package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.baomidou.mybatisplus.mapper.Wrapper; import com.core.common.Cools; import com.core.exception.CoolException; import com.zy.asrs.entity.*; import com.zy.asrs.mapper.BasCrnErrorMapper; import com.zy.asrs.mapper.BasDevpMapper; import com.zy.asrs.mapper.WrkChargeMapper; import com.zy.asrs.mapper.WrkMastMapper; import com.zy.asrs.service.*; import com.zy.asrs.utils.Utils; import com.zy.common.model.LocTypeDto; import com.zy.common.model.MatDto; import com.zy.common.model.SearchLocParam; import com.zy.common.model.StartupDto; import com.zy.common.service.CommonService; import com.zy.common.utils.CollectionUtils; import com.zy.common.utils.HttpHandler; import com.zy.common.utils.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.SteCommand; import com.zy.core.model.protocol.CrnProtocol; import com.zy.core.model.protocol.StaProtocol; import com.zy.core.model.protocol.SteProtocol; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.BarcodeThread; import com.zy.core.thread.LedThread; import com.zy.core.thread.SiemensDevpThread; import com.zy.core.thread.SteThread; 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 { @Value("${wms.url}") private String wmsUrl; @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastMapper wrkMastMapper; @Autowired private WrkMastService wrkMastService; @Autowired private WrkDetlService wrkDetlService; @Autowired private LocMastService locMastService; @Autowired private LocDetlService locDetlService; @Autowired private StaDescService staDescService; @Autowired private BasCrnpService basCrnpService; @Autowired private BasDevpService basDevpService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasSteErrLogService basSteErrLogService; @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Autowired private BasSteService basSteService; @Autowired private WrkChargeService wrkChargeService; @Autowired private BasSteErrService basSteErrService; @Autowired private CommonService commonService; @Autowired private WrkChargeMapper wrkChargeMapper; @Autowired private BasDevpMapper basDevpMapper; /** * 组托 * 入库站，根据条码扫描生成入库工作档，工作状态 2 */ public synchronized void generateStoreWrkFile() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { // 获取入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } Short workNo = staProtocol.getWorkNo(); // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) { //20230201. 2号堆垛机有出库任务时，禁止新板入库 if (staProtocol.getWorkNo() == 9995) { if ( inSta.getStaNo()==103 && devpThread.ioModeOf1F == IoModeType.PAKOUT_MODE) { //有出库任务，退库到入库口 staProtocol.setWorkNo((short) 9999); staProtocol.setStaNo((short)100); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); News.error("MainServiceImpl generateStoreWrkFile"+"103为出库模式，禁止入库，退回入库口。！！！"); continue; } if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { //有出库任务，退库到入库口 staProtocol.setWorkNo((short) 9999); staProtocol.setStaNo((short)200); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); News.error("MainServiceImpl generateStoreWrkFile"+"203为出库模式，禁止入库，退回入库口。！！！"); continue; } } // 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)) { // News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode); if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) { staProtocol.setWorkNo((short) 9995); staProtocol.setStaNo(inSta.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, inSta.getLed()); if (ledThread != null) { String errorMsg = "扫码失败，请重试"; MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); } continue; } } else { staProtocol.setWorkNo((short) 9995); staProtocol.setStaNo(inSta.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, inSta.getLed()); if (ledThread != null) { String errorMsg = "扫码失败，请重试"; MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); } continue; } // 过滤盘点/拣料/并板任务 if (null != wrkMastMapper.selectPickStepByBarcode(barcode)) { continue; } // 判断重复工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode); if (wrkMast != null) { News.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo()); continue; } 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); LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); Integer code = jsonObject.getInteger("code"); if (code.equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); // plc 处理 barcodeThread.setBarcode(""); staProtocol.setWorkNo(dto.getWorkNo().shortValue()); staProtocol.setStaNo(dto.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); ledThread.errorReset(); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败"); } } else if (code == 500){ if (ledThread != null) { String errorMsg = jsonObject.getString("msg"); if (!Cools.isEmpty(errorMsg)) { MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); } } News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response); } else if (code == 700) { staProtocol.setWorkNo((short) 9995); staProtocol.setStaNo(inSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // led 异常显示 if (ledThread != null) { String errorMsg = barcode + "托盘识别异常，请先进行组托！"; MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); } } else if (code == 1000){ if (inSta.getStaNo().equals(103)){ staProtocol.setWorkNo((short)9999); staProtocol.setStaNo((short)203); }else { staProtocol.setWorkNo((short)9999); staProtocol.setStaNo((short)103); } devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // led 异常显示 if (ledThread != null) { String errorMsg = barcode + "需要换入库站。目标站："+staProtocol.getStaNo(); MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); } } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * wms入库 * 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2 */ public synchronized void generateStoreWrkFile0() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.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(); } Short workNo = staProtocol.getWorkNo(); // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) { // 判断重复工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo()); if (wrkMast == null) { continue; } // 命令下发区 -------------------------------------------------------------------------- // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (result) { // 更新工作主档 wrkMast.setWrkSts(2L); // 工作状态：2.设备上走 wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo()); } } else { News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } } } } } /** * 拣料、并板、盘点再入库 【第1阶段】 */ public synchronized void stnToCrnStnPick0(){ for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历拣料入库口 for (DevpSlave.Sta pickSta : devp.getPickOutSta()) { // 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.getWorkNo() > 0 && staProtocol.isPakMk()) { WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo()); if (wrkMast == null) { // 无拣料数据 continue; } short staNo; List basDevps1 = basDevpMapper.getLoading(103); List basDevps2 = basDevpMapper.getLoading(203); switch (wrkMast.getSourceStaNo()) { case 104: case 108: staNo = 103; if (basDevps1.size()!=0 && basDevps2.size()!=0){ continue; } List wrkMasts1 = wrkMastMapper.selectWrkStsAndIoType((int)staNo); if (wrkMasts1.size()!=0){ boolean flag = false; for (WrkMast wrkMast1:wrkMasts1){ if (!wrkMast1.getWrkNo().equals(wrkMast.getWrkNo())){ flag = true; break; } } if (flag) { News.error("MainServiceImpl 324行"+"104站点存在货物，捡料盘点货物暂时不重新入库！！！"); continue; } } break; case 204: case 208: staNo = 203; if (basDevps1.size()!=0 && basDevps2.size()!=0){ continue; } // if (basDevps2.size()!=0){ // continue; // } List wrkMasts2 = wrkMastMapper.selectWrkStsAndIoType((int)staNo); if (wrkMasts2.size()!=0){ boolean flag = false; for (WrkMast wrkMast1:wrkMasts2){ if (!wrkMast1.getWrkNo().equals(wrkMast.getWrkNo())){ flag = true; break; } } if (flag) { News.error("MainServiceImpl 346行"+"204站点存在货物，捡料盘点货物暂时不重新入库！！！"); continue; } } break; default: News.error("{}任务再入库失败，系统数据异常！", wrkMast.getWrkNo()); continue; } // 更新站点信息 且 下发plc命令 // staProtocol.setWorkNo((short) 9994); staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(staNo); devpThread.setPakMk(staProtocol.getSiteId(), false); if (staProtocol.getStaNo().equals(300)){ BasDevp basDevp = basDevpMapper.selectByDevNo(300); basDevp.setWrkNo1(wrkMast.getWrkNo()); basDevpService.selectById(basDevp); News.info("300站去入库站任务下发，更新站点表，[任务号:{}，站点号:{}]", wrkMast.getWrkNo().shortValue(), staNo); } boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } else { News.info("300站去入库站任务已下发，[任务号:{}，站点号:{}]", wrkMast.getWrkNo().shortValue(), staNo); } } } } } /** * 拣料、并板、盘点再入库【第2阶段】 */ @Transactional public synchronized void stnToCrnStnPick1(){ for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历拣料入库口 for (DevpSlave.Sta pickSta : devp.getPickInSta()) { // 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() // 0 - 9990 或者 9996 && ((staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) || staProtocol.getWorkNo() == 9996) && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue()) && staProtocol.isPakMk()){ // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode()); if (barcodeThread == null) { continue; } WrkMast wrkMast = null; if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) { wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo()); if (null == wrkMast) { News.error("{}任务号错误，暂无拣料任务！", staProtocol.getWorkNo()); } } if (staProtocol.getWorkNo() == 9996) { String barcode = barcodeThread.getBarcode(); if(!Cools.isEmpty(barcode)) { News.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((short) 9995); 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((short) 9995); 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 = wrkMastMapper.selectPickStepByBarcode(barcode); if (null == wrkMast) { News.error("{}条码错误，暂无拣料任务！", barcode); } } 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; } // 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)) { // led 异常显示 String errorMsg = ""; LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed()); if (wrkMast.getIoType() == 103) { errorMsg = "当前拣料任务请移动至203站"; } else { errorMsg = "当前拣料任务请移动至103站"; } if (ledThread != null) {MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));} News.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo()); continue; } // 堆垛机站点(目标站) Integer staNo = staDesc.getCrnStn(); // 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(wrkMast.getWrkNo() + "保存工作主档历史档失败"); } String sourceLocNo = wrkMast.getSourceLocNo().trim(); // 更新工作档数据状态 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.setIoPri(13D); wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站 wrkMast.setStaNo(staNo); // 目标站 wrkMast.setCrnNo(wrkMast.getCrnNo()); wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位 wrkMast.setSourceLocNo(""); // 源库位清空 wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败"); } if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) { throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败"); } LocMast locMast = null; // 修改目标库位状态 Q.拣料/盘点/并板再入库 locMast = locMastService.selectById(wrkMast.getLocNo()); locMast.setLocSts("Q"); locMast.setModiTime(new Date()); if (!locMastService.updateById(locMast)) { throw new CoolException(wrkMast.getWrkNo() + "修改目标库位状态 Q.拣料/盘点/并板再入库"); } // 源库位库存明细转移到目标库位 if (!locDetlService.updateLocNo(wrkMast.getLocNo(), sourceLocNo)) { throw new CoolException(wrkMast.getLocNo() + "任务库存明细转移失败！！！"); } // 修改源库位状态 O.空库位 LocMast sourceLocMast = locMastService.selectById(sourceLocNo); if (sourceLocMast.getLocSts().equals("P")) { sourceLocMast.setLocSts("O"); sourceLocMast.setBarcode(""); sourceLocMast.setModiTime(new Date()); if (!locMastService.updateById(sourceLocMast)) { throw new CoolException(wrkMast.getWrkNo() + "修改源库位状态 O.