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.*; import com.core.exception.CoolException; import com.zy.asrs.entity.*; import com.zy.asrs.mapper.*; import com.zy.asrs.service.*; import com.zy.asrs.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.*; 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.protocol.*; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.BarcodeThread; import com.zy.core.thread.LedThread; import com.zy.core.thread.RgvThread; import com.zy.core.thread.SiemensDevpThread; import com.zy.system.entity.license.LicenseVerify; 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.concurrent.ConcurrentHashMap; import java.util.stream.Collectors; /** * 立体仓库WCS系统主流程业务 * Created by vincent on 2020/8/6 */ @Slf4j @Service("mainService") @Transactional public class MainServiceImpl { public static final long COMMAND_TIMEOUT = 5 * 1000; @Autowired private CommonService commonService; @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastMapper wrkMastMapper; @Autowired private WrkDetlService wrkDetlService; @Autowired private LocMastService locMastService; @Autowired private StaDescService staDescService; @Autowired private BasCrnpService basCrnpService; @Autowired private BasDevpService basDevpService; @Autowired private LocDetlService locDetlService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Autowired private WrkMastService wrkMastService; @Autowired private BasDevpPositionService basDevpPositionService; @Value("${wms.url}") private String wmsUrl; @Value("${inventory.number}") private Integer inventoryNumber; public Integer wrkNo = 10002; /* * 验证许可证是否有效 * */ public synchronized boolean licenseVerify() { try{ // if (true) { // return true; // } return new LicenseVerify().verify(); } catch (Exception e){ log.info("许可证验证失败！！异常：{}",e.getMessage()); } return false; } /** * 组托 * 入库站，根据条码扫描生成入库工作档，工作状态 2 */ public synchronized void generateStoreWrkFile(Integer mark) { String methodName = Thread.currentThread().getStackTrace()[1].getMethodName(); // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode()); LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if(!staProtocol.isLoading()){ continue; } if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); // 尺寸检测异常 boolean back = false; String errMsg = ""; if (staProtocol.isFrontErr()) { errMsg = "前超限"; back = true; } if (!back && staProtocol.isBackErr()) { errMsg = "后超限"; back = true; } if (!back && staProtocol.isHighErr()) { errMsg = "高超限"; back = true; } if (!back && staProtocol.isLeftErr()) { errMsg = "左超限"; back = true; } if (!back && staProtocol.isRightErr()) { errMsg = "右超限"; back = true; } if (!back && staProtocol.isWeightErr()) { errMsg = "超重"; back = true; } if (!back && staProtocol.isBarcodeErr()) { errMsg = "扫码失败"; log.error("物料码扫码失败"); back = true; } // 退回 if (back) { News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg); MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg)); if (!staProtocol.isLoading()){ continue; } if (!staProtocol.isPakMk()) { continue; } // led 异常显示 if (ledThread != null) { MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg)); } staProtocol.setWorkNo(wrkNo); News.info("异常判断{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo); wrkNo++; staProtocol.setStaNo(inSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); staProtocol.setBarcode(barcode); staProtocol.setPakMk(false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); System.out.println(staProtocol); log.error("输送线下发1："+wrkNo+","+inSta.getBackSta()); } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && staProtocol.isPakMk() && staProtocol.getWorkNo() == 0 ) { if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) { // News.error(JSON.toJSONString(staProtocol)); News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode); // led 异常显示 if (ledThread != null) { String errorMsg = "扫码失败，请重试"; MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); } staProtocol.setWorkNo(wrkNo); News.info("条码判断{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo); wrkNo++; staProtocol.setStaNo(inSta.getBackSta().shortValue()); staProtocol.setBarcode(barcode); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.error("输送线下发1："+wrkNo+","+inSta.getBackSta()); continue; } // if (staProtocol.getSiteId()!= 159){ // if( Cools.isEmpty(barcodeMat) || "NG".endsWith(barcodeMat) || "NoRead".equals(barcodeMat) || "00000000".equals(barcodeMat)) { // News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcodeMat(), barcodeMat); // // staProtocol.setWorkNo(wrkNo); // News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo); // wrkNo++; // staProtocol.setStaNo(inSta.getBackSta().shortValue()); // devpThread.setPakMk(staProtocol.getSiteId(), false); // MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // log.error("输送线下发1："+wrkNo+","+inSta.getBackSta()); // continue; // } // } // 判断重复工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode); if (wrkMast != null) { int wrkNo1 = basDevpService.selectCount(new EntityWrapper().eq("wrk_no", wrkMast.getWrkNo())); if (wrkNo1 != 0){ News.error(barcode + "条码已存在状态为（ 2.设备上走 ）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo()); StaProtocol staProtocolNew = new StaProtocol(); staProtocolNew.setWorkNo(wrkMast.getWrkNo()); staProtocolNew.setStaNo(RouteUtils.SouStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo())); staProtocolNew.setSiteId(staProtocol.getSiteId()); devpThread.setPakMk(staProtocol.getSiteId(), false); staProtocolNew.setBarcode(barcode); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolNew)); if (ledThread != null) { News.error(methodName + ":扫码失败，请重试"); MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走 ）的任务,工作号="+ wrkMast.getWrkNo())); } continue; } barcodeThread.setBarcode(""); staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo())); staProtocol.setBarcode(barcode); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.info("输送线下发(存在设备上走的工作档，直接下发！))："+wrkMast.getWrkNo()+","+wrkMast.getStaNo()); ledThread.errorReset(); log.info("组托请求后LED错误清除"); if (!result) { News.error(methodName + ":更新plc站点信息失败"); log.error("输送线下发(存在设备上走的工作档，直接下发！)