package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.Cools; import com.core.common.R; import com.core.exception.CoolException; import com.fasterxml.jackson.databind.ObjectMapper; import com.zy.asrs.domain.enums.TaskStatusType; import com.zy.asrs.entity.*; import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam; import com.zy.asrs.entity.param.taskCreateParam; import com.zy.asrs.mapper.*; import com.zy.asrs.service.*; import com.zy.asrs.utils.CommandUtils; import com.zy.asrs.utils.PostMesDataUtils; import com.zy.asrs.utils.Utils; import com.zy.common.service.CommonService; import com.zy.common.utils.HttpHandler; import com.zy.core.CrnThread; import com.zy.core.DevpThread; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.*; import com.zy.core.model.CrnSlave; import com.zy.core.model.DevpSlave; import com.zy.core.model.Task; import com.zy.core.model.command.CommandPackage; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.protocol.CrnProtocol; import com.zy.core.model.protocol.StaProtocol; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.BarcodeThread; import com.zy.core.thread.LedThread; import com.zy.core.thread.SiemensDevpThread; import com.zy.system.entity.Config; import com.zy.system.service.ConfigService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.scheduling.annotation.Async; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; import java.io.IOException; import java.util.*; /** * 立体仓库WCS系统主流程业务 * Created by vincent on 2020/8/6 */ @Slf4j @Service("mainService") @Transactional public class MainServiceImpl { public static final long COMMAND_TIMEOUT = 5 * 1000; @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastMapper wrkMastMapper; @Autowired private LocMastService locMastService; @Autowired private BasCrnpService basCrnpService; @Autowired private BasDevpService basDevpService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Autowired private TaskWrkMapper taskWrkMapper; @Autowired private TaskWrkService taskWrkService; @Autowired private ConfigService configService; @Autowired private StaDescMapper staDescMapper; @Autowired private CommandInfoService commandInfoService; @Autowired private OpenServiceImpl openServiceImpl; @Value("${wms.url}") private String wmsUrl; @Value("${wms.movePath}") private String movePath; public void generateStoreWrkFile() throws IOException { // 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) && staProtocol.isPakMk()) { // 尺寸检测异常 boolean back = false; String errMsg = ""; if (staProtocol.isFrontErr()) { errMsg = "前超限"; back = true; } if (!back && staProtocol.isBackErr()) { errMsg = "后超限"; back = true; } if (!back && staProtocol.isHighErr()) { errMsg = "高超限"; back = true; } if (!back && staProtocol.isLeftErr()) { errMsg = "左超限"; back = true; } if (!back && staProtocol.isRightErr()) { errMsg = "右超限"; back = true; } if (!back && staProtocol.isWeightErr()) { errMsg = "超重"; back = true; } if (!back && staProtocol.isBarcodeErr()) { errMsg = "扫码失败"; back = true; } // 退回 if (back) { // News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg); staProtocol.setWorkNo(workNo); staProtocol.setStaNo(inSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol)); TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo)); if (taskWrk != null) { taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示 taskWrkMapper.updateById(taskWrk); } continue; } // 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)) { ToWmsDTO toWmsDTO = new ToWmsDTO(); Map map = new HashMap<>(); map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2"); List list = openServiceImpl.getInEnableRoadway(); TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper().eq("barcode", barcode).eq("crn_no",inSta.getBarcode())); if (Cools.isEmpty(taskWrk)){ continue; } if (taskWrk.getTargetPoint() != null && taskWrk.getStartPoint() != null && taskWrk.getWrkNo() != null && taskWrk.getWrkNo().shortValue() != workNo){ staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue()); staProtocol.setStaNo(inSta.getStaNo().shortValue()); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol)); }else { //TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo()); toWmsDTO.setWarehouseId("1688469798893297665"); toWmsDTO.setContainerCode(barcode); toWmsDTO.setApplyType("TUNNEL_LOCATION"); toWmsDTO.setTaskTunnel(taskWrk.getCrnNo()); toWmsDTO.setCanInboundTunnels(list); String response = null; try { response = new HttpHandler.Builder() .setHeaders(map) .setUri(wmsUrl) .setPath("wcsManager/wcsInterface/inboundTaskApply") .setJson(JSON.toJSONString(toWmsDTO)) .build() .doPost(); }catch (Exception e){ log.error("wms通讯失败,"+e.getMessage()); continue; } JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class); taskWrk.setOriginTargetPoint(getWmsDto.getTargetLocationCode()); taskWrk.setTargetPoint(Utils.getWcsLocNo(getWmsDto.getTargetLocationCode())); taskWrk.setStartPoint(String.valueOf(inSta.getBackSta())); if (!taskWrkService.updateById(taskWrk)){ log.error("保存wms库位号失败"); } }else { log.error("wms通讯失败,"+jsonObject.get("msg")); } } } } } } } /** * 堆垛机站出库到出库站 */ @Async public void crnStnToOutStn() { for (CrnSlave crnSlave : slaveProperties.getCrn()) { // 遍历堆垛机出库站 for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) { List staDescs = staDescMapper.selectList(new EntityWrapper().