空库位"); } locDetlService.delete(new EntityWrapper().eq("loc_no", sourceLocNo)); } // 条码设备处理 barcodeThread.setBarcode(""); if(wrkMast.getIoType()>100){ throw new CoolException("再入库更新工作档失败，不能给PLC下发任务===>>" + wrkMast.getWrkNo()); } // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); if (staProtocol.getStaNo().equals(300)){ BasDevp basDevp = basDevpMapper.selectByDevNo(300); basDevp.setWrkNo1(wrkMast.getWrkNo()); basDevpService.selectById(basDevp); } boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } // try { // // 访问 WMS 获取入库库位 // LocTypeDto locTypeDto = new LocTypeDto(staProtocol); // SearchLocParam param = new SearchLocParam(); // param.setWrkNo(wrkMast.getWrkNo()); // param.setIoType(wrkMast.getIoType()); // param.setSourceStaNo(pickSta.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); // LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed()); // Integer code = jsonObject.getInteger("code"); // if (code.equals(200)) { // StartupDto dto = jsonObject.getObject("data", StartupDto.class); // News.info("再入库获取新库位成功，返回数据===>>", JSON.toJSON(dto)); //// // 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", dto.getCrnNo()); // 堆垛机号 //// StaDesc staDesc = staDescService.selectOne(wrapper); //// if (Cools.isEmpty(staDesc)) { //// News.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo()); //// continue; //// } //// // 堆垛机站点(目标站) //// Integer staNo = staDesc.getCrnStn(); // // // 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(wrkMast.getWrkNo() + "保存工作主档历史档失败"); // } // // String sourceLocNo = wrkMast.getSourceLocNo().trim(); // // // 更新工作档数据状态 // 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.setIoPri(13D); // wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站 // wrkMast.setStaNo(dto.getStaNo()); // 目标站 // wrkMast.setCrnNo(dto.getCrnNo()); // wrkMast.setLocNo(dto.getLocNo()); // 目标库位 = 出库时的源库位 // wrkMast.setSourceLocNo(""); // 源库位清空 // wrkMast.setModiTime(new Date()); // if (wrkMastMapper.updateById(wrkMast) == 0) { // throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败"); // } // if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) { // throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败"); // } // // LocMast locMast = null; // // 修改目标库位状态 Q.拣料/盘点/并板再入库 // locMast = locMastService.selectById(wrkMast.getLocNo()); // locMast.setLocSts("Q"); // locMast.setModiTime(new Date()); // if (!locMastService.updateById(locMast)) { // throw new CoolException(wrkMast.getWrkNo() + "修改目标库位状态 Q.拣料/盘点/并板再入库"); // } // // 源库位库存明细转移到目标库位 // if (!locDetlService.updateLocNo(wrkMast.getLocNo(), sourceLocNo)) { // throw new CoolException(wrkMast.getLocNo() + "任务库存明细转移失败！！！"); // } // // // 修改源库位状态 O.空库位 // LocMast sourceLocMast = locMastService.selectById(sourceLocNo); // if (sourceLocMast.getLocSts().equals("P")) { // sourceLocMast.setLocSts("O"); // sourceLocMast.setBarcode(""); // sourceLocMast.setModiTime(new Date()); // if (!locMastService.updateById(sourceLocMast)) { // throw new CoolException(wrkMast.getWrkNo() + "修改源库位状态 O.空库位"); // } // locDetlService.delete(new EntityWrapper().eq("loc_no", sourceLocNo)); // } // // // 条码设备处理 // barcodeThread.setBarcode(""); // // ledThread.errorReset(); // // if(wrkMast.getIoType()>100){ // throw new CoolException("再入库更新工作档失败，不能给PLC下发任务===>>" + wrkMast.getWrkNo()); // } // // 更新站点信息 且 下发plc命令 // staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); // staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); // devpThread.setPakMk(staProtocol.getSiteId(), false); // boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // if (!result) { // News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); // } // // } else if (code == 500){ // if (ledThread != null) { // String errorMsg = jsonObject.getString("msg"); // if (!Cools.isEmpty(errorMsg)) { // MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); // } // } // News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response); // } else { // staProtocol.setWorkNo((short) 9995); // 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 // if (ledThread != null) { // String errorMsg = jsonObject.getString("msg"); //// String errorMsg = barcode + "托盘识别异常，请先进行组托！"; // MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); // } // } // // } catch (Exception e) { // e.printStackTrace(); // TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); //// continue; // } } } } } /** * 盘点货物抵达盘点目标站 wrkMast.sourceLoc P ===>> O */ public synchronized void pickWrkCompleteStaNo() { List wrkMasts = wrkMastMapper.selectPick17(null, null); for (WrkMast wrkMast : wrkMasts) { // // 修改源库位状态 O.空库位 // LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo()); // if (locMast.getLocSts().equals("P")) { // locMast.setLocSts("O"); // locMast.setModiTime(new Date()); // if (!locMastService.updateById(locMast)) { // throw new CoolException(wrkMast.getWrkNo() + "修改源库位状态 O.空库位"); // } // locDetlService.delete(new EntityWrapper().eq("loc_no", wrkMast.getSourceLocNo())); // } // 修改工作档 wrkMast.setIoPri(13D); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("更新工作档的优先级失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } } } /** * 拣料/盘点转全板后，300站任务转100/200站去 */ public synchronized void transPickToFullChangeStn() { for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历拣料出库口 for (DevpSlave.Sta pickSta : devp.getPickOutSta()) { // 获取拣料出库站信息 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.getWorkNo() > 0 && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue()) && staProtocol.isPakMk()){ WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo()); if(Cools.isEmpty(wrkMast)){ News.error("拣料/盘点转全板,任务号工作档不存在===>>[任务号:{}]", staProtocol.getWorkNo()); continue; } if (wrkMast.getIoType() != 101) { continue; } //拣料转全板默认出库站100站，当100站有物时，目标改200站 Integer staNo = 100; StaProtocol staProtocol100 = devpThread.getStation().get(staNo); if (staProtocol100 == null) { continue; } else { staProtocol100 = staProtocol100.clone(); } if (staProtocol100.isLoading()) { staNo = 200; } // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(staNo.shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } else { wrkMast.setStaNo(staNo); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("更新工作档的目标站失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } } } } } } /** * 堆垛机站出库到出库站 */ public synchronized void crnStnToOutStn() { for (CrnSlave crnSlave : slaveProperties.getCrn()) { // 遍历堆垛机出库站 for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) { // 获取堆垛机出库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) { // 查询工作档 WrkMast wrkMast = wrkMastMapper.selectPakOutStep16(staProtocol.getSiteId()); if (wrkMast == null) { continue; } // 判断工作档条件 if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) { continue; } // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) { // 移动中 continue; } // 判断堆垛机状态等待确认 if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue()) && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.forkPosType == CrnForkPosType.HOME) { // 命令下发区 -------------------------------------------------------------------------- // 下发站点信息 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) { continue; } // 更新工作档状态为 17.出库完成 wrkMast.setWrkSts(17L); wrkMast.setSteNo(0); wrkMast.setIoPri(15D); wrkMast.setCrnEndTime(new Date()); if (wrkMastMapper.updateById(wrkMast) != 0) { // 复位堆垛机 crnThread.setResetFlag(true); } else { News.error("更新工作档的工作状态为 17.出库完成 失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } } } } } } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecute(){ 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("{}号堆垛机尚未在数据库进行维护！", crn.getId()); continue; } // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { // 入库 if (this.crnStnToLoc(crn, crnProtocol)) { } crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { // 出库 if (this.locToCrnStn(crn, crnProtocol)) { } 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")) { // 出库 if (this.locToCrnStn(crn, crnProtocol)) { } crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { // 入库 if (this.crnStnToLoc(crn, crnProtocol)) { } crnProtocol.setLastIo("O"); } } // 库位移转 this.locToLoc1(crn, crnProtocol); // 库位移转(高频移库，io_type=111) this.locToLoc111(crn, crnProtocol); // 库位移转，回原库位 this.locToLoc17(crn, crnProtocol); // 演示任务 this.steMoveDemo(crn, crnProtocol); } } } /** * 入库 ===>> 堆垛机站到库位 */ public synchronized boolean crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){ for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) { boolean flag = false; // 获取堆垛机入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { News.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); continue; } // 获取工作状态为 2,3,4,5,6 的入库工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo()); if(null == wrkMast) { // News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo()); continue; } // 入库深库位是否有非F、D、X库位进行校验 （ Q、P、R、S） if (wrkMastMapper.selectShallowLoc(Integer.parseInt(wrkMast.getLocNo().substring(0, 2)),Integer.parseInt(wrkMast.getLocNo().substring(2, 5)),Integer.parseInt(wrkMast.getLocNo().substring(5, 7)))!=null){ //检查入库库位是否是在堆垛机边库位 ArrayList outLoc = new ArrayList<>(); outLoc.add(3);outLoc.add(4);outLoc.add(11);outLoc.add(12);outLoc.add(18);outLoc.add(19); if (!outLoc.contains(Integer.parseInt(wrkMast.getLocNo().substring(0, 2)))) { continue; } } //加强判断，只要存在移库任务，说明出库任务未完全结束，不执行入库任务 WrkMast one = wrkMastMapper.selectLocMoveData(slave.getId()); if(!Cools.isEmpty(one)){ News.error("入库 ===>> 存在移库未完成任务，不能入库。移库任务号={},堆垛机号={}", one.getWrkNo(), slave.getId()); // continue; } //入库库位不是最外层库位，判断最外层库位是否为空库位，如不是则进行移库任务 if(!locMastService.isOutMost(wrkMast.getLocNo())) { WrkMast wrkMastMove = wrkMastMapper.selectLocMoveWorking(slave.getId()); if (wrkMastMove != null && wrkMast.getWrkNo() == 111) { continue; } WrkMast two = wrkMastMapper.selectWorking1(slave.getId(), wrkMast.getWrkNo()); if (two != null) {//2号机有在执行任务时，禁止生成移库工作档 continue; } else { List shallowLocs = Utils.getShallowLocs(wrkMast.getLocNo()); if (!Cools.isEmpty(shallowLocs)) { for (String shallowLocNo : shallowLocs) { LocMast shallowLoc = locMastService.selectById(shallowLocNo); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { if (null == waitWrkMast) { // 生成一笔移库任务工作档、改变浅库位的源库/目标库 库位状态 // 没有作业中的入库任务时，才能生成移库任务 WrkMast one2 = wrkMastService.selectOne(new EntityWrapper() .eq("crn_no", slave.getId()) .last(" and wrk_sts in (3,4,5,6,7,8)")); if (one2 == null) { moveLocForDeepLoc(slave, shallowLoc); // 置顶任务 wrkMast.setIoPri((double) 9999); wrkMastMapper.updateById(wrkMast); } else { News.error("浅库位阻塞时，且浅库位存在作业中出库任务！工作号={}", one2.getWrkNo()); } flag = true; break; } else { if (waitWrkMast.getWrkSts() != 18) { News.error("库位出库到堆垛机站 ===>> 库位状态在库，但是浅库位已存在工作档任务！出库库位={},浅库位号={}", shallowLoc.getLocNo()); flag = true; break; } } // } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) { // News.error("库位出库到堆垛机站 ===>> 浅库位库位状态为入库预约！出库库位={},浅库位号={}", shallowLoc.getLocNo()); // flag = true; // break; } else if (shallowLoc.getLocSts().equals("R") || shallowLoc.getLocSts().equals("P")) { News.error("库位出库到堆垛机站 ===>> 库位状态在库，但是浅库位已存在工作档任务！出库库位={},浅库位号={}", shallowLoc.getLocNo()); flag = true; break; } // //20230307 ADD，再加一次判断，当浅库位状态不为O时，不执行当前出库任务 // if (shallowLoc != null && !shallowLoc.getLocSts().equals("O")) { // News.error("做了浅库位阻塞处理后反复判断，浅库位状态不为O ===>> 浅库位库位状态为入库预约！出库库位={},浅库位号={}", wrkMast.getSourceLocNo(), shallowLoc.getLocNo()); // flag = true; // break; // } } } } } if(flag){ return false; } // 判断是否已存在小车绑定任务 BasSte basSte = basSteService.findByCrnNo(wrkMast.getCrnNo()); if(basSte == null) continue; WrkMast one1 = wrkMastService.selectOne(new EntityWrapper() .eq("ste_no",basSte.getSteNo()) .last(" and wrk_sts > 10")); if(one1 != null){ News.error("{}入库任务无法作业，因出库任务已绑定小车!", wrkMast.getWrkNo()); continue; } if (wrkMast.getWrkSts() < 3) { if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable() && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) { flag = true; } if (!flag) { continue; } } // 获取库位信息 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); if (locMast == null) { News.error("查询库存无数据--库位号{}", wrkMast.getLocNo()); continue; } if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) { News.