMastStaMapper.updateById(wrkMastSta); BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute()); }else { log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo()); } } } }catch (Exception e){ log.error("小车复位线程报错！"+e); } } /** * 入出库 ===>> 小车作业下发 */ public synchronized boolean rgvIoExecute(Integer sign) { boolean rgvIoExecuteSign = false; try{ for (RgvSlave rgvSlave:slaveProperties.getRgv()) { // 获取小车信息 boolean signWork = false; RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV空闲、自动,工位一无物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getLoaded1()==0 && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 ) { switch (sign){ //执行小车货物搬运任务 case 1: signWork = rgvRunWrkMastFullSta(rgvSlave); break; //执行小车空板搬运任务 case 2://放//拆盘 signWork = rgvRunWrkMastEmptyStaPut(rgvSlave); break; case 3://满放 signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave); break; case 4://取叠盘 signWork = rgvRunWrkMastEmptyStaTake(rgvSlave); break; case 6:////提升 // signWork = qwe(); break; default: break; } for (int signCount = 1;!signWork && signCount<7;signCount++){ switch (signCount){ case 1://执行小车货物搬运任务 signWork = rgvRunWrkMastFullSta(rgvSlave); break; case 2://放//拆盘 signWork = rgvRunWrkMastEmptyStaPut(rgvSlave); break; case 3://满放 signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave); break; case 4://取叠盘 signWork = rgvRunWrkMastEmptyStaTake(rgvSlave); break; case 6:////提升 // signWork = rgvRunWrkMastEmptyStaPut(); break; default: break; } } }else { continue; } if (!rgvIoExecuteSign){ rgvIoExecuteSign = signWork; } } // if (!rgvIoExecuteSign){ // if (sign>6){ // // } // } }catch (Exception e){ log.error("RGV小车任务下发报错"+e); } return rgvIoExecuteSign; } /** * 执行小车搬运任务 */ public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) { try{ // for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { return false; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); return false; } // 只有当RGV空闲、自动,工位一无物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getLoaded1()==0 && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo()); if (basRgvMap == null) { log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo()); return false; } List route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号 List wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route); for (WrkMastSta wrkMastSta : wrkMastStaList){ if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版 3：取放 continue; } BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd()); if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){ continue; } Date date = new Date(); SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo()); if (staProtocol == null) { log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta); continue; } if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){ continue; } if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){ if (staProtocol.isLoadingSuper()){ continue; } } if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){ if (!staProtocol.isEmptyMk()){ continue; } } BasDevp basDevpS = basDevpService.selectById(wrkMastSta.getStaStart()); if (!basDevpS.getAutoing().equals("Y") || !basDevpS.getLoading().equals("Y") || basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){ continue; } StaProtocol staProtocols = devpThread.getStation().get(basDevpS.getDevNo()); if (staProtocols == null) { log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta); continue; } if (!staProtocols.isAutoing() || !staProtocols.isLoading() || staProtocols.getWorkNo() != wrkMastSta.getWrkNo().intValue()){ continue; } log.info(date+"取放任务下发：小车工作档："+wrkMastSta); log.info(date+"取放任务下发：目标站状态："+basDevp); boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); if (sign){ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd()); if (signMap){ wrkMastSta.setWrkSts(1); try{ wrkMastStaMapper.updateById(wrkMastSta); }catch (Exception e){ log.error("更新小车任务失败"); } return true; }else { log.error("3864行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo()); } }else { log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo()); } break; } } // } }catch (Exception e){ log.error("3875行执行小车搬运任务下发失败"); log.error("3875行"+e); } return false; } /** * 执行小车搬运任务//拆盘 */ public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//拆盘 try{ // for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { return false; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); return false; } // 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 && (rgvProtocol.getLoaded2()==3 || rgvProtocol.getLoaded2()==1 || rgvProtocol.getLoaded2()==4)////0 无物；1 一层无物二层有物 （只能拆叠） ；2一层有物二层无物() ；3 1、2层都有物 4：（）只允许拆盘 ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); if (basRgvMap == null) { log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo()); return false; } basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号 List route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围 List wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务 for (WrkMastSta wrkMastSta : wrkMastStaList){ if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=2){// 2:空板 || 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放 continue; } boolean sign = false; if ( wrkMastSta.getStaEnd()!=0){//放 BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd()); if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){ continue; } Date date = new Date(); SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo()); if (staProtocol == null) { log.info(date+"拆盘任务下发：未查询到站点信息："+wrkMastSta); continue; } if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){ continue; } if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){ if (staProtocol.isLoadingSuper()){ continue; } } if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){ if (!staProtocol.isEmptyMk()){ continue; } } log.info(date+"拆盘任务下发：小车工作档："+wrkMastSta); log.info(date+"拆盘任务下发：目标站状态："+basDevp); sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘 }else { continue; } if (sign){ boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd()); if (signMap){ wrkMastSta.setWrkSts(2); try{ wrkMastStaMapper.updateById(wrkMastSta); }catch (Exception e){ log.error("更新小车任务失败"); } return