==>更新plc站点信息失败"); continue; } continue; } WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper() .eq("barcode", barcode) .in("io_type", 107,103,57)); if (!Cools.isEmpty(checkPick)) { continue; } try { LocTypeDto locTypeDto = new LocTypeDto(staProtocol); SearchLocParam param = new SearchLocParam(); param.setBarcode(barcode); param.setIoType(1); param.setSourceStaNo(inSta.getStaNo()); param.setLocType1(locTypeDto.getLocType1()); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin/loc/v1") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); barcodeThread.setBarcode(""); staProtocol.setWorkNo(dto.getWorkNo()); staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo())); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.error("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo()); ledThread.errorReset(); log.error("组托请求后LED错误清除"); if (!result) { News.error(methodName + ":更新plc站点信息失败"); throw new CoolException("更新plc站点信息失败"); } } else { News.error(JSON.toJSONString(staProtocol)); staProtocol.setWorkNo(wrkNo); staProtocol.setStaNo(inSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); News.info("任务下发判断{}入库回退：{}，错误编号{},任务号：{}", inSta.getStaNo(), errMsg,jsonObject.getInteger("code"),wrkNo); wrkNo++; // if (ledThread != null) { String errorMsg = jsonObject.getString("msg"); if (!Cools.isEmpty(errorMsg)) { MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); } // } // News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } // News.infoNoLog(""+mark+" - 0"+" - 组托 ===》执行完成"); } /** * wms入库 * 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2 */ public synchronized void generateStoreWrkFile0(Integer mark) { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { // 获取入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // // 入出库模式判断 if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; } // 判断是否满足入库条件 if (!staProtocol.isLoading()){ continue; } if (staProtocol.isAutoing() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999) && staProtocol.isPakMk()) { News.warnNoLog(""+mark+" - 0"+" - 开始执行"); // 判断重复工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo()); if (wrkMast == null) { continue; } // 命令下发区 -------------------------------------------------------------------------- // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.error("输送线下发3："+wrkMast.getWrkNo()+","+wrkMast.getStaNo()); if (result) { // 更新工作主档 wrkMast.setWrkSts(2L); // 工作状态：2.设备上走 wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error(""+mark+" - 1"+" - 更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo()); } } else { News.error(""+mark+" - 2"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } }else { News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable() +"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo() +"、锁定标记"+ staProtocol.isPakMk()+"、入库印记：" + staProtocol.getStamp()); } } } // News.infoNoLog(""+mark+" - 0"+" - wms入库 ===》执行完成"); } /** * 拣料、并板、盘点再入库 */ public synchronized void stnToCrnStnPick(Integer mark) { for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历拣料入库口 for (DevpSlave.Sta pickSta : devp.getPickSta()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode()); if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); if(!Cools.isEmpty(barcode)) { // News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode); if("NG".endsWith(barcode) || "NoRead".equals(barcode)) { continue; } } else { continue; } // 获取拣料入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // // 入出库模式判断 // if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) { News.warnNoLog(""+mark+" - 0"+" - 开始执行"); WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode); // WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue()); if (wrkMast == null) { // 无拣料数据 continue; } if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107) || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) { continue; } // 拣、盘、并 作业站转换 // int stnNo = 0; // if (wrkMast.getStaNo() == 109) { // stnNo = 127; // } else if (wrkMast.getStaNo() == 113) { // stnNo = 128; // } else { // log.error("{}号任务数据异常！", wrkMast.getWrkNo()); // } // 获取目标站 Wrapper wrapper = new EntityWrapper() .eq("type_no", wrkMast.getIoType() - 50) .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站 .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号 StaDesc staDesc = staDescService.selectOne(wrapper); if (Cools.isEmpty(staDesc)) { News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo()); staProtocol.setWorkNo(wrkNo++); staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue())); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); //LED LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed()); // led 异常显示 if (ledThread != null) { String errorMsg = "此为拣料、并板、盘点再入库.请放在"+pickSta.getBackSta().shortValue()+"站点"; MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); } continue; } try { // 保存工作明细档历史档 if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) { throw new CoolException("保存工作明细档历史档失败"); } // 保存工作主档历史档 if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) { throw new CoolException("保存工作主档历史档失败"); } Date now = new Date(); // 堆垛机站点(目标站) Integer staNo = staDesc.getCrnStn(); if(wrkMast.getSourceStaNo() > 2000){ switch (wrkMast.getCrnNo()){ case 1: staNo = 2004;break; case 2: staNo = 2010;break; case 4: staNo = 2022;break; case 5: staNo = 2028;break; } } // 更新工作档数据状态 wrkMast.setIoTime(now); wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57 wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走 wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站 wrkMast.setStaNo(staNo); // 目标站 wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位 wrkMast.setSourceLocNo(""); // 源库位清空 wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException("更新工作档数据状态失败"); } // 更新明细档io_time (历史档关联使用） wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now); // 修改库位状态 Q.