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts()); continue; } // 检测是否存在出库任务 // WrkMast pakoutWrkMast = wrkMastMapper.selectPakout(slave.getId(), null); // if (null != pakoutWrkMast) { // if ((pakoutWrkMast.getIoType() == 103 || pakoutWrkMast.getIoType() == 104 || pakoutWrkMast.getIoType() == 107) // && pakoutWrkMast.getWrkSts() == 17 // && basDevpService.selectByWrkNo(pakoutWrkMast.getWrkNo()) != null // ) { // // } else { // News.error("{}入库任务无法作业，因存在出库中任务!", wrkMast.getWrkNo()); // continue; // } // } if (null != wrkMastMapper.selectPakout(slave.getId(), null)) { News.error("{}入库任务无法作业，因存在出库中任务!", wrkMast.getWrkNo()); continue; } // 置顶任务 wrkMast.setIoPri((double) 9999); wrkMastMapper.updateById(wrkMast); // 目标库位 ===>> 最外层库位 if (locMastService.isOutMost(wrkMast.getLocNo())) { // 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库 Integer steNo = this.hasCar(wrkMast.getLocNo()); // 有小车 if (steNo != null) { // 小车行走到堆垛机待搬移点 if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) { // 没有其他任务 if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) { this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo()); } } // 小车搬走 if (wrkMast.getWrkSts() == 3L) { this.carMoveOut(wrkMast, steNo, crnProtocol); } // 没有小车 } else { // 当前入库库位组没有小车 堆垛机则去站点取货入库 // case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2 // case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6 if ((wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) || wrkMast.getWrkSts() == 6L) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } // 堆垛机入库 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.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排 crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列 crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层 crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.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 7.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(7L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo()); } return true; } } } // 目标库位 ===>> 非最外层库位 } else { // 判断小车是否在当前组库位，如果是则将穿梭车移至最外层，等待堆垛机放货；如果不是，则堆垛机寻找穿梭车，并放置当前组最外层 Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo()); // 有小车 if (steNo != null) { // 小车行走到堆垛机待搬移点 if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) { // 没有其他任务 if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) { this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo()); } } // 堆垛机将货放至小车上 3.小车待搬（小车不用搬运，已经在当前组库位） / 6.小车待入 ===>> 7.吊车入库中 if (wrkMast.getWrkSts() == 3L || wrkMast.getWrkSts() == 6L) { // 小车处于空闲 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.isIdle()) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } // 堆垛机入库 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.setCommand((short) 0); 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(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.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 3.小车待搬 ===>> 7.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(7L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } return true; } } } // 没有小车 } else { if (wrkMast.getWrkSts() == 2L && (wrkMast.getSteNo() == null || wrkMast.getSteNo() == 0)) { // 寻找当前堆垛机对应的小车 SteThread steThread = queryIdleCar(wrkMast); if (steThread != null) { // 没有其他任务 if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) { // 让小车等待搬运待续 this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo()); } } } // 堆垛机搬运小车 if (wrkMast.getWrkSts() == 3L) { if (Cools.isEmpty(wrkMast.getSteNo()) || wrkMast.getSteNo()==0){ News.error("工作号={}即将开始搬运小车但是工作档没有小车号",wrkMast.getWrkNo()); return false; } this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol); } } } } return false; } /** * 出库 ===>> 库位到堆垛机站 */ public synchronized boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){ Collections.shuffle(slave.getCrnOutStn()); 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.selectPakOutStep111215(slave.getId(), crnStn.getStaNo()); if (wrkMast == null) { 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(); } if (wrkMast.getCrnNo().equals(2)){ if (wrkMast.getStaNo() == 103 && devpThread.ioModeOf1F != IoModeType.PAKOUT_MODE) { News.error("MainServiceImpl locToCrnStn"+"103非出库模式，禁止出库。任务号:{}！！！",wrkMast.getWrkNo()); return false; } if (wrkMast.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) { News.error("MainServiceImpl locToCrnStn"+"203非出库模式，禁止出库。任务号:{}！！！",wrkMast.getWrkNo()); return false; } if (wrkMast.getWrkSts() == 11 && (wrkMast.getIoType() == 103 || wrkMast.getIoType() == 107)){ Integer sour = wrkMast.getSourceStaNo(); List wrkMasts = wrkMastMapper.selectWrkStsAndIoType0(sour); if (wrkMasts.size() > 0){ News.error("MainServiceImpl 1028行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！"); return false; } //如果存在目标站300且正在执行的拣料/盘点任务，则2号堆垛机不允许做拣料/盘点出库 WrkMast one = wrkMastService.selectOne(new EntityWrapper() .eq("sta_no",300) .last(" and wrk_sts>11 and io_type in (103,107) ")); if(!Cools.isEmpty(one)){ News.error("MainServiceImpl 1099行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！"); continue; } } if (wrkMast.getWrkSts() == 11 && wrkMast.getIoType() == 101){ Integer sour = wrkMast.getSourceStaNo(); List wrkMasts = wrkMastMapper.selectWrkStsAndIoType1(sour); if (wrkMasts.size() > 0){ for (WrkMast one : wrkMasts){ if(one.getWrkNo().equals(wrkMast.getWrkNo())){ News.error("MainServiceImpl 1028行"+"204存在全板出库中货物，2号堆垛机暂时禁止全板出库！！！"); return false; } } } } } // 判断是否已存在小车绑定任务 BasSte basSte = basSteService.findByCrnNo(wrkMast.getCrnNo()); if(basSte == null) continue; WrkMast one1 = wrkMastService.selectOne(new EntityWrapper() .eq("ste_no",basSte.getSteNo()) .last(" and wrk_sts < 10")); if(one1 != null){ News.error("{}出库任务无法作业，因入库任务已绑定小车!", wrkMast.getWrkNo()); return false; } //加强判断，确保因出库导致的移库整套任务全部结束后，才能执行下一笔出库任务。只有库位完成移库回去全部任务后，才认为当组出库任务完成 WrkMast one = wrkMastMapper.selectLocMoveData(slave.getId()); if(!Cools.isEmpty(one)){ //存在移库任务，且在移出中，且移库源库位与待出库库位不在同一库位组，时跳出，确保移库/出库全套任务完成后，再执行下一笔 if(one.getWrkSts() > 10 && (Utils.getGroupRow(wrkMast.getSourceLocNo()) != Utils.getGroupRow(one.getSourceLocNo()) || Utils.getBay(wrkMast.getSourceLocNo()) != Utils.getBay(one.getSourceLocNo()) || Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(one.getSourceLocNo()))){ continue; } //存在移库任务，且在移回中，且移库目标库位与待出库库位不在同一库位组，时跳出，确保移库/出库全套任务完成后，再执行下一笔 if(one.getWrkSts() < 11 && (Utils.getGroupRow(wrkMast.getSourceLocNo()) != Utils.getGroupRow(one.getLocNo()) || Utils.getBay(wrkMast.getSourceLocNo()) != Utils.getBay(one.getLocNo()) || Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(one.getLocNo()))){ continue; } } //出库库位不是最外层库位，判断最外层库位是否为空库位，如不是则进行移库任务 boolean flag = false; if(!locMastService.isOutMost(wrkMast.getSourceLocNo())) { WrkMast wrkMastMove = wrkMastMapper.selectLocMoveWorking(slave.getId()); if (wrkMastMove != null && wrkMast.getWrkNo() == 111) { continue; } WrkMast two = wrkMastMapper.selectWorking1(slave.getId(), wrkMast.getWrkNo()); if (two != null) {//2号机有在执行任务时，禁止生成移库工作档 continue; } else { List shallowLocs = Utils.getShallowLocs(wrkMast.getSourceLocNo()); if (!Cools.isEmpty(shallowLocs)) { for (String shallowLocNo : shallowLocs) { LocMast shallowLoc = locMastService.selectById(shallowLocNo); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) { if (Cools.isEmpty(waitWrkMast)){ News.error("库位异常"); }else { if (waitWrkMast.getIoType() != 11 || waitWrkMast.getWrkSts() != 17){ if(waitWrkMast.getIoPri()<=9980.0){ waitWrkMast.setIoPri(waitWrkMast.getIoPri()+10.0); }else { waitWrkMast.setIoPri(9999d); } if(wrkMast.getIoPri()>=9000.0){ wrkMast.setIoPri(9999d); }else if (wrkMast.getIoPri()>20.0){ wrkMast.setIoPri(wrkMast.getIoPri()-10.0); }else { wrkMast.setIoPri(13.0d); } if (wrkMastMapper.updateById(wrkMast)==0){ News.error("调整优先级失败"); } if (wrkMastMapper.updateById(waitWrkMast)==0){ News.error("调整优先级失败"); }else if (waitWrkMast.getWrkSts() != 17){ flag = true; } break; } } }else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { if (null == waitWrkMast) { // 生成一笔移库任务工作档、改变浅库位的源库/目标库 库位状态 // 没有作业中的出库任务时，才能生成移库任务 WrkMast one2 = wrkMastService.selectOne(new EntityWrapper() .eq("crn_no", slave.getId()) .last(" and wrk_sts in (12,13,14,15,16)")); if (one2 == null) { moveLocForDeepLoc(slave, shallowLoc); // 置顶任务 wrkMast.setIoPri((double) 9999); wrkMastMapper.updateById(wrkMast); } else { News.error("浅库位阻塞时，且浅库位存在作业中出库任务！工作号={}", one2.getWrkNo()); } flag = true; break; } else { if (waitWrkMast.getWrkSts() != 18) { News.error("库位出库到堆垛机站 ===>> 库位状态在库，但是浅库位已存在工作档任务！出库库位={},浅库位号={}", shallowLoc.getLocNo()); flag = true; break; } } } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) { News.error("库位出库到堆垛机站 ===>> 浅库位库位状态为入库预约！出库库位={},浅库位号={}", shallowLoc.getLocNo()); flag = true; break; } //20230307 ADD，再加一次判断，当浅库位状态不为O时，不执行当前出库任务 if (shallowLoc != null && !shallowLoc.getLocSts().equals("O")) { News.error("做了浅库位阻塞处理后反复判断，浅库位状态不为O ===>> 浅库位库位状态为入库预约！出库库位={},浅库位号={}", wrkMast.getSourceLocNo(), shallowLoc.getLocNo()); flag = true; break; } } } } } if(flag){ return false; } // 工作档状态判断 if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){ News.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")) { News.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getSourceLocNo(), sourceSta.getLocSts()); continue; } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { News.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; } // 过滤 if (null != wrkMastMapper.selectPakin(slave.getId(), null)) { News.error("{}出库任务无法作业，因存在入库中任务!", wrkMast.getWrkNo()); continue; } // 置顶任务 wrkMast.setIoPri((double) 9999); wrkMastMapper.updateById(wrkMast); // 最外层库位，直接堆垛机出库 if (locMastService.isOutMost(wrkMast.getSourceLocNo())) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } // 堆垛机出库 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.setCommand((short) 0); 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))) { News.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 => 16.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(16L); 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 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } return true; } // 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库 } else { // 当前组库位是否有穿梭车 Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo()); // 有小车 if (steNo != null) { if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { // 给穿梭车下发命令 让其将货物挪至堆垛机搬运点 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.isIdle()) { //小车只能绑定一笔作业中任务 WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo); if(wrkMast1 != null){ continue; } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); steCommand.setMemo("11==>14小车搬出库任务，任务号"+wrkMast.getWrkNo()+""); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { News.info("穿梭车命令下发成功(11==>14小车搬出库任务)，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); // 修改工作档状态 11.生成出库ID => 14.小车搬出库 Date now = new Date(); wrkMast.setWrkSts(14L); wrkMast.setSteNo(steNo); 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 => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } if (wrkMast.getWrkSts() == 15L) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } // 堆垛机出库 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.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(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))) { News.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 15.等待吊车 => 16.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(16L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } return true; } } // 没有小车 } else { if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { // 寻找最近的小车 SteThread steThread = queryIdleCar(wrkMast); if (steThread != null) { // 没有其他任务 // boolean hasPakout = true; // WrkMast pakoutWrkMast = wrkMastMapper.selectPakout(slave.getId(), steNo); // if (null != pakoutWrkMast) { // if ((pakoutWrkMast.getIoType() == 103 || pakoutWrkMast.getIoType() == 104 || pakoutWrkMast.getIoType() == 107) // && pakoutWrkMast.getWrkSts() == 17 // && basDevpService.selectByWrkNo(pakoutWrkMast.getWrkNo()) != null // ) { // hasPakout = false; // } // } else { // hasPakout = false; // } // if (!hasPakout) { // // 让小车等待搬运待续 // this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo()); // } if (null == wrkMastMapper.selectPakout(slave.getId(), steNo)) { // 让小车等待搬运待续 this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo()); } } } // 堆垛机搬运小车 if (wrkMast.getWrkSts() == 12L) { if (Cools.isEmpty(wrkMast.getSteNo()) || wrkMast.getSteNo()==0) { News.error("工作号={}即将开始搬运小车但是工作档没有小车号",wrkMast.getWrkNo()); return false; } this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol); } } } } } return false; } /** * 库位移转 NEW */ public synchronized void locToLoc1(CrnSlave slave, CrnProtocol crnProtocol){ // 获取工作档信息 WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId()); if (null == wrkMast) { return; } // 过滤 if (null != wrkMastMapper.selectPakin(slave.getId(), null)) { News.error("{}出库任务无法作业，因存在入库中任务!", wrkMast.getWrkNo()); return; } // 判断是否已存在小车绑定任务 BasSte basSte = basSteService.findByCrnNo(wrkMast.getCrnNo()); if(basSte == null) return; WrkMast one = wrkMastService.selectOne(new EntityWrapper() .eq("ste_no",basSte.getSteNo()) .last(" and io_type != 11 and wrk_sts < 10")); if(one != null){ News.error("{}移库任务无法作业，因入库任务已绑定小车!", wrkMast.getWrkNo()); return; } // 获取源库位信息 LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo()); if (null == sourceLoc) { News.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo()); return; } // 源库位 库位状态判断 if (!sourceLoc.getLocSts().equals("R")) { return; } // 获取目标库位信息 LocMast loc = locMastService.selectById(wrkMast.getLocNo()); if (null == loc || !loc.getLocSts().equals("S")) { News.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo()); return; } // 获取堆垛机信息 并 判断是否可入出 BasCrnp basCrnp = basCrnpService.selectById(slave.getId()); if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) { return; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { return; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 置顶任务 wrkMast.setIoPri((double) 9999); wrkMastMapper.updateById(wrkMast); // 源库位 ===>> 最外层库位 if (locMastService.isOutMost(wrkMast.getSourceLocNo())) { // 目标库位 ===>> 最外层库位 if (locMastService.isOutMost(wrkMast.getLocNo())) { // 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.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(loc.getRow1().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.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 => 16.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(16L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("【库位移转】 修改工作档状态 11.生成出库ID => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } // 不是最外层库位，需要使用穿梭车搬运后，再堆垛机移库 } else { // 当前组库位是否有穿梭车 Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo()); // 有小车 if (steNo != null) { if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { // 给穿梭车下发命令 让其将货物挪至堆垛机搬运点 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { //小车只能绑定一笔作业中任务 WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo); if(wrkMast1 != null){ return; } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 11.生成出库ID => 14.小车搬出库 Date now = new Date(); wrkMast.setWrkSts(14L); wrkMast.setSteNo(steNo); 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 => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } if (wrkMast.getWrkSts() == 15L) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 堆垛机出库 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.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(loc.getRow1().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.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 15.等待吊车 => 16.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(16L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } return; } } // 没有小车 } else { if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { // 寻找最近的小车 SteThread steThread = queryIdleCar(wrkMast); if (steThread != null) { if (null == wrkMastMapper.selectPakout(slave.getId(), steNo)) { // 标记移库当前流程 wrkMast.setMk("O"); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo()); } // 让小车等待搬运待续 this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo()); } } } // 堆垛机搬运小车 if (wrkMast.getWrkSts() == 12L) { this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol); } } } } /** * 库位移转(高频移库，io_type=111) */ public synchronized void locToLoc111(CrnSlave slave, CrnProtocol crnProtocol){ // 获取工作档信息 WrkMast wrkMast = wrkMastMapper.selectLocMove111(slave.getId()); if (null == wrkMast) { return; } // 过滤 if (null != wrkMastMapper.selectPakin(slave.getId(), null)) { News.error("{}出库任务无法作业，因存在入库中任务!", wrkMast.getWrkNo()); return; } // 判断是否已存在小车绑定任务 BasSte basSte = basSteService.findByCrnNo(wrkMast.getCrnNo()); if(basSte == null) return; WrkMast one = wrkMastService.selectOne(new EntityWrapper() .eq("ste_no",basSte.getSteNo()) .last(" and io_type != 111 and wrk_sts < 10")); if(one != null){ News.error("{}移库任务无法作业，因入库任务已绑定小车!", wrkMast.getWrkNo()); return; } // 获取源库位信息 LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo()); if (null == sourceLoc) { News.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo()); return; } // 源库位 库位状态判断 if (!sourceLoc.getLocSts().equals("R")) { return; } // 获取目标库位信息 LocMast loc = locMastService.selectById(wrkMast.getLocNo()); if (null == loc || !loc.getLocSts().equals("S")) { News.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo()); return; } // 获取堆垛机信息 并 判断是否可入出 BasCrnp basCrnp = basCrnpService.selectById(slave.getId()); if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) { return; } // // 堆垛机控制过滤 // if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // return; // } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 置顶任务 wrkMast.setIoPri((double) 9999); wrkMastMapper.updateById(wrkMast); // 源库位 ===>> 最外层库位 if (locMastService.isOutMost(wrkMast.getSourceLocNo())) { // 目标库位 ===>> 最外层库位 if (locMastService.isOutMost(wrkMast.getLocNo())) { // 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.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(loc.getRow1().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.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 => 7.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(7L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("【库位移转】 修改工作档状态 11.生成出库ID => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } /** * 库位移转，回原库位 */ public synchronized void locToLoc17(CrnSlave slave, CrnProtocol crnProtocol){ // 获取工作档信息 WrkMast wrkMast = wrkMastMapper.selectLocMove17(slave.getId()); if (null == wrkMast) { return; } if (wrkMast.getWrkSts() == 17) { //查找库位 boolean flag = false; // append Integer row = Utils.getGroupRow(wrkMast.getSourceLocNo()); Integer bay = Utils.getBay(wrkMast.getSourceLocNo()); Integer lev = Utils.getLev(wrkMast.getSourceLocNo()); String locNo = Utils.append(row, bay, lev); String[] deeplocs = Utils.getDeepLocs(locNo); if(!Cools.isEmpty(deeplocs)){ boolean ret = false; for(String deepLocNo : deeplocs) { LocMast deepLoc = locMastService.selectById(deepLocNo); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(deepLocNo); if(deepLoc != null && !deepLoc.getLocSts().equals("F") && !deepLoc.getLocSts().equals("D") && !deepLoc.getLocSts().equals("O") && (waitWrkMast!=null && waitWrkMast.getWrkSts()<18)){ News.error("移库再回库时，深库位组深库位状态为作业中 ===>> deepLoc={},loc_sts={}", deepLoc.getLocNo(), deepLoc.getLocSts()); if(waitWrkMast.getIoPri()<9999) {//调高优先级 waitWrkMast.setIoPri(waitWrkMast.getIoPri() + 1); wrkMastService.updateById(waitWrkMast); } flag = true; break; } if(deepLoc != null && deepLoc.getLocSts().equals("O")){ //修改移库工作档 wrkMast.setSourceLocNo(wrkMast.getLocNo()); wrkMast.setIoPri((double)9999); wrkMast.setWrkSts(2L); wrkMast.setLocNo(deepLocNo); wrkMast.setSteNo(0); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 17.移库完成 => 2.移库再入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } if(deepLoc.getLocSts().equals("O")){ deepLoc.setLocSts("S"); // S.入库预约 deepLoc.setModiTime(new Date()); if (!locMastService.updateById(deepLoc)) { News.error("双深库位 --- 更新目标库位状态失败！ 待移转浅库位：" + deepLoc.getLocNo()); throw new CoolException("更新移库回库目标库位状态失败"); } } LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo()); if(sourceLoc.getLocSts().equals("R") || sourceLoc.getLocSts().equals("D")){ sourceLoc.setLocSts("R"); // R.出库预约 sourceLoc.setModiTime(new Date()); if (!locMastService.updateById(sourceLoc)) { throw new CoolException("更新移库回库目标库位状态失败"); } } ret = true; break; } } if(ret == false && !flag){//深库位都不为O LocMast curLoc = locMastService.selectById(locNo); if(curLoc != null && curLoc.getLocSts().equals("O")){ //修改移库工作档 wrkMast.setSourceLocNo(wrkMast.getLocNo()); wrkMast.setIoPri((double)9999); wrkMast.setWrkSts(2L); wrkMast.setLocNo(locNo); wrkMast.setSteNo(0); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 17.移库完成 => 2.移库再入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } if(curLoc.getLocSts().equals("O")){ curLoc.setLocSts("S"); // S.入库预约 curLoc.setModiTime(new Date()); if (!locMastService.updateById(curLoc)) { News.error("双深库位 --- 更新目标库位状态失败！ 待移转浅库位：" + curLoc.getLocNo()); throw new CoolException("更新移库回库目标库位状态失败"); } } LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo()); if(sourceLoc.getLocSts().equals("R") || sourceLoc.getLocSts().equals("D")){ sourceLoc.setLocSts("R"); // R.出库预约 sourceLoc.setModiTime(new Date()); if (!locMastService.updateById(sourceLoc)) { throw new CoolException("更新移库回库目标库位状态失败"); } } } } } if(flag){ return; } } // 获取源库位信息 LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo()); if (null == sourceLoc) { News.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo()); return; } // 源库位 库位状态判断 if (!sourceLoc.getLocSts().equals("R")) { return; } // 获取目标库位信息 LocMast loc = locMastService.selectById(wrkMast.getLocNo()); if (null == loc || !loc.getLocSts().equals("S")) { News.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo()); return; } // 获取堆垛机信息 并 判断是否可入出 BasCrnp basCrnp = basCrnpService.selectById(slave.getId()); if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) { return; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { return; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 置顶任务 wrkMast.setIoPri((double) 9999); wrkMastMapper.updateById(wrkMast); // 源库位 ===>> 最外层库位 if (locMastService.isOutMost(wrkMast.getSourceLocNo())) { // 目标库位 ===>> 最外层库位 if (!locMastService.isOutMost(wrkMast.getLocNo())) { // 判断小车是否在当前组库位，如果是则将穿梭车移至最外层，等待堆垛机放货；如果不是，则堆垛机寻找穿梭车，并放置当前组最外层 Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo()); // 有小车 if (steNo != null) { // 小车行走到堆垛机待搬移点 if (wrkMast.getWrkSts() == 2L && (wrkMast.getSteNo() == null || wrkMast.getSteNo() == 0)) { // 没有其他任务 if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) { SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo()); // if(steProtocol.getLoca()==3 || steProtocol.getLoca()==4){ // //小车已经在待机位时，无需下发到待机位任务，直接更新状态微3，同时绑定小车 // wrkMast.setWrkSts(3L); // wrkMast.setSteNo(steNo); // wrkMast.setModiTime(new Date()); // if (wrkMastMapper.updateById(wrkMast) == 0) { // News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo()); // } // } else { // this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo()); // } } } // 堆垛机将货放至小车上 3.小车待搬（小车不用搬运，已经在当前组库位） / 6.小车待入 ===>> 7.吊车入库中 if (wrkMast.getWrkSts() == 3L || wrkMast.getWrkSts() == 6L) { // 小车处于空闲 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 堆垛机入库 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.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getLocNo()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.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 3.小车待搬 ===>> 7.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(7L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } return; } } } // 没有小车 } else { if (wrkMast.getWrkSts() == 2L && (wrkMast.getSteNo() == null || wrkMast.getSteNo() == 0)) { // 寻找当前堆垛机对应的小车 SteThread steThread = queryIdleCar(wrkMast); if (steThread != null) { // 没有其他任务 if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) { // 标记移库当前流程 wrkMast.setMk("I"); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo()); } // 让小车等待搬运待续 this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo()); } } } // 堆垛机搬运小车 if (wrkMast.getWrkSts() == 3L) { this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol); } } } else { //2023-4-20， 最外层库位，搬走小车直接移库 // 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库 Integer steNo = this.hasCar(wrkMast.getLocNo()); // 有小车 if (steNo != null) { // 小车行走到堆垛机待搬移点 if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == 0) { // 没有其他任务 if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) { this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo()); } } // 小车搬走 if (wrkMast.getWrkSts() == 3L) { this.carMoveOut(wrkMast, steNo, crnProtocol); } // 没有小车 } else { // 当前入库库位组没有小车 堆垛机则去站点取货入库 // case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2 // case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6 if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == 0) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 堆垛机入库 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.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getLocNo()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.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 7.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(7L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo()); } return; } } } } } } /** * 库位移转 */ public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){ // 获取工作档信息 WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId()); if (null == wrkMast) { return; } // 获取源库位信息 LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo()); if (null == sourceLoc) { News.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo()); return; } // 源库位 库位状态判断 if (!sourceLoc.getLocSts().equals("R") && !sourceLoc.getLocSts().equals("S")) { return; } // 获取目标库位信息 LocMast loc = locMastService.selectById(wrkMast.getLocNo()); if (null == loc) { News.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo()); return; } // 获取堆垛机信息 并 判断是否可入出 BasCrnp basCrnp = basCrnpService.selectById(slave.getId()); if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) { return; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { return; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 置顶任务 wrkMast.setIoPri((double) 9999); wrkMastMapper.updateById(wrkMast); // 源库位 ===>> 最外层库位 if (locMastService.isOutMost(wrkMast.getSourceLocNo())) { // 目标库位 ===>> 最外层库位 if (locMastService.isOutMost(wrkMast.getLocNo())) { // todo:luxiaotao 判断目标库位是否存在小车，如果存在，则搬走小车 // 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.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(loc.getRow1().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.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 => 16.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(16L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("【库位移转】 修改工作档状态 11.生成出库ID => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } else { Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo()); // 有小车 if (steNo != null) { // 小车行走到堆垛机待搬移点 if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { // 标记移库当前流程 wrkMast.setMk("I"); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo()); } this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo()); } // 堆垛机将货放至小车上 6.小车待入 ===>> 7.吊车入库中 if (wrkMast.getWrkSts() == 6L) { // 小车处于空闲 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 堆垛机入库 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.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getRow1()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.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 6.小车待入 ===>> 7.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(7L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } else { if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { // 寻找当前堆垛机对应的小车 SteThread steThread = queryIdleCar(wrkMast); if (steThread != null) { // 标记移库当前流程 wrkMast.setMk("I"); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo()); } // 让小车等待搬运待续 this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo()); } } // 堆垛机搬运小车 if (wrkMast.getWrkSts() == 3L) { this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol); } } } } else { // 当前组库位是否有穿梭车 Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo()); // 有小车 if (steNo != null) { if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { // 给穿梭车下发命令 让其将货物挪至堆垛机搬运点 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { //小车只能绑定一笔作业中任务 WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo); if(wrkMast1 != null){ return; } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 11.生成出库ID => 14.小车搬出库 Date now = new Date(); wrkMast.setWrkSts(14L); wrkMast.setSteNo(steNo); 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 => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } if (wrkMast.getWrkSts() == 15L) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 目标库位 ===>> 最外层库位 if (locMastService.isOutMost(wrkMast.getLocNo())) { // 堆垛机出库 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.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getRow1()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.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 15.等待吊车 => 16.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(16L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } // wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()); } } else { // 把货搬到临时存放货位 todo:luxiaotao // 小车行走到堆垛机待搬移点 if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo()); } // 堆垛机将货放至小车上 6.小车待入 ===>> 7.吊车入库中 if (wrkMast.getWrkSts() == 6L) { // 小车处于空闲 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 堆垛机入库 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.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getRow1()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.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 6.小车待入 ===>> 7.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(7L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } } } else { if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { // 寻找最近的小车 SteThread steThread = queryIdleCar(wrkMast); if (steThread != null) { // 标记移库当前流程 wrkMast.setMk("O"); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo()); } // 让小车等待搬运待续 this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo()); } } // 堆垛机搬运小车 if (wrkMast.getWrkSts() == 12L) { if (Cools.isEmpty(wrkMast.getSteNo()) || wrkMast.getSteNo()==0) { News.error("工作号={}即将开始搬运小车但是工作档没有小车号",wrkMast.getWrkNo()); return; } this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol); } } } } /** * 当前库位组是否存在空闲小车 */ public synchronized Integer hasCar(String locNo) { for (SteSlave ste : slaveProperties.getSte()) { // 获取堆垛机信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId()); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) { return steProtocol.getSteNo().intValue(); } } return null; } /** * 当前库位组是否存在空闲小车 */ public synchronized Integer hasCarOfIdle(String locNo) { for (SteSlave ste : slaveProperties.getSte()) { // 获取堆垛机信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId()); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.isIdle()) { if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) { return steProtocol.getSteNo().intValue(); } } } return null; } /** * 查找当前库位最适合的穿梭车来作业 */ public synchronized SteThread queryIdleCar(WrkMast wrkMast) { Integer crnNo = wrkMast.getCrnNo(); BasSte basSte = basSteService.findByCrnNo(crnNo); // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo()); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol != null) { if (steProtocol.isIdle()) { return steThread; } } return null; } /** * 让小车从 远点 ====>> 待机 * 等待堆垛机搬运 */ public synchronized void letCarBeWaiting(WrkMast wrkMast, Integer steNo, String locNo) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { //小车只能绑定一笔作业中任务 WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo); if(wrkMast1 != null){ return; } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { News.error("穿梭车命令下发成功让小车从 远点 ====>> 待机位,绑定穿梭车,IoType={}, 穿梭车号={}，任务数据={}", wrkMast.getIoType(), steNo, JSON.toJSON(steCommand)); // 修改工作档状态 绑定穿梭车 wrkMast.setSteNo(steNo); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } public synchronized void letCarBeWaiting(WrkCharge wrkCharge, Integer steNo) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (!basSteService.updatePakMk(steNo, "Y")) { News.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo); return; } //小车只能绑定一笔作业中任务 WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo); if(wrkMast1 != null){ return; } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol.getRow())); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 绑定穿梭车 wrkCharge.setSteNo(steNo); wrkCharge.setModiTime(new Date()); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo()); } } } /** * 让小车从 远点 ====>> 移动到近点 * 等待堆垛机搬运 */ public synchronized void letCarBeReady(WrkMast wrkMast, Integer steNo, String locNo) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { //小车只能绑定一笔作业中任务 WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo); if(wrkMast1 != null){ return; } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); steCommand.setMemo("绑定小车号，让小车从 远点 ====>> 移动到近点"); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { News.info("穿梭车命令下发成功(让小车从远点==>>移动到近点)，IoType={}, 穿梭车号={}，任务数据={}", wrkMast.getIoType(), steNo, JSON.toJSON(steCommand)); // 修改工作档状态 绑定穿梭车 wrkMast.setSteNo(steNo); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } /** * 让小车从 远点 ====>> 移动到近点 * 等待堆垛机搬运 */ public synchronized void letCarBeReady(WrkCharge wrkCharge, Integer steNo) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { //小车只能绑定一笔作业中任务 WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo); if(wrkMast1 != null){ return; } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 绑定穿梭车 wrkCharge.setSteNo(steNo); wrkCharge.setModiTime(new Date()); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo()); } } } } /** * 入出库 ===>> 堆垛机搬入小车 */ public synchronized void carMoveIn(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) { // 获取堆垛机信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if(steProtocol.getLoad() == 1){ News.error("小车上方有货，无法下发任务===>>{}", steNo); return; } if (steProtocol.isIdle() && steProtocol.getLoad() == 0) { // 堆垛机空闲 if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() == 0) { LocMast locMast; // 入库搬 if (wrkMast.getWrkSts() <= 10) { locMast = locMastService.selectById(wrkMast.getLocNo()); // 堆垛机命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 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.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排 crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列 crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层 if( crnCommand.getSourcePosX() == crnCommand.getDestinationPosX() && crnCommand.getSourcePosY() == crnCommand.getDestinationPosY() && crnCommand.getSourcePosZ() == crnCommand.getDestinationPosZ()){ //打补丁，如果出现源排列层 和目标排列层完全相同时，不给堆垛机发任务，状态直接由3 ==>> 6 // 修改穿梭车运行中排列层 steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1()); // 修改工作档状态 3.小车待搬 => 6.小车待入 Date now = new Date(); wrkMast.setWrkSts(6L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 3.小车待搬 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo()); } } else { if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改穿梭车运行中排列层 steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1()); // 修改工作档状态 3.小车待搬 => 4.迁入小车 Date now = new Date(); wrkMast.setWrkSts(4L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 3.小车待搬 => 4.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo()); } } } // 出库搬 } else { locMast = locMastService.selectById(wrkMast.getSourceLocNo()); // 堆垛机命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 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.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排 crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列 crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改穿梭车运行中排列层 steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1()); // 修改工作档状态 12.小车待搬 => 13.迁入小车 Date now = new Date(); wrkMast.setWrkSts(13L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 12.小车待搬 => 13.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } } /** * 入库 ===>> 堆垛机搬出小车 */ public synchronized void carMoveOut(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } // 穿梭车空闲 if (steProtocol.isIdle() && steProtocol.getLoad() == 0) { // 堆垛机空闲 if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() == 0) { BasSte basSte = basSteService.selectById(steNo); if (basSte == null) { News.error("{}号穿梭车在数据库不存在！！！", steNo); return; } String idleLocNo = basSte.getIdleLoc(); // 堆垛机命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 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.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排 crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列 crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(idleLocNo).shortValue()); // 目标库位排 crnCommand.setDestinationPosY((short) Utils.getBay(idleLocNo)); // 目标库位列 crnCommand.setDestinationPosZ((short) Utils.getLev(idleLocNo)); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改穿梭车运行中排列层 steThread.modifyPos(Utils.getGroupRow(idleLocNo), Utils.getBay(idleLocNo), Utils.getLev(idleLocNo)); // 修改工作档状态 3.小车待搬 => 5.迁出小车 Date now = new Date(); wrkMast.setWrkSts(5L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 3.小车待搬 => 5.迁出小车 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } /** * 执行对工作档的完成操作 */ @Transactional public synchronized void storeFinished() { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } // 状态：等待确认 并且 任务完成位 = 1 if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) { // 获取入库待确认工作档 WrkMast wrkMast = wrkMastMapper.selectCrnWaiting(crnProtocol.getTaskNo().intValue()); if (wrkMast == null) { // 充电任务 WrkCharge wrkCharge = wrkChargeService.selectById(crnProtocol.getTaskNo()); if (wrkCharge == null) { News.error("堆垛机处于等待确认且任务完成状态，但未找到充电工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo()); continue; } else { // 小车搬至指定库位完成 if (wrkCharge.getWrkSts() == 23) { // 23.吊车搬运 ===>> 24.小车到达 wrkCharge.setWrkSts(24L); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改充电任务状态 23.吊车搬运 ===>> 24.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { // 堆垛机复位 crnThread.setResetFlag(true); // 穿梭车重新定位排列层 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo()); if (!steThread.confirmPos()) { News.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo()); } } } else if (wrkCharge.getWrkSts() == 34) { // 34.吊车搬运 ===>> 35.小车就绪 wrkCharge.setWrkSts(35L); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改充电任务状态 34.吊车搬运 ===>> 35.小车就绪 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { // 堆垛机复位 crnThread.setResetFlag(true); // 穿梭车重新定位排列层 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo()); if (!steThread.confirmPos()) { News.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo()); } } } } } if (wrkMast == null) { continue; } if (wrkMast.getIoType() != 11 && wrkMast.getIoType() != 111) { // 入库 ==>> 货物搬入库 if (wrkMast.getWrkSts() == 7){ // 判断是否需要小车入库 if (locMastService.isOutMost(wrkMast.getLocNo())) { // ==> 9.入库完成 wrkMast.setWrkSts(9L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { News.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo()); } } else { // 给穿梭车下发命令 Integer steNo = wrkMast.getSteNo(); SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.isIdle()) { // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库 if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 7.吊车入库中 => 8.小车搬入库 wrkMast.setWrkSts(8L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { News.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } // 入库 ===>> 迁入小车 完成 } else if (wrkMast.getWrkSts() == 4) { // 4.迁入小车 ==> 6.小车待入 wrkMast.setWrkSts(6L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); // 穿梭车重新定位排列层 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo()); if (!steThread.confirmPos()) { News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo()); } // 穿梭车去待机位 BasSte basSte = basSteService.selectById(wrkMast.getSteNo()); SteCommand steCommand = new SteCommand(); steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号 steCommand.setTaskNo(9999); // 工作号 steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去近点 等待堆垛机叉取 // steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // steCommand.setBay(steProtocol.getBay()); // steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) { News.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand)); } } else { News.error("修改工作档状态 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo()); } // 入库 ===>> 迁出小车 完成 } else if (wrkMast.getWrkSts() == 5) { // 5.迁出小车 ==> 6.小车待入 wrkMast.setWrkSts(6L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); // 穿梭车重新定位排列层 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo()); if (!steThread.confirmPos()) { News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo()); } // 穿梭车去待机位 BasSte basSte = basSteService.selectById(wrkMast.getSteNo()); SteCommand steCommand = new SteCommand(); steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号 steCommand.setTaskNo(9999); // 工作号 steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去近点 等待堆垛机叉取 // steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // steCommand.setBay(steProtocol.getBay()); // steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) { News.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand)); } } else { News.error("修改工作档状态 5.迁出小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo()); } // 出库 ===>> 迁入小车 完成 } else if (wrkMast.getWrkSts() == 13) { // 给穿梭车下发命令 Integer steNo = wrkMast.getSteNo(); SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } // 穿梭车重新定位排列层 if (!steThread.confirmPos()) { News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo()); } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 搬出库 steCommand.setMemo("出库 ===>> 迁入小车 完成"); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { News.info("穿梭车命令下发成功，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); // 13.迁入小车 ==> 14.小车搬出库 wrkMast.setWrkSts(14L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { News.error("修改工作档状态 13.迁入小车 ==> 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo()); } } // 移库 ===>> 堆垛机搬至目标库位组 完成 } // 库位移转(高频io_type111) } else if(wrkMast.getIoType() == 111) { Date now = new Date(); // 入库 ==>> 货物搬入库 if (wrkMast.getWrkSts() == 7){ if (locMastService.isOutMost(wrkMast.getLocNo()) && locMastService.isOutMost(wrkMast.getSourceLocNo())) { // ==> 9.入库完成 wrkMast.setWrkSts(9L); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { News.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo()); } } } // 库位移转 }else { // 入库 ==>> 货物搬入库 if (wrkMast.getWrkSts() == 7){ // 判断是否需要小车入库 if (locMastService.isOutMost(wrkMast.getLocNo())) { // ==> 9.入库完成 wrkMast.setWrkSts(9L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { News.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo()); } } else { // 给穿梭车下发命令 Integer steNo = wrkMast.getSteNo(); SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.isIdle()) { // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库 if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 7.吊车入库中 => 8.小车搬入库 wrkMast.setWrkSts(8L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { News.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } // 入库 ===>> 迁入小车 完成 } else if (wrkMast.getWrkSts() == 4) { // 4.迁入小车 ==> 6.小车待入 wrkMast.setWrkSts(6L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); // 穿梭车重新定位排列层 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo()); if (!steThread.confirmPos()) { News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo()); } // 穿梭车去待机位 BasSte basSte = basSteService.selectById(wrkMast.getSteNo()); SteCommand steCommand = new SteCommand(); steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号 steCommand.setTaskNo(9999); // 工作号 steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去待机位避让 // steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // steCommand.setBay(steProtocol.getBay()); // steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) { News.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand)); } } else { News.error("修改工作档状态 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo()); } // 入库 ===>> 迁出小车 完成 } else if (wrkMast.getWrkSts() == 5) { // 5.迁出小车 ==> 6.小车待入 wrkMast.setWrkSts(6L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); // 穿梭车重新定位排列层 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo()); if (!steThread.confirmPos()) { News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo()); } // 穿梭车去待机位 BasSte basSte = basSteService.selectById(wrkMast.getSteNo()); SteCommand steCommand = new SteCommand(); steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号 steCommand.setTaskNo(9999); // 工作号 steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去近点 等待堆垛机叉取 // steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // steCommand.setBay(steProtocol.getBay()); // steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) { News.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand)); } } else { News.error("修改工作档状态 5.迁出小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo()); } } if (wrkMast.getWrkSts() == 16) { Date now = new Date(); // if (locMastService.isOutMost(wrkMast.getLocNo())) { // // 16.吊车出库中 ==> 9.入库完成 // wrkMast.setWrkSts(9L); // wrkMast.setCrnEndTime(now); // } else { // // 16.吊车出库中 ==> 9.入库完成 // wrkMast.setWrkSts(9L); // } if (locMastService.isOutMost(wrkMast.getLocNo())) { wrkMast.setWrkSts(17L); wrkMast.setSteNo(0); // 默认目标库位是空板 String locSts = ""; // 库位移转判断是否为空板移转 if (wrkMast.getEmptyMk().equals("N")) { locSts = "R"; // 转移库存明细数据: 库存号 由工作档源库位变为目标库位 if (!locDetlService.updateLocNo(wrkMast.getLocNo(), wrkMast.getSourceLocNo())) { News.error("库位移转 ===>> 转移库存明细数据失败；[源库位={}],[目标库位={}]", wrkMast.getSourceLocNo(), wrkMast.getLocNo()); continue; } } else { locSts = "D"; } if(Cools.isEmpty(locSts)){ News.error("库位移转 ===>> 库存状态为空；[源库位={}],[目标库位={}]", wrkMast.getSourceLocNo(), wrkMast.getLocNo()); continue; } // 修改源库位状态 ==> O LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo()); if (null != sourceLoc) { sourceLoc.setBarcode(""); sourceLoc.setLocSts("O"); sourceLoc.setModiTime(now); sourceLoc.setIoTime(now); if (!locMastService.updateById(sourceLoc)) { News.error("库位移转 ===>> 修改源库位状态失败；[workNo={}],[sourceLoc={}]", wrkMast.getWrkNo(), wrkMast.getSourceLocNo()); } } // 修改目标库位状态 ==> .locSts LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); locMast.setLocSts(locSts); locMast.setModiTime(new Date()); if (!locMastService.updateById(locMast)) { News.error(""); } } wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { News.error("修改工作档状态 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } else if (wrkMast.getWrkSts() == 4) { // 4.迁入小车 ==> 6.小车待入 wrkMast.setWrkSts(6L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); // 穿梭车重新定位排列层 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo()); if (!steThread.confirmPos()) { News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo()); } // 穿梭车去待机位 BasSte basSte = basSteService.selectById(wrkMast.getSteNo()); SteCommand steCommand = new SteCommand(); steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号 steCommand.setTaskNo(9999); // 工作号 steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去近点 等待堆垛机叉取 // steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // steCommand.setBay(steProtocol.getBay()); // steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) { News.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand)); } } else { News.error("修改工作档状态 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo()); } // 入库 ===>> 迁出小车 完成 } else if (wrkMast.getWrkSts() == 7){ // 判断是否需要小车入库 if (locMastService.isOutMost(wrkMast.getLocNo())) { // ==> 9.入库完成 wrkMast.setWrkSts(9L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { News.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo()); } } else { // 给穿梭车下发命令 Integer steNo = wrkMast.getSteNo(); SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.isIdle()) { // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库 if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 7.吊车入库中 => 8.小车搬入库 wrkMast.setWrkSts(8L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { News.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } else if (wrkMast.getWrkSts() == 13) { // 给穿梭车下发命令 Integer steNo = wrkMast.getSteNo(); SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } // 穿梭车重新定位排列层 if (!steThread.confirmPos()) { News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo()); } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 搬出库 if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 13.迁入小车 ==> 14.小车搬出库 wrkMast.setWrkSts(14L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { News.error("修改工作档状态 13.迁入小车 ==> 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } } } /** * 执行对工作档的完成操作 */ public synchronized void carGenerateStore() { Date now = new Date(); for (SteSlave ste : slaveProperties.getSte()) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId()); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.getWaiting() && steProtocol.getTaskNo() == 0){ News.info("ste[id={}] 收到等待WCS确认信号，但是任务号(地址V824)为0", steProtocol.getSteNo()); } if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0) { News.info("ste[id={}] 执行工作档完成，任务号={}, 穿梭车状态={}", steProtocol.getSteNo(), steProtocol.getTaskNo(), steProtocol.getStatus()); if (steProtocol.getTaskNo() == 9999) { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 9999 成功！！，工作号={}", steProtocol.getSteNo(), 9999); } else { // 查询是否有待入库的任务 WrkMast wrkMast = wrkMastMapper.selectCarWaiting(steProtocol.getTaskNo().intValue()); if (wrkMast == null) { // 充电任务 WrkCharge wrkCharge = wrkChargeService.selectById(steProtocol.getTaskNo()); if (wrkCharge == null) { continue; } else { if (wrkCharge.getWrkSts() == 21) { // 21.准备充电 ===>> 22.小车待搬 wrkCharge.setWrkSts(22L); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改充电任务状态 21.准备充电 ===>> 22.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 21.准备充电 ===>> 22.小车待搬 成功！！，工作号={}", steProtocol.getSteNo(), wrkCharge.getWrkNo()); } } else if (wrkCharge.getWrkSts() == 25) { // 25.小车去充电 ===>> 26.等待充电 wrkCharge.setWrkSts(26L); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改充电任务状态 25.小车去充电 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 25.小车去充电 ===>> 26.等待充电 成功！！，工作号={}", steProtocol.getSteNo(), wrkCharge.getWrkNo()); } } else if (wrkCharge.getWrkSts() == 32) { // 32.小车走行 ===>> 33.小车待搬 wrkCharge.setWrkSts(33L); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改演示任务状态 25.小车去充电 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 25.小车去充电 ===>> 26.等待充电 成功！！，工作号={}", steProtocol.getSteNo(), wrkCharge.getWrkNo()); } } else if (wrkCharge.getWrkSts() == 36) { // 36.小车走行 ===>> 37.演示完成 wrkCharge.setWrkSts(37L); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改演示任务状态 36.小车走行 ===>> 37.演示完成 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 36.小车走行 ===>> 37.演示完成 成功！！，工作号={}", steProtocol.getSteNo(), wrkCharge.getWrkNo()); } } } }else{ News.info("ste[id={}] 执行工作档完成，任务号={}, 穿梭车状态={}，工作档状态={}", steProtocol.getSteNo(), steProtocol.getTaskNo(), steProtocol.getStatus(), wrkMast.getWrkSts()); } if (wrkMast == null) { continue; } switch (wrkMast.getWrkSts().intValue()) { case 2: // 修改工作档状态 2.设备上走 => 3.小车待搬 if (Cools.isEmpty(wrkMast.getSteNo()) || wrkMast.getSteNo()==0){ News.error("修改工作档状态 2.设备上走 => 3.小车待搬 失败！！，工作号={} 原因：工作号没小车", wrkMast.getWrkNo()); break; } wrkMast.setWrkSts(3L); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("ste[id={}] 修改工作档状态 2.设备上走 => 3.小车待搬 失败！！，工作号={}", steProtocol.getSteNo(), wrkMast.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 修改工作档状态 2.设备上走 => 3.小车待搬 成功！！，工作号={}", steProtocol.getSteNo(), wrkMast.getWrkNo()); } break; case 8: // 修改工作档状态 8.小车搬入库 => 9.入库完成 wrkMast.setWrkSts(9L); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 8.小车搬入库 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 修改工作档状态 8.小车搬入库 => 9.入库完成 成功！！工作号={}", steProtocol.getSteNo(), wrkMast.getWrkNo()); } break; case 11: if (wrkMast.getIoType() != 11) { // 修改工作档状态 11.生成出库ID => 12.小车待搬 wrkMast.setWrkSts(12L); } else { if (Cools.isEmpty(wrkMast.getMk())) { News.error("移库工作档没有流程标记！！，工作号={}", wrkMast.getWrkNo()); } else { if (wrkMast.getMk().equals("I")) { String locNo = wrkMast.getLocNo(); if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) { // 修改工作档状态 11.生成出库ID => 6.小车待入 wrkMast.setWrkSts(6L); } else { // 修改工作档状态 11.生成出库ID => 3.小车待搬 wrkMast.setWrkSts(3L); } } else if (wrkMast.getMk().equals("O")) { // 修改工作档状态 11.生成出库ID => 12.小车待搬 wrkMast.setWrkSts(12L); } } } wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 11.生成出库ID => 12.小车待搬 失败！！，工作号={}", wrkMast.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 修改工作档状态 11.生成出库ID => 12.小车待搬 成功！！，工作号={}", steProtocol.getSteNo(), wrkMast.getWrkNo()); } break; case 14: // 修改工作档状态 14.小车搬出库 => 15.等待吊车 wrkMast.setWrkSts(15L); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 14.小车搬出库 => 15.等待吊车 失败！！，工作号={}", wrkMast.getWrkNo()); } else { steThread.setResetFlag(true); News.info("ste[id={}]小车复位标记 修改工作档状态 14.小车搬出库 => 15.等待吊车 成功！！，工作号={}", steProtocol.getSteNo(), wrkMast.getWrkNo()); } break; } } } } } /** * 异常信息记录 */ public synchronized void recErr() { try { this.recCrnErr(); this.recSteErr(); } catch (Exception e) { News.error("recErr fail", e); } } /** * 堆垛机异常信息记录 */ private synchronized void recCrnErr(){ Date now = new Date(); for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } // 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? "未知异常":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("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("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? "未知异常":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("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("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } } } } /** * 穿梭车异常信息记录 */ private void recSteErr(){ Date now = new Date(); for (SteSlave ste : slaveProperties.getSte()) { // 获取堆垛机信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId()); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } // 有任务 if (steProtocol.getTaskNo() != 0) { BasSteErrLog latest = basSteErrLogService.findLatestByTaskNo(ste.getId(), steProtocol.getTaskNo().intValue()); // 有异常 if (latest == null) { if (steProtocol.getAlarm() != null && steProtocol.isAlarm()) { WrkMast wrkMast = wrkMastMapper.selectById(steProtocol.getTaskNo()); if (wrkMast == null) { continue; } BasSteErr steErr = basSteErrService.selectById(steProtocol.getAlarm()); String errName = steErr==null? "未知异常":steErr.getErrName(); BasSteErrLog basSteErrLog = new BasSteErrLog( 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 ste.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) steProtocol.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 (!basSteErrLogService.insert(basSteErrLog)) { News.error("穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", ste.getId(), errName); } } } else { // 异常修复 if (steProtocol.getAlarm() == null || !steProtocol.isAlarm()) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basSteErrLogService.updateById(latest)) { News.error("穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", ste.getId(), latest.getId()); } } } // 无任务 } else { BasSteErrLog latest = basSteErrLogService.findLatest(ste.getId()); // 有异常 if (steProtocol.getAlarm() != null && steProtocol.isAlarm()) { // 记录新异常 if (latest == null || (latest.getErrCode() != steProtocol.getAlarm().intValue())) { BasSteErr steErr = basSteErrService.selectById(steProtocol.getAlarm()); String errName = steErr==null? "未知异常":steErr.getErrName(); BasSteErrLog basSteErrLog = new BasSteErrLog( 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 ste.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)steProtocol.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 (!basSteErrLogService.insert(basSteErrLog)) { News.error("穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", ste.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 (!basSteErrLogService.updateById(latest)) { News.error("穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", ste.getId(), latest.getId()); } } } } } } // ------------------------------------------------------------------------------- /** * 空栈板初始化入库,叉车入库站放货 */ public synchronized void storeEmptyPlt(){ for (DevpSlave devp : slaveProperties.getDevp()) { // 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(); } //20230201. 2号堆垛机有出库任务时，禁止新板入库 if (staProtocol.isLoading() && staProtocol.getWorkNo() == 9995) { if ( emptyInSta.getStaNo()==103 && devpThread.ioModeOf1F == IoModeType.PAKOUT_MODE) { //有出库任务，退库到入库口 staProtocol.setWorkNo((short) 9999); staProtocol.setStaNo((short)100); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); News.error("MainServiceImpl storeEmptyPlt"+"103为出库模式，禁止入库，退回入库口。！！！"); continue; } if ( emptyInSta.getStaNo()==203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { //有出库任务，退库到入库口 staProtocol.setWorkNo((short) 9999); staProtocol.setStaNo((short)200); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); News.error("MainServiceImpl storeEmptyPlt"+"203为出库模式，禁止入库，退回入库口。！！！"); continue; } } // 站点条件判断 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() >= 9990 || staProtocol.getWorkNo() <= 9999)) && staProtocol.isPakMk()) { // 获取条码扫描仪信息 String barcode = null; BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode()); if (barcodeThread != null) { String barcode0 = barcodeThread.getBarcode(); if(!Cools.isEmpty(barcode0)) { // News.info("{}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode0); if(!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) { barcode = barcode0; } } } LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed()); try { LocTypeDto locTypeDto = new LocTypeDto(staProtocol); SearchLocParam param = new SearchLocParam(); param.setIoType(10); if (!Cools.isEmpty(barcode)) { param.setBarcode(barcode); } 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); Integer code = jsonObject.getInteger("code"); if (code.equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); ledThread.errorReset(); // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(dto.getWorkNo().shortValue()); staProtocol.setStaNo(dto.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败"); } } else { if (ledThread != null) { String errorMsg = jsonObject.getString("msg"); if (!Cools.isEmpty(errorMsg)) { MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg)); } } News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * 出库 ===>> 工作档信息写入led显示器 */ public synchronized void ledExecute() { for (LedSlave led : slaveProperties.getLed()) { // 获取输送线plc线程 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId()); // 命令集合 List commands = new ArrayList<>(); // 工作档集合 List wrkMasts = new ArrayList<>(); for (Integer staNo : led.getStaArr()) { // 获取叉车站点 StaProtocol staProtocol = devpThread.getStation().get(staNo); if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) { continue; } else { staProtocol = staProtocol.clone(); } // 获取工作档数据 WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo()); if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; } 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 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) { 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) { 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 (!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()); } } } } /** * 小车电量检测 ===>> 发起充电 */ public synchronized void loopSteCharge() { for (SteSlave ste : slaveProperties.getSte()) { SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId()); SteProtocol steProtocol = steThread.getSteProtocol(); BasSte basSte = basSteService.selectById(ste.getId()); if (Cools.isEmpty(steProtocol, basSte)) { continue; } try { // 在线 空闲 无作业标记 不在充电 if (steProtocol.getMode() == 0 || !steProtocol.statusType.equals(SteStatusType.IDLE) || basSte.getPakMk().equals("Y") // || steProtocol.getChargeStatus() == 1 ) { continue; } if (!steProtocol.isEnable()) { continue; } if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) { continue; } WrkCharge wrkCharge = wrkChargeService.selectWorking(steProtocol.getSteNo().intValue()); if (wrkCharge == null && steProtocol.getChargeStatus() == 0) { String idleLoc = basSte.getIdleLoc(); wrkCharge = new WrkCharge(); wrkCharge.setSteNo(ste.getId()); wrkCharge.setWrkNo(commonService.getChargeWorkNo(4)); wrkCharge.setWrkSts(21L); // 21.准备充电 wrkCharge.setCrnNo(basSte.getCrnNo()); wrkCharge.setIoPri((double) 10); wrkCharge.setLocNo(idleLoc); wrkCharge.setMemo("charge"); if (!wrkChargeService.insert(wrkCharge)) { News.error("保存{}号穿梭车充电任务失败!!!", ste.getId()); continue; } // 处于充电库位组 if (Utils.getGroupRow(idleLoc).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(idleLoc) && steProtocol.getLev() == Utils.getLev(idleLoc)) { // 修改工作档状态 21.准备充电 => 24.小车到达 wrkCharge.setWrkSts(24L); wrkCharge.setModiTime(new Date()); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改充电任务状态 21.准备充电 => 24.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo()); } } else { this.letCarBeWaiting(wrkCharge, ste.getId()); } } else { // filter if (wrkCharge == null || (wrkCharge.getWrkSts() < 26 && steProtocol.getChargeStatus() == 1)) { continue; } // 22.小车待搬 if (wrkCharge.getWrkSts() == 22) { // 搬小车至充电库位 LocMast locMast = locMastService.selectById(basSte.getIdleLoc()); // 堆垛机命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排 crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列 crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) { News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改穿梭车运行中排列层 steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1()); // 修改工作档状态 22.小车待搬 => 23.吊车搬运 Date now = new Date(); wrkCharge.setWrkSts(23L); wrkCharge.setCrnStrTime(now); wrkCharge.setModiTime(now); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改工作档状态 22.小车待搬 => 23.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo()); } } } else if (wrkCharge.getWrkSts() == 24L) { // 小车行驶至充电位 if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) { if (steProtocol.getChargeStatus() == 1) { continue; } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号 steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findChargeByLoc(steProtocol.getRow().intValue())); if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand)); } else { // 修改工作档状态 24.小车到达 ===> 25.小车去充电 wrkCharge.setWrkSts(25L); Date now = new Date(); wrkCharge.setCrnEndTime(now); wrkCharge.setModiTime(now); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改充电任务状态 24.小车到达 ===> 25.小车去充电 失败！！，工作号={}", wrkCharge.getWrkNo()); } } } } else if (wrkCharge.getWrkSts() == 26) { if (steProtocol.getChargeStatus() == 0) { continue; } // 给输送线下发充电任务 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); SteChargeType steChargeType = SteChargeType.get(wrkCharge.getLocNo()); if (null != steChargeType) { if (devpThread.charge(steChargeType.ssbm - 1, true)) { // 修改工作档状态 26.等待充电 ===> 28.完成充电 wrkCharge.setWrkSts(28L); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改充电任务状态 26.等待充电 ===> 28.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { steThread.setResetFlag(true); News.info("修改充电任务状态 26.等待充电 ===> 28.完成充电 成功！！，工作号={}", wrkCharge.getWrkNo()); } } } else { News.error("获取充电桩号失败，解析库位：{}", wrkCharge.getLocNo()); } } } } catch (Exception e) { News.error("fail", e); } } } public List crn1DemoLocs = new ArrayList(); public String crn1LastLoc = ""; public List crn2DemoLocs = new ArrayList(); public String crn2LastLoc = ""; public List crn3DemoLocs = new ArrayList(); public String crn3LastLoc = ""; public synchronized void demo() { if (Cools.isEmpty(crn1DemoLocs)) { crn1DemoLocs = locMastService.getDemoNextLoc(1); } if (Cools.isEmpty(crn2DemoLocs)) { crn2DemoLocs = locMastService.getDemoNextLoc(2); } if (Cools.isEmpty(crn3DemoLocs)) { crn3DemoLocs = locMastService.getDemoNextLoc(3); } 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) { // filter if (wrkChargeService.selectCount(new EntityWrapper() .eq("crn_no", crn.getId()).between("wrk_sts", 31, 36)) > 0) { continue; } int steNo = crn.getId(); SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); BasSte basSte = basSteService.selectById(steNo); if (Cools.isEmpty(steProtocol, basSte)) { continue; } // 只有当穿梭车空闲 并且 无任务时才继续执行 if (steProtocol.isIdle()) { String locNo = null; Iterator iterator = crn1DemoLocs.iterator(); if (crn.getId() == 1) { iterator = crn1DemoLocs.iterator(); } else if (crn.getId() == 2) { iterator = crn2DemoLocs.iterator(); } else if (crn.getId() == 3) { iterator = crn3DemoLocs.iterator(); } while (iterator.hasNext()) { String next = iterator.next(); String lastLoc = ""; if (crn.getId() == 1) { lastLoc = crn1LastLoc; } else if (crn.getId() == 2) { lastLoc = crn2LastLoc; } else if (crn.getId() == 3) { lastLoc = crn3LastLoc; } if (!Cools.isEmpty(lastLoc)) { if (!lastLoc.substring(2, 7).equals(next.substring(2, 7)) || !Utils.getGroupRow(lastLoc).equals(Utils.getGroupRow(next))) { locNo = next; iterator.remove(); break; } else { iterator.remove(); } } else { locNo = next; iterator.remove(); break; } } if (!Cools.isEmpty(locNo)) { if (crn.getId() == 1) { crn1LastLoc = locNo; } else if (crn.getId() == 2) { crn2LastLoc = locNo; } else if (crn.getId() == 3) { crn3LastLoc = locNo; } } News.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo); String sourceLocNo = Utils.getLocNo(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev()); WrkCharge wrkCharge = new WrkCharge(); wrkCharge.setCrnNo(crn.getId()); wrkCharge.setSteNo(steNo); wrkCharge.setWrkNo(commonService.getChargeWorkNo(5)); wrkCharge.setWrkSts(31L); // 31.生成演示ID wrkCharge.setIoPri((double) 10); wrkCharge.setSourceLocNo(sourceLocNo); wrkCharge.setLocNo(locNo); wrkCharge.setMemo("demo"); if (!wrkChargeService.insert(wrkCharge)) { News.error("生成演示任务失败，堆垛机号：{}，小车：{}，源库位：{}，目标库位：{}", crn.getId(), steNo, sourceLocNo, locNo); } } } } } /** * 演示取货 */ private void steMoveDemo(CrnSlave slave, CrnProtocol crnProtocol) { // 获取工作档信息 WrkCharge wrkCharge = wrkChargeService.selectOne(new EntityWrapper().eq("crn_no", slave.getId()) .in("wrk_sts", 31, 33, 35)); if (null == wrkCharge) { return; } SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo()); SteProtocol steProtocol = steThread.getSteProtocol(); if (null == steProtocol) { return; } if (steProtocol.isIdle()) { // 31.生成演示ID if (wrkCharge.getWrkSts() == 31L) { this.letCarBeReady(wrkCharge, steProtocol.getSteNo().intValue()); wrkCharge.setWrkSts(32L); wrkCharge.setModiTime(new Date()); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改演示任务{}工作档 31.生成演示ID ==>> 32.小车走行 失败!", wrkCharge.getWrkNo()); } // 33.小车待搬 } else if (wrkCharge.getWrkSts() == 33L) { LocMast locMast = locMastService.selectById(wrkCharge.getLocNo()); // 堆垛机命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setCommand((short) 0); crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排 crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列 crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) { News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改穿梭车运行中排列层 steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1()); // 修改工作档状态 33.小车待搬 => 34.吊车搬运 Date now = new Date(); wrkCharge.setWrkSts(34L); wrkCharge.setCrnStrTime(now); wrkCharge.setModiTime(now); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改演示任务{}工作档 33.小车待搬 => 34.吊车搬运 失败!", wrkCharge.getWrkNo()); } } // 35.小车就绪 } else if (wrkCharge.getWrkSts() == 35L) { int steNo = steProtocol.getSteNo().intValue(); if (!basSteService.updatePakMk(steNo, "Y")) { News.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo); return; } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号 SteTaskModeType originByLoc = SteTaskModeType.findOriginByLoc(steProtocol.getRow()); if (originByLoc.equals(SteTaskModeType.GO_ORIGIN)) { originByLoc = SteTaskModeType.BACK_ORIGIN; } else if (originByLoc.equals(SteTaskModeType.BACK_ORIGIN)) { originByLoc = SteTaskModeType.GO_ORIGIN; } else { return; } steCommand.setTaskMode(originByLoc); steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 35.小车就绪 => 36.小车走行 wrkCharge.setWrkSts(36L); wrkCharge.setModiTime(new Date()); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改演示任务{}工作档 35.小车就绪 => 36.小车走行 失败!", wrkCharge.getWrkNo()); } } } } } /** * 因深库位阻塞，对浅库位进行移转 */ private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){ try { String rows = ""; switch (crn.getId()){ case 1: rows = "3,4"; break; case 2: rows = "11,12"; break; case 3: rows = "18,19"; break; } LocMast loc = null; List locs = locMastService.selectList(new EntityWrapper().eq("crn_no",crn.getId()) .eq("loc_type1",shallowLoc.getLocType1()) .eq("loc_type2",shallowLoc.getLocType2()) .eq("loc_sts","O") .last(" and row1 in (" + rows + ") order by bay1,lev1")); for (LocMast one : locs){ if(Utils.getGroupRow(one.getLocNo()) != Utils.getGroupRow(shallowLoc.getLocNo()) || Utils.getBay(one.getLocNo()) != Utils.getBay(shallowLoc.getLocNo()) || Utils.getLev(one.getLocNo()) != Utils.getLev(shallowLoc.getLocNo())){ Integer steNo = this.hasCar(one.getLocNo()); if (steNo != null) { //有小车 continue; } // //检测当前库位内侧其他库位是否为D、F、X // if (Utils.checkInsideLocIsDFX(one.getLocNo())) { // //内侧其他库位不是D、F、X。不能选取该库位 // continue; // } //检测当前库位内侧其他库位是否为D、F、X、O if (Utils.checkInsideLocIsDFXO(one.getLocNo())) { //内侧其他库位不是D、F、X、O。不能选取该库位 continue; } loc = one; break; } } if (null == loc) { News.error("深库位出库 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo()); // return; // throw new CoolException("深库位出库 --- 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); 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(111); // 入出库状态： 111.库格移载(高频) wrkMast.setIoPri((double) 9999); 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(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.sync(locDetl); wrkDetl.setWrkNo(workNo); wrkDetl.setIoTime(new Date()); wrkDetl.setAnfme(locDetl.getAnfme()); wrkDetl.setAppeTime(new Date()); wrkDetl.setModiTime(new Date()); if (!wrkDetlService.insert(wrkDetl)) { throw new CoolException("保存工作档明细失败"); } } } // 修改源库位状态 if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) { shallowLoc.setLocSts("R"); // R.出库预约 shallowLoc.setModiTime(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(now); 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("深库位阻塞，对浅库位进行移转失败", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 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()) { Integer sourceStaNo = inSta.getStaNo()==103 ? 104 : 204; WrkMast pakout = wrkMastMapper.selectWorkingPakout(sourceStaNo); switch (inSta.getStaNo()) { case 103://1F if (pakout != null) { if (devpThread.ioModeOf1F != IoModeType.PAKOUT_MODE) { // 出库切换中 // devpThread.ioModeOf1F = 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.ioModeOf1F = IoModeType.PAKOUT_MODE; // } } } else { // 入库模式 devpThread.ioModeOf1F = IoModeType.PAKIN_MODE; } break; case 203://2F 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; } } } } catch (Exception e) { e.printStackTrace(); } } }