true; }else { log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo()); } }else { log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo()); } break; } } // } }catch (Exception e){ log.error("3933行执行小车放空板任务下发失败"); log.error("3933行"+e); } return false; } /** * 执行小车搬运任务 */ public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//满放 try{ // for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { return false; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); return false; } // 只有当RGV空闲、自动,工位二有物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 && (rgvProtocol.getLoaded2()==2 || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物 ；2一层有物二层无物 （只能满放）；3 1、2层都有物 4：（）只允许拆盘 ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); if (basRgvMap == null) { log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo()); return false; } basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号 List route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围 List wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务 for (WrkMastSta wrkMastSta : wrkMastStaList){ if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=6){// 2:空板 || 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放 7:提升 continue; } boolean sign = false; if ( wrkMastSta.getStaEnd()!=0){//满放 BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd()); if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){ continue; } Date date = new Date(); SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo()); if (staProtocol == null) { log.info(date+"满放任务下发：未查询到站点信息："+wrkMastSta); continue; } if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){ continue; } if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){ if (staProtocol.isLoadingSuper()){ continue; } } if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){ if (!staProtocol.isEmptyMk()){ continue; } } log.info(date+"满放任务下发：小车工作档："+wrkMastSta); log.info(date+"满放任务下发：目标站状态："+basDevp); sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta); }else { continue; } if (sign){ boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd()); if (signMap){ wrkMastSta.setWrkSts(2); try{ wrkMastStaMapper.updateById(wrkMastSta); }catch (Exception e){ log.error("更新小车任务失败"); } return true; }else { log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo()); } }else { log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo()); } break; } } // } }catch (Exception e){ log.error("3933行执行小车放空板任务下发失败"); log.error("3933行"+e); } return false; } public synchronized boolean rgvRunWrkMastEmptyStaTake(RgvSlave rgvSlave) {//叠盘 try{ // for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { return false; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); return false; } // 只有当RGV空闲、自动,工位二无物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 && (rgvProtocol.getLoaded2()==0 || rgvProtocol.getLoaded2()==1 ) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠） ；2一层有物二层无物 （只能满放）；3 1、2层都有物 4：（）只允许拆盘 ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); if (basRgvMap == null) { log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo()); return false; } List route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号 List wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route); for (WrkMastSta wrkMastSta : wrkMastStaList){ if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:空板 || 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放 continue; } boolean sign = false; if ( wrkMastSta.getStaStart()!=0){//取 BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart()); if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){ continue; } Date date = new Date(); SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo()); if (staProtocol == null) { log.info(date+"叠盘任务下发：未查询到站点信息："+wrkMastSta); continue; } if (!staProtocol.isAutoing() || !staProtocol.isLoading()){ continue; } if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){ if (!staProtocol.isEmptyMk()){ continue; } } log.info(date+"叠盘任务下发：小车工作档："+wrkMastSta); log.info(date+"叠盘任务下发：目标站状态："+basDevp); sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘 }else { continue; } if (sign){ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute()); if (signMap){ wrkMastSta.setWrkSts(1); try{ wrkMastStaMapper.updateById(wrkMastSta); }catch (Exception e){ log.error("更新小车任务失败"); } return true; }else { log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo()); } }else { log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo()); } break; } } // } }catch (Exception e){ log.error("3989行执行小车取空板任务下发失败"); log.error("3989行"+e); } return false; } /* * 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; // } WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0); if (Cools.isEmpty(wrkMastSta)){ return; } boolean signRgv = true; boolean signRgv1 = true; boolean signRgv2 = true; for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV空闲、自动,工位一无物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接 && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE ) { if (rgvProtocol.getRgvNo()!=1){ if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){ continue; } rgvAvoidanceXY(rgvProtocol.getRgvNo()); // return; continue; } if (!rgvProtocol.getRgvPosI().equals(110) && !rgvProtocol.getRgvPosI().equals(108) && !rgvProtocol.getRgvPosI().equals(119)){ continue; } Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y(); if (count108Y!=0){ continue; } // Integer count108 = wrkMastStaMapper.selectAllWrkCount108(); // if (count108!=0){ // continue; // } rgvAvoidanceXY(rgvProtocol.getRgvNo()); continue; // BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); // Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //获取合并干涉项 // List route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge); // List wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route ,route); // if (!wrkMastStaList.isEmpty()){ // log.info("小车存在可执行任务，跳过避让！！4214"); // return; // } // if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){ //// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){ //// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){ // if (rgvProtocol.getRgvNo()==1){ // signRgv1 = false; // }else { // signRgv2 = false; // } // } // if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){ // signRgv1 = false; // continue; // } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){ // signRgv2 = false; // continue; // } }else { signRgv = false; break; } } // if (signRgv && (signRgv1 || signRgv2)){ // for (RgvSlave rgvSlave:slaveProperties.getRgv()) { // RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); // RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); // if (rgvProtocol == null) { // continue; // } // // // 只有当RGV空闲、自动,工位一无物//rgv可用 // if (rgvProtocol.getStatusType() == RgvStatusType.IDLE // && rgvProtocol.getModeType() == RgvModeType.AUTO // && rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接 // && rgvProtocol.getTaskNo1()==0 // && rgvProtocol.getTaskNo2()==0 // && rgvProtocol.getStatusType1() == RgvStatusType.IDLE // && rgvProtocol.getStatusType2() == RgvStatusType.IDLE // ) { // if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){ // continue; // } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){ // continue; // } // BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo()); // rgvAvoidanceXY(rgvProtocol.getRgvNo()); // rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute()); // // } // } // } }catch (Exception e){ log.error("4109行执行小车初始化任务下发失败"); log.error("4109行"+e); } } /* * 刷新地图数据 * */ public synchronized void refreshRgvMap() { try{ for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV空闲、自动,工位一无物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接 && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 ) { BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId()); basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute()); } } }catch (Exception e){ log.error("4109行执行小车初始化任务下发失败"); log.error("4109行"+e); } } /* * 小车XY移动 避让 * */ public synchronized boolean rgvAvoidanceXY(Integer rgvId){ if (rgvId==1){ try{ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId); // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1((short)32222); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 回原点 //basRgvMap.getLockStartRoute().shortValue() rgvCommand.setSourceStaNo1( (short)104); rgvCommand.setCommand((short) 1); //工位1任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } }else { try{ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId); // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 rgvCommand.setTaskNo2((short)32222); // 工位2工作号 rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式: 回原点 rgvCommand.setSourceStaNo2((short)114); rgvCommand.setCommand((short) 2); //工位2任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } } /* * 小车取货至工位任务 * */ public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货 rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //工位1起点 rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //工位1目标站点 rgvCommand.setCommand((short) 1); //工位1任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 小车取货至工位任务 * */ public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货 rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //工位1起点 rgvCommand.setCommand((short) 1); //工位1任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 小车放货至输送线任务 * */ public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位 rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号 rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货 rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //工位1目标站点 rgvCommand.setCommand((short) 1); //工位1任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 小车取空板至工位任务 叠盘 * */ public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号 rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式: 取货 rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点 rgvCommand.setCommand((short) 2); //工位2任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 小车放空板至输送线任务 //拆盘 * */ public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号 rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式: 放货 rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //工位2目标站点 rgvCommand.setCommand((short) 2); //工位2任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 小车取空板至工位任务 满取 * */ public synchronized boolean rgvTakeEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号 rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_5); // 工位2任务模式: 满取 rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点 rgvCommand.setCommand((short) 2); //工位2任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 小车放空板至输送线任务 //满放 * */ public synchronized boolean rgvPutEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号 rgvCommand.setTaskMode2(RgvTaskModeType.PUT_6); // 工位2任务模式: 满放 rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //工位2目标站点 rgvCommand.setCommand((short) 2); //工位2任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 小车复位 * */ public synchronized boolean rgvComplete(Integer rgvId){ try{ // 命令下发区 -------------------------------------------------------------------------- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}",rgvId); return false; } else { log.info("RGV命令下发成功，RGV号={}",rgvId); return true; } }catch (Exception e){ log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId); return false; } } /* * 小车地图更新 更新锁 * */ public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){ if (rgvOpen){ return true; } // 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 farCurrentStaNo = RouteUtils.RouteIndexFarMas(staEnd, staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点 Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项 basRgvMapCurrent.setLockEndRoute(fallMerge); basRgvMapMapper.updateById(basRgvMapCurrent); //更新另一台小车地图 Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther(); BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther); List integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute()); Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置 Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//另一台小车可活动最远位置 basRgvMapOther.setEndRoute(lockEndRouteL); basRgvMapMapper.updateById(basRgvMapOther); return true; }catch (Exception e){ log.error("小车地图更新出错！"); return false; } } }