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo())); for (StaDesc staDesc : staDescs){ // 获取堆垛机出库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) { // 查询工作档 TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString()); if (taskWrk == null) { continue; } // 判断工作档条件 if (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2) { // 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, taskWrk.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.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue()) && crnProtocol.getTaskFinish() == 0 && crnProtocol.forkPosType == CrnForkPosType.HOME) { // 命令下发区 -------------------------------------------------------------------------- //取出输送线命令 List commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo()); if (commandInfos.isEmpty()) { continue;//命令空 } // CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文 // CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class); Integer commandStep = taskWrk.getCommandStep(); CommandInfo commandInfo = commandInfos.get(commandStep); CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文 //StaProtocol staProtocol1 = JSON.parseObject(commandInfo.getCommand(), StaProtocol.class); StaProtocol staProtocol1 = JSON.parseObject(commandPackage.getCommand().toString(), StaProtocol.class); if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) { log.error("输送线命令下方失败！！！ [工作号:{}]", taskWrk.getWrkNo()); continue;//命令下发失败 } // 复位堆垛机 crnThread.setResetFlag(true); } } } } } } } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecute() throws IOException { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } BasCrnp basCrnp = basCrnpService.selectById(crn.getId()); if (basCrnp == null) { log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId()); continue; } // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) { // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc(crn, crnProtocol); // 入库 crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn(crn, crnProtocol); // 出库 crnProtocol.setLastIo("I"); } } // 如果最近一次是出库模式 else if (crnProtocol.getLastIo().equals("O")) { if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn(crn, crnProtocol); // 出库 crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc(crn, crnProtocol); // 入库 crnProtocol.setLastIo("O"); } } } // 库位移转 this.locToLoc(crn, crnProtocol); } } /** * 入库 ===>> 堆垛机站到库位 */ public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException { for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) { List staDescs = staDescMapper.selectList(new EntityWrapper().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo())); for (StaDesc staDesc : staDescs) { boolean flag = false; // 获取堆垛机入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable() && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) { flag = true; } if (!flag) { continue; } // 获取工作状态为2（设备上走）的入库工作档 TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString()); if(null == taskWrk) { continue; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { continue; } // 已经存在吊车执行任务时，则过滤 if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) { continue; } //取出命令 List commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo()); Integer commandStep = taskWrk.getCommandStep(); if (commandInfos.isEmpty()) { continue;//命令空 } CommandInfo commandInfo = commandInfos.get(commandStep); CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文 CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class); if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 2.设备上走 => 3.吊车入库中 Date now = new Date(); taskWrk.setWrkSts(3); taskWrk.setModiTime(now); if (taskWrkMapper.updateById(taskWrk) == 0) { log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo()); } } // // 命令下发区 -------------------------------------------------------------------------- // CrnCommand crnCommand = new CrnCommand(); // crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 // crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号 // crnCommand.setAckFinish((short) 0); // 任务完成确认位 // crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 // crnCommand.setSourcePosX(crnStn.getBay().shortValue()); // 源库位列 // crnCommand.setSourcePosY(crnStn.getLev().shortValue()); // 源库位层 // crnCommand.setSourcePosZ(crnStn.getRow().shortValue()); // 源库位排 // crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列 // crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层 // crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排 // crnCommand.setCommand((short)1); // if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) { // log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand)); // } else { // // 修改工作档状态 2.设备上走 => 3.吊车入库中 // Date now = new Date(); // taskWrk.setWrkSts(3); // taskWrk.setModiTime(now); // if (taskWrkMapper.updateById(taskWrk) == 0) { // log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo()); // } // } } return; } } /** * 出库 ===>> 库位到堆垛机站 * 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库 */ public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){ List taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null); if (taskWrksInitial.size()==0){ return; } for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) { List staDescs = staDescMapper.selectList(new EntityWrapper().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo())); for (StaDesc staDesc : staDescs){ // 获取工作状态为11（生成出库ID）的出库工作档 List taskWrks = taskWrkMapper.selectPakOut(slave.getId(),staDesc.getStnNo().toString()); for (TaskWrk taskWrk : taskWrks){ if (taskWrk == null) { continue; } // 工作档状态判断 if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == null || taskWrk.getStartPoint() == null) { log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getStartPoint(), taskWrk.getIoType()); continue; } // 获取堆垛机出库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { break; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); break; } // 判断堆垛机出库站状态 if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y") && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) { // 命令下发区 -------------------------------------------------------------------------- // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { break; } // 已经存在吊车执行任务时，则过滤 if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) { break; } // 双深库位且浅库位有货，则需先对浅库位进行库位移转 if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) { taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo()); List taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo()); if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){ continue; } String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint()); TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo); if (!Cools.isEmpty(hallowLocNoTask)){ if (!Cools.isEmpty(hallowLocNoTask.getTargetPoint())){ continue; } // new PostMesDataUtils().postMesData("移库任务分配库位",wmsUrl,movePath,hallowLocNoTask); try { String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath(movePath) .setJson(JSON.toJSONString(hallowLocNoTask)) .build() .doPost(); System.out.println("response:"+response); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { //解析 } }catch (Exception e){ log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/"+movePath, JSON.toJSONString(hallowLocNoTask), "请求移库任务分配库位"); } continue; } } //取出命令 List commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo()); Integer commandStep = taskWrk.getCommandStep(); if (commandInfos.isEmpty()) { continue;//命令空 } CommandInfo commandInfo = commandInfos.get(commandStep); CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文 CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class); if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); taskWrk.setWrkSts(12); taskWrk.setModiTime(now); if (taskWrkMapper.updateById(taskWrk) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo()); } } return; } } } } } /** * 库位移转 */ public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){ for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) { // 获取工作状态为11（生成出库ID）的移库工作档 List taskWrks = taskWrkMapper.selectPakOut3(slave.getId(), crnStn.getStaNo().toString()); for (TaskWrk taskWrk : taskWrks){ if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("")) { continue; } // 工作档状态判断 if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) { log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType()); continue; } // 命令下发区 -------------------------------------------------------------------------- // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { continue; } // 已经存在吊车执行任务时，则过滤 if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) { continue; } // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排 crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列 crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层 crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排 crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列 crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层 if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); taskWrk.setWrkSts(12); taskWrk.setModiTime(now); if (taskWrkMapper.updateById(taskWrk) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo()); } break; } return; } } } /** * 执行对工作档的完成操作 */ @Async public 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.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) { //获取指令ID Integer commandId = crnProtocol.getCommandId(); CommandInfo commandInfo = commandInfoService.selectById(commandId); if (commandInfo == null) { //指令不存在 continue; } commandInfo.setCommandStatus(CommandStatusType.COMPLETE.id);//指令完成 commandInfo.setCompleteTime(new Date());//指令完成时间 if (commandInfoService.updateById(commandInfo)) {//修改成功后复位堆垛机 // 堆垛机复位 crnThread.setResetFlag(true); } } } } // /** // * 执行对工作档的完成操作 // */ // @Async // public 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.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) { // // 获取入库待确认工作档 // TaskWrk taskWrk = taskWrkMapper.selectCrnNoWorking(crn.getId(),crnProtocol.getTaskNo().intValue()); // if (Cools.isEmpty(taskWrk)) { // log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo()); // continue; // } // // 入库 + 库位转移 ==> 4.入库完成 // if ((taskWrk.getWrkSts() == 3 && taskWrk.getIoType() == 1) || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) { // taskWrk.setWrkSts(4); // } else { // continue; // } // Date now = new Date(); // taskWrk.setModiTime(now); // Integer integerTaskWrk = taskWrkMapper.updateById(taskWrk); // // 修改成功后复位堆垛机 // if (integerTaskWrk > 0) { // // 堆垛机复位 // crnThread.setResetFlag(true); // // //更新库位状态 // LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint()); // locMast.setLocSts("F");//F.在库 // locMast.setBarcode(taskWrk.getBarcode());//托盘码 // locMast.setModiTime(now); // locMast.setModiUser(9999L); // locMastService.updateById(locMast); // } // } // } // } /** * 堆垛机异常信息记录 */ @Async public void recCrnErr(){ Date now = new Date(); for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } if (true) { // if (crnProtocol.getModeType() != CrnModeType.STOP) { // 有任务 if (crnProtocol.getTaskNo() != 0) { BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue()); // 有异常 if (latest == null) { if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) { WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo()); if (wrkMast == null) { continue; } BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1()); String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName(); BasErrLog basErrLog = new BasErrLog( null, // 编号 wrkMast.getWrkNo(), // 工作号 now, // 发生时间 null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 crn.getId(), // 堆垛机 null, // plc wrkMast.getLocNo(), // 目标库位 wrkMast.getStaNo(), // 目标站 wrkMast.getSourceStaNo(), // 源站 wrkMast.getSourceLocNo(), // 源库位 wrkMast.getBarcode(), // 条码 (int) crnProtocol.getAlarm1(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "任务中异常" // 备注 ); if (!basErrLogService.insert(basErrLog)) { log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName); } } } else { // 异常修复 if (crnProtocol.getAlarm1() == null || crnProtocol.getAlarm1() == 0) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basErrLogService.updateById(latest)) { log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } // 无任务 } else { BasErrLog latest = basErrLogService.findLatest(crn.getId()); // 有异常 if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) { // 记录新异常 if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm1().intValue())) { BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1()); String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName(); BasErrLog basErrLog = new BasErrLog( null, // 编号 null, // 工作号 now, // 发生时间 null, // 结束时间 null, // 工作状态 null, // 入出库类型 crn.getId(), // 堆垛机 null, // plc null, // 目标库位 null, // 目标站 null, // 源站 null, // 源库位 null, // 条码 (int)crnProtocol.getAlarm1(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "无任务异常" // 备注 ); if (!basErrLogService.insert(basErrLog)) { log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName); } } // 无异常 } else { // 异常修复 if (latest != null && latest.getStatus() == 1) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basErrLogService.updateById(latest)) { log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } } } } } //自动派发任务 public void autoDistribute() { Config config = configService.selectByCode("autoDistribute"); if (config == null) { return; } if (config.getValue().equals("false")) {//判断是否开启自动派发任务 return; } for (TaskWrk taskWrk : taskWrkService.selectReceive()) { try { taskWrkService.distribute(taskWrk.getTaskNo(), 9527L); } catch (CoolException e) { log.info(e.getMessage()); } } } //自动完成任务 public synchronized void autoCompleteTask() { List taskWrks = taskWrkMapper.selectWorkingTask(); for (TaskWrk taskWrk : taskWrks) { //获取命令集合 List commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo()); if (taskWrk.getCommandStep() != commandInfos.size()) { continue;//当前步序没有到达最后一条命令 } //判断末端命令是否执行完成 CommandInfo commandInfo = commandInfos.get(commandInfos.size() - 1); if (commandInfo.getCommandStatus() != CommandStatusType.COMPLETE.id) { continue;//指令未完成 } Date now = new Date(); //指令已完成，更新任务 if (taskWrk.getIoType() == 1) { //入库任务 taskWrk.setWrkSts(4);//3.吊车入库中 => 4.入库完成 taskWrk.setStatus(TaskStatusType.COMPLETE.id); taskWrk.setModiTime(now); taskWrkService.updateById(taskWrk); //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint()); locMast.setLocSts("F");//F.在库 locMast.setBarcode(taskWrk.getBarcode());//托盘码 locMast.setModiTime(now); locMast.setModiUser(9999L); locMastService.updateById(locMast); } else if (taskWrk.getIoType() == 2) { //出库任务 taskWrk.setWrkSts(14);//12.吊车出库中 => 14.出库完成 taskWrk.setStatus(TaskStatusType.COMPLETE.id); taskWrk.setModiTime(now); taskWrkService.updateById(taskWrk); //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint()); locMast.setLocSts("O");//O.空库位 locMast.setBarcode("");//托盘码 locMast.setModiTime(now); locMast.setModiUser(9999L); locMastService.updateById(locMast); } } } }