拣料/盘点/并板再入库 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); locMast.setLocSts("Q"); locMast.setModiTime(new Date()); if (!locMastService.updateById(locMast)) { throw new CoolException("修改库位状态失败"); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); continue; } // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.error("输送线下发5："+wrkMast.getWrkNo()+","+wrkMast.getStaNo()); if (!result) { News.error(""+mark+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } }else { News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable() +"、空板信号："+ staProtocol.isEmptyMk()); } } } // News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库 ===》执行完成"); } //盘点再入库 public synchronized void stnToCrnStnPick2(){ for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历拣料入库口 for (DevpSlave.Sta pickSta : devp.getPickSta()) { // 获取拣料入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() // && staProtocol.getWorkNo() > 0 && staProtocol.isPakMk()){ // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode()); if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); if(!Cools.isEmpty(barcode)) { // log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode); if("00000000".equals(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) { staProtocol.setWorkNo(wrkNo++); staProtocol.setStaNo(pickSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // led 异常显示 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed()); if (ledThread != null) { String errorMsg = "扫码失败，请重试"; MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); } continue; } } else { staProtocol.setWorkNo(wrkNo++); staProtocol.setStaNo(pickSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // led 异常显示 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed()); if (ledThread != null) { String errorMsg = "扫码失败，请重试"; MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); } continue; } WrkMast wrkMast = wrkMastMapper.selectPickStep2(barcode); if (wrkMast == null) { // 无盘点数据 continue; } // 出库确认信号位 // if ((Cools.isEmpty(wrkMast.getInvWh()) || wrkMast.getInvWh().equals("N")) && wrkMast.getIoType() != 107) { // continue; // } // if ( wrkMast.getIoType() != 107 || Cools.isEmpty(wrkMast.getStaNo()) // || Cools.isEmpty(wrkMast.getSourceStaNo())) { // continue; // } // 获取库位号 try { LocMast locMast = locMastService.selectOne(new EntityWrapper().eq("loc_no", wrkMast.getSourceLocNo())); LocTypeDto locTypeDto = new LocTypeDto(staProtocol); SearchLocParam param = new SearchLocParam(); param.setBarcode(barcode); param.setIoType(107); param.setSourceStaNo(pickSta.getStaNo()); //作业站点 if (!Cools.isEmpty(locMast)){ param.setLocType1(locMast.getLocType1()); }else { param.setLocType1(locTypeDto.getLocType1()); } String response = ""; log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param); try { response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin2/loc/v1") .setJson(JSON.toJSONString(param)) // .setTimeout(15, TimeUnit.SECONDS) .build() .doPost(); } catch(Exception e){ log.error("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param); log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e); e.printStackTrace(); continue; } log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param); log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response); if(response.equals("")) { continue; } JSONObject jsonObject = JSON.parseObject(response); LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed()); Integer code = jsonObject.getInteger("code"); if (code == 200) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) { log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString()); } else { log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString()); try { // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(dto.getWorkNo()); staProtocol.setStaNo((short)161); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库任务下发成功===>>" + staProtocol); ledThread.errorReset(); log.error("盘点后led错误删除"); } catch (Exception e) { log.error("盘点再入库失败===>>" + e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } else { staProtocol.setWorkNo(wrkNo++); staProtocol.setStaNo(pickSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (ledThread != null) { String errorMsg = jsonObject.getString("msg"); if (!Cools.isEmpty(errorMsg)) { MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); } } log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { log.error("stnToCrnStnPick2===>>fail", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * 堆垛机站出库到出库站 */ public synchronized void crnStnToOutStn(Integer mark) { for (CrnSlave crnSlave : slaveProperties.getCrn()) { // 遍历堆垛机出库站 for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) { // 获取堆垛机出库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) { WrkMast wrkMast9997 = wrkMastMapper.selectPakOutStep9997(staProtocol.getSiteId()); WrkMast wrkMast9996 = wrkMastMapper.selectPakOutStep9996(staProtocol.getSiteId()); if(crnSlave.getId() == 3 && wrkMast9997 != null){ WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9997.getBarcode()); // 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,3); 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()== 9997 && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.forkPosType == CrnForkPosType.HOME) { log.info("堆垛机出库完成 - 开始执行"); // 命令下发区 -------------------------------------------------------------------------- // 下发站点信息 staProtocol.setWorkNo(wrkMast107.getWrkNo()); staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast107.getStaNo(),wrkMast107.getSourceStaNo())); if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) { log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发失败"); continue; }else { log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发成功"); } // 更新工作档状态为14失败 wrkMast9997.setWrkSts(14L); wrkMast9997.setCrnEndTime(new Date()); if (wrkMastMapper.updateById(wrkMast9997) != 0) { // 复位堆垛机 log.error("出库任务完成下发堆垛机复位,{}", wrkMast9997.getWrkNo()); crnThread.setResetFlag(true); } else { News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast9997.getWrkNo()); } }else { News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！" +" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO +"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast9997.getWrkNo().shortValue() +"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING +"、货叉位置："+crnProtocol.forkPosType+"==HOME：0 // 货叉原位：" + CrnForkPosType.HOME); } } if(crnSlave.getId() == 3 && wrkMast9996 != null){ WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9996.getBarcode()); // 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, 3); 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() == 9996 && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.forkPosType == CrnForkPosType.HOME) { log.info("堆垛机出库完成 - 开始执行"); // 命令下发区 -------------------------------------------------------------------------- // 下发站点信息 staProtocol.setWorkNo(wrkMast107.getWrkNo()); staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast107.getStaNo(),wrkMast107.getSourceStaNo())); if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) { log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发失败"); continue; }else { log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发成功"); } // 更新工作档状态为14失败 wrkMast9996.setWrkSts(14L); wrkMast9996.setCrnEndTime(new Date()); if (wrkMastMapper.updateById(wrkMast9996) != 0) { // 复位堆垛机 log.error("出库任务完成下发堆垛机复位,{}", wrkMast9996.getWrkNo()); crnThread.setResetFlag(true); } else { News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast9996.getWrkNo()); } }else { News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！" +" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO +"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast9996.getWrkNo().shortValue() +"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING +"、货叉位置："+crnProtocol.forkPosType+"==HOME：0 // 货叉原位：" + CrnForkPosType.HOME); } } // 查询工作档 WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId()); if (wrkMast == null) { continue; } // 判断工作档条件 if ((wrkMast.getIoType() != 12 && 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) { log.info("堆垛机出库完成 - 开始执行"); // 命令下发区 -------------------------------------------------------------------------- // 下发站点信息 staProtocol.setWorkNo(wrkMast.getWrkNo()); staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo())); if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) { log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发失败"); continue; }else { log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发成功"); } // 更新工作档状态为14失败 wrkMast.setWrkSts(14L); wrkMast.setCrnEndTime(new Date()); if (wrkMastMapper.updateById(wrkMast) != 0) { // 复位堆垛机 log.error("出库任务完成下发堆垛机复位,{}", wrkMast.getWrkNo()); crnThread.setResetFlag(true); } else { News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } }else { News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！" +" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO +"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast.getWrkNo().shortValue() +"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING +"、货叉位置："+crnProtocol.forkPosType+"==HOME：0 // 货叉原位：" + CrnForkPosType.HOME); } } } } // News.infoNoLog(""+mark+" - 0"+" - 堆垛机站出库到出库站 ===》执行完成"); } /** * 堆垛机任务衔接任务生成 */ public synchronized void connectWrk(Integer mark) { for (DevpSlave devp : slaveProperties.getDevp()) { SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocolIn = devpThread.getStation().get(4001); if (staProtocolIn == null) { continue; } else { staProtocolIn = staProtocolIn.clone(); } int[] outStaNos = {1015, 2016}; //衔接入库点 for (int outStaNo : outStaNos) { StaProtocol staProtocolOut = devpThread.getStation().get(outStaNo);// 盘点出库衔接站点（可能是 1015，也可能是 2016） if (staProtocolOut == null) { continue; } else { staProtocolOut = staProtocolOut.clone(); } WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo()); if(wrkMastOut == null ){ continue; } if (staProtocolOut.getWorkNo() != null && wrkMastOut.getStaNo() == 4006) { WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9997); if (wrkMastOut == null) { continue; } if (wrkMast != null) { // News.info("已存在斜街任务，等待任务完成"); continue; } try { TransplantWork param = new TransplantWork(); param.setWorkNo(wrkMastOut.getWrkNo()); param.setBarcode(wrkMastOut.getBarcode()); param.setSourceStaNo(outStaNo); param.setStaNo(wrkMastOut.getStaNo()); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/auto/TransplantingOut/v1") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { staProtocolOut.setWorkNo(9997); devpThread.setPakMk(staProtocolOut.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolOut)); if (!result) { throw new CoolException("更新plc站点信息失败"); } } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } if(staProtocolIn.getWorkNo() != null && staProtocolIn.getStaNo() != 4001){ WrkMast wrkMastCrn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo()); if(wrkMastCrn!=null){ if(wrkMastCrn.getCrnNo() == 3 ){ continue; } } WrkMast wrkMastIn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo()); WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9996); if(wrkMastIn == null){ continue; } if(wrkMast != null){ News.info("已存在斜街任务，等待任务完成"); continue; } try { TransplantWork param = new TransplantWork(); param.setWorkNo(wrkMastIn.getWrkNo()); param.setBarcode(wrkMastIn.getBarcode()); param.setSourceStaNo(4001); param.setStaNo(wrkMastIn.getStaNo()); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/auto/TransplantingIn/v1") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { staProtocolIn.setWorkNo(9996); devpThread.setPakMk(staProtocolIn.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolIn)); if (!result) { throw new CoolException("更新plc站点信息失败"); } } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecute(Integer mark) { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } BasCrnp basCrnp = basCrnpService.selectById(crn.getId()); if (basCrnp == null) { News.error(""+mark+" - 1"+" - {}号堆垛机尚未在数据库进行维护！", crn.getId()); continue; } // //堆垛机回原点任务中 // if(crnThread.isBackHpFlag()){ // continue; // } // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) { News.warnNoLog(""+mark+" - 0"+" - 开始执行堆垛机入出库作业下发"); // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { //mark - 1 - .... this.crnStnToLoc(crn, crnProtocol,mark); // 入库 crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { //mark - 2 - .... this.locToCrnStn(crn, crnProtocol,mark); // 出库 crnProtocol.setLastIo("I"); } } // 如果最近一次是出库模式 else if (crnProtocol.getLastIo().equals("O")) { if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn(crn, crnProtocol,mark); // 出库 crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc(crn, crnProtocol,mark); // 入库 crnProtocol.setLastIo("O"); } } } // 库位移转 //mark - 3 - .... this.locToLoc(crn, crnProtocol,mark); //预调度 // this.crnRebackHp(crnProtocol, crnThread); } // News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成"); } /** * 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点 */ public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) { if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { if (crnProtocol.getBay() == 1) { return; } int x=1; switch (crnProtocol.getCrnNo()){ case 1: x =2; break; case 2: x =6; break; case 3: x =11; break; case 4: x =14; break; case 5: x =18; break; } if(crnProtocol.getCrnNo() != 5){ return; } // 已经存在吊车执行任务时，则过滤3,12 if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) { return; } //堆垛机有执行中任务，过滤3,4,11,12 if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) { return; } //输送线没有入库任务，过滤2 if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) != null) { return; } News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点"); // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo((short) 9999); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 任务模式: 回原点 crnCommand.setSourcePosX((short) x); // 源库位排 crnCommand.setSourcePosY((short) 52); // 源库位列 crnCommand.setSourcePosZ((short) 1); // 源库位层 crnCommand.setDestinationPosX((short) 0); // 目标库位排 crnCommand.setDestinationPosY((short) 0); // 目标库位列 crnCommand.setDestinationPosZ((short) 0); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) { News.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand)); } crnThread.setBackHpFlag(true); } // } } /** * 入库 ===>> 堆垛机站到库位 */ public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) { News.warnNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发：执行入库"); for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) { boolean flag = false; // 获取堆垛机入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { News.infoNoLog(""+mark+" - 1"+" - 1"+" - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol="+staProtocol); continue; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { News.error(""+mark+" - 1"+" - 2"+" - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) { flag = true; } if (!flag) { News.errorNoLog(""+mark+" - 1"+" - 3"+" - 堆垛机入库站信息(以下需要全true):" +"自动信号"+staProtocol.isAutoing()+"有物信号"+staProtocol.isLoading() +"工作号>0"+staProtocol.getWorkNo()+"可入信号"+staProtocol.isInEnable() +"能入信号（wms设置）.equals(\"Y\")"+staDetl.getCanining()); continue; } // 获取工作状态为2（设备上走）的入库工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo()); if (null == wrkMast) { News.infoNoLog(""+mark+" - 1"+" - 4"+" - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo()); // log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo()); continue; } // 获取库位信息 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); if (locMast == null) { News.error(""+mark+" - 1"+" - 5"+" - 查询库存无数据--库位号{}", wrkMast.getLocNo()); continue; } if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) { News.error(""+mark+" - 1"+" - 6"+" - 入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts()); continue; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // News.infoNoLog(""+mark+" - 1"+" - 7"+" - 堆垛机控制过滤:堆垛机是否空闲={}，任务号={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo()); continue; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } // 双深库位且浅库位有货，则需先对浅库位进行库位移转 if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) { News.warnNoLog(""+mark+" - 1"+" - 8"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}",wrkMast.getWrkNo()); String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo()); LocMast shallowLoc = locMastService.selectById(shallowLocNo); // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！ if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) { News.warnNoLog(""+mark+" - 1"+" - 9"+" - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！库位状态={}",shallowLoc.getLocSts()); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null == waitWrkMast) { News.error(""+mark+" - 1"+" - 10"+" - {}库位异常，未检索到相应工作档！", shallowLocNo); } else { waitWrkMast.setIoPri(15D); waitWrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(waitWrkMast) == 0) { News.error(""+mark+" - 1"+" - 11"+" - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo()); } continue; } } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { News.warnNoLog(""+mark+" - 1"+" - 12"+" - // F、D 库位状态={}",shallowLoc.getLocSts()); // 此标记避免多次执行移库任务 if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) { wrkMast.setUpdMk("Y"); wrkMast.setIoPri(14D); wrkMastMapper.updateById(wrkMast); // 生成工作档,将浅库位移转到新的库位中 moveLocForDeepLoc(slave, shallowLoc,mark); // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行) // moveLocForDeepLocPakin(slave, shallowLoc, wrkMast); } continue; } else if (shallowLoc.getLocSts().equals("Q")) { News.warnNoLog(""+mark+" - 1"+" - 13"+" - // Q 库位状态={}",shallowLoc.getLocSts()); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) { News.infoNoLog(""+mark+" - 1"+" - 14"+" - // F、D 工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts()); continue; } } } News.warnNoLog(""+mark+" - 1"+" - 15"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue() ,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue() ,locMast.getRow1().shortValue(),locMast.getBay1().shortValue(),locMast.getLev1().shortValue()); // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 // crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排 crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列 crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层 crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层 crnCommand.setTraySize(locMast.getLocType1() == 2); if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error(""+mark+" - 1"+" - 16"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 2.设备上走 => 3.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(3L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error(""+mark+" - 1"+" - 17"+" - 修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } News.infoNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发 ： 入库执行完毕"); } /** * 出库 ===>> 库位到堆垛机站 * 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库 */ public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) { News.warnNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：执行出库"); for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) { // 获取工作状态为11（生成出库ID）的出库工作档 // WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo()); List wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo()); WrkMast wrkMast9997 = wrkMastMapper.selectByWrkNo9997(9997); WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9997(9996); if (slave.getId() == 3 && wrkMast9997 != null) { SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol2 = devpThread1.getStation().get(1015); if (staProtocol2 == null) { News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2); break; } else { staProtocol2 = staProtocol2.clone(); } SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2); StaProtocol staProtocol4004 = devpThread2.getStation().get(4004); if (staProtocol4004 == null) { News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol4004); break; } else { staProtocol4004 = staProtocol4004.clone(); } StaProtocol staProtocol3 = devpThread2.getStation().get(2016); if (staProtocol3 == null) { News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2); break; } else { staProtocol3 = staProtocol3.clone(); } BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); break; // continue; } if(staProtocol2.isLoading() && staProtocol2.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){ // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // continue; break; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { break; // return; } if(staProtocol4004.isLoading()){ continue; } // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo((short) 9997); // 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((short) 9); // 源库位排 crnCommand.setSourcePosY((short) 52); // 源库位列 crnCommand.setSourcePosZ((short) 1); // 源库位层 crnCommand.setDestinationPosX((short) 11); // 目标库位排 crnCommand.setDestinationPosY((short) 52); // 目标库位列 crnCommand.setDestinationPosZ((short) 3); // 目标库位层 // crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型 if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) { News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9997.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(); wrkMast9997.setWrkSts(12L); wrkMast9997.setCrnStrTime(now); wrkMast9997.setModiTime(now); if (wrkMastMapper.updateById(wrkMast9997) == 0) { News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9997.getWrkNo()); } break; } } if(staProtocol3.isLoading() && staProtocol3.isAutoing()){ // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // continue; break; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { break; // return; } if(staProtocol4004.isLoading()){ continue; } // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo((short) 9997); // 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((short) 11); // 源库位排 crnCommand.setSourcePosY((short) 52); // 源库位列 crnCommand.setSourcePosZ((short) 2); // 源库位层 crnCommand.setDestinationPosX((short) 11); // 目标库位排 crnCommand.setDestinationPosY((short) 52); // 目标库位列 crnCommand.setDestinationPosZ((short) 3); // 目标库位层 // crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型 if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) { News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9997.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(); wrkMast9997.setWrkSts(12L); wrkMast9997.setCrnStrTime(now); wrkMast9997.setModiTime(now); if (wrkMastMapper.updateById(wrkMast9997) == 0) { News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9997.getWrkNo()); } break; } } } if (slave.getId() == 3 && wrkMast9996 != null) { SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2); StaProtocol staProtocol4001 = devpThread2.getStation().get(4001); if (staProtocol4001 == null) { News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol4001); break; } else { staProtocol4001 = staProtocol4001.clone(); } StaProtocol staProtocol2013 = devpThread2.getStation().get(2013); if (staProtocol2013 == null) { News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2013); break; } else { staProtocol2013 = staProtocol2013.clone(); } StaProtocol staProtocol1019 = devpThread1.getStation().get(1019); if (staProtocol1019 == null) { News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol1019); break; } else { staProtocol1019 = staProtocol1019.clone(); } BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); break; // continue; } if(staProtocol4001.isLoading() && staProtocol4001.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){ // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // continue; break; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { break; // return; } if(staProtocol1019.isLoading() && wrkMast9996.getStaNo() < 2000){ continue; } if(staProtocol2013.isLoading() && wrkMast9996.getStaNo() > 2000){ continue; } // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo((short) 9996); // 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((short) 9); // 源库位排 crnCommand.setSourcePosY((short) 52); // 源库位列 crnCommand.setSourcePosZ((short) 3); // 源库位层 if(wrkMast9996.getStaNo()>2000){ crnCommand.setDestinationPosX((short) 9); // 目标库位排 crnCommand.setDestinationPosY((short) 52); // 目标库位列 crnCommand.setDestinationPosZ((short) 2); // 目标库位层 }else{ crnCommand.setDestinationPosX((short) 11); // 目标库位排 crnCommand.setDestinationPosY((short) 52); // 目标库位列 crnCommand.setDestinationPosZ((short) 1); // 目标库位层 } // crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型 if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) { News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9996.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(); wrkMast9996.setWrkSts(12L); wrkMast9996.setCrnStrTime(now); wrkMast9996.setModiTime(now); if (wrkMastMapper.updateById(wrkMast9996) == 0) { News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9996.getWrkNo()); } break; } } } for (WrkMast wrkMast : wrkMasts) { if (wrkMast == null) { continue; } if (wrkMast.getIoType() == 107){ int count = wrkMastService.selectCount(new EntityWrapper().eq("io_type", wrkMast.getIoType()).eq("wrk_sts", 14)); if (count >= inventoryNumber) { continue; } } // 工作档状态判断 if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) { News.error(""+mark+" - 2"+" - 1"+" - 查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType()); continue; } // 获取源库位信息 LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) { News.error(""+mark+" - 2"+" - 2"+" - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts()); continue; } // 获取堆垛机出库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { News.infoNoLog(""+mark+" - 2"+" - 3"+" - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol="+staProtocol); break; // continue; } else { staProtocol = staProtocol.clone(); } // // 入出库模式判断 // if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; } // if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) { // News.infoNoLog(""+mark+" - 2"+" - 4"+" - 入出库模式（此处出库方法，出库模式继续=="+devpThread.ioModeOf2F); // continue; // } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); break; // continue; } // 判断堆垛机出库站状态 // if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") // && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) { if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && !staProtocol.isLoading() ) { // if (slave.getId() == 1 || slave.getId() == 2){ // if (staProtocol.isLoading() || staProtocol.getWorkNo() != 0 || !staProtocol.isOutEnable()){ // continue; // } // } // 命令下发区 -------------------------------------------------------------------------- // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // continue; break; } // 双深库位且浅库位有货，则需先对浅库位进行库位移转 if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) { News.warnNoLog(""+mark+" - 2"+" - 6"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}",wrkMast.getWrkNo()); String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo()); LocMast shallowLoc = locMastService.selectById(shallowLocNo); // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！ if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) { News.warnNoLog(""+mark+" - 2"+" - 7"+" - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！库位状态={}",shallowLoc.getLocSts()); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null == waitWrkMast) { News.error("{}库位异常，未检索到相应工作档！", shallowLocNo); } else { if (waitWrkMast.getWrkSts() == 11) { waitWrkMast.setIoPri(15D); waitWrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(waitWrkMast) == 0) { News.error(""+mark+" - 2"+" - 8"+" - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo()); } continue; } else { } } } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { News.warnNoLog(""+mark+" - 2"+" - 9"+" - // F、D 库位状态={}",shallowLoc.getLocSts()); // WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); //2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务 WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); // 此标记避免多次执行移库任务 // if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk()) // || Cools.isEmpty(waitWrkMast)) { if (Cools.isEmpty(waitWrkMast)) { wrkMast.setUpdMk("Y"); wrkMastMapper.updateById(wrkMast); // 生成工作档,将浅库位移转到新的库位中 moveLocForDeepLoc(slave, shallowLoc,mark); } News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo); continue; } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) { News.warnNoLog(""+mark+" - 2"+" - 10"+" - // Q、S 库位状态={}",shallowLoc.getLocSts()); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) { News.infoNoLog(""+mark+" - 2"+" - 11"+" - // F、D 工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts()); continue; } } } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { break; // return; } News.warnNoLog(""+mark+" - 2"+" - 12"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue() ,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue() ,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue()); // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 // crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层 crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error(""+mark+" - 2"+" - 13"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(12L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error(""+mark+" - 2"+" - 14"+" - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } break; } } } } News.infoNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发 ： 出库执行完毕"); } // /** // * 出库 ===>> 库位到堆垛机站 // */ // public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){ // for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) { // // 获取工作状态为11（生成出库ID）的出库工作档 // WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo()); // if (wrkMast == null) { // continue; // } // // 工作档状态判断 // if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){ // log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType()); // continue; // } // // 获取源库位信息 // LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); // if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) { // log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts()); // continue; // } // // 获取堆垛机出库站信息 // SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); // StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); // if (staProtocol == null) { // continue; // } else { // staProtocol = staProtocol.clone(); // } // //// // 入出库模式判断 //// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; } /** * 库位移转 */ public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) { // 获取工作档信息 WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId()); if (null == wrkMast) { return; } News.warnNoLog(""+mark+" - 3"+" - 0"+" - 堆垛机入出库作业下发：执行库位移转"); // 获取源库位信息 LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); if (null == sourceSta) { News.error(""+mark+" - 3"+" - 1"+" - 工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo()); return; } // 源库位 库位状态判断 if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) { return; } // 获取目标库位信息 LocMast sta = locMastService.selectById(wrkMast.getLocNo()); if (null == sta) { News.error(""+mark+" - 3"+" - 2"+" - 工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo()); return; } if(sta.getLocType1() != sourceSta.getLocType1()){ News.error("移库目标库位类型与源库位类型不符"); return; } // 获取堆垛机信息 并 判断是否可入出 BasCrnp basCrnp = basCrnpService.selectById(slave.getId()); if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) { return; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { return; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } News.warnNoLog(""+mark+" - 3"+" - 3"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue() ,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue() ,sta.getRow1().shortValue(),sta.getBay1().shortValue(),sta.getLev1().shortValue()); // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层 crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error(""+mark+" - 3"+" - 4"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(12L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error(""+mark+" - 3"+" - 5"+" - 【库位移转】 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } News.infoNoLog(""+mark+" - 3"+" - 0"+" - 堆垛机入出库作业下发：库位移转完成"); } /** * 执行对工作档的完成操作 */ public synchronized void storeFinished(Integer mark) { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } if(crnProtocol.getTaskNo() == 9999){ // 状态：等待确认 并且 任务完成位 = 1 if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) { News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo()); // 堆垛机复位 News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo()); crnThread.setResetFlag(true); } } // else if (crnProtocol.getTaskNo() == 9996) {//盘点入库衔接 // // 状态：等待确认 并且 任务完成位 = 1 // if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) { // News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo()); // // // 获取入库待确认工作档 // WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue()); // // 入库 + 库位转移 ==> 4.入库完成 // if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) { // wrkMast.setWrkSts(4L); // } else { // continue; // } // Date now = new Date(); // wrkMast.setCrnEndTime(now); // wrkMast.setModiTime(now); // // 修改成功后复位堆垛机 // if (wrkMastMapper.updateById(wrkMast) > 0) { // // 堆垛机复位 // log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo()); // News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo()); // crnThread.setResetFlag(true); // } // } // } else{ // 状态：等待确认 并且 任务完成位 = 1 if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) { News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo()); // 获取入库待确认工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue()); if (wrkMast == null ) { News.error("" + mark + " - 1" + " - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo()); continue; } // 入库 + 库位转移 ==> 4.入库完成 if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) { wrkMast.setWrkSts(4L); } else { continue; } Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo()); News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo()); crnThread.setResetFlag(true); } } } } // News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成"); } /** * 堆垛机异常信息记录 */ public synchronized void recCrnErr(Integer mark) { Date now = new Date(); for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } if (true) { // if (crnProtocol.getModeType() != CrnModeType.STOP) { // 有任务 if (crnProtocol.getTaskNo() != 0) { BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue()); // 有异常 if (latest == null) { News.warnNoLog(""+mark+" - 1"+" - 开始执行：堆垛机异常信息记录 ： 有任务，有异常"); if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) { WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo()); if (wrkMast == null) { continue; } BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm()); String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName(); BasErrLog basErrLog = new BasErrLog( null, // 编号 wrkMast.getWrkNo(), // 工作号 now, // 发生时间 null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 crn.getId(), // 堆垛机 null, // plc wrkMast.getLocNo(), // 目标库位 wrkMast.getStaNo(), // 目标站 wrkMast.getSourceStaNo(), // 源站 wrkMast.getSourceLocNo(), // 源库位 wrkMast.getBarcode(), // 条码 (int) crnProtocol.getAlarm(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "任务中异常" // 备注 ); if (!basErrLogService.insert(basErrLog)) { News.error(""+mark+" - 2"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName); } } } else { // 异常修复 if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basErrLogService.updateById(latest)) { News.error(""+mark+" - 3"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } // 无任务 } else { BasErrLog latest = basErrLogService.findLatest(crn.getId()); // 有异常 if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) { News.warnNoLog(""+mark+" - 4"+" - 开始执行：堆垛机异常信息记录 ： 无任务，有异常"); // 记录新异常 if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) { BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm()); String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName(); BasErrLog basErrLog = new BasErrLog( null, // 编号 null, // 工作号 now, // 发生时间 null, // 结束时间 null, // 工作状态 null, // 入出库类型 crn.getId(), // 堆垛机 null, // plc null, // 目标库位 null, // 目标站 null, // 源站 null, // 源库位 null, // 条码 (int) crnProtocol.getAlarm(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "无任务异常" // 备注 ); if (!basErrLogService.insert(basErrLog)) { News.error(""+mark+" - 5"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName); } } // 无异常 } else { // 异常修复 if (latest != null && latest.getStatus() == 1) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basErrLogService.updateById(latest)) { News.error(""+mark+" - 6"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } } } } // News.infoNoLog(""+mark+" - 0"+" - 堆垛机异常信息记录执行完成"); } // ------------------------------------------------------------------------------- /** * 空栈板初始化入库,叉车入库站放货 */ public synchronized void storeEmptyPlt(Integer mark) { for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历空板入库口 for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) { // 获取空板入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } LedThread ledThread = null; if (!Cools.isEmpty(emptyInSta.getLed())) { ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed()); } if (!staProtocol.isLoading()){ continue; } // 站点条件判断 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && staProtocol.isPakMk() && (staProtocol.getWorkNo() !=0 && staProtocol.getWorkNo() > 9700) ) { News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货"); try { LocTypeDto locTypeDto = new LocTypeDto(staProtocol); SearchLocParam param = new SearchLocParam(); param.setIoType(10); param.setSourceStaNo(emptyInSta.getStaNo()); param.setLocType1(locTypeDto.getLocType1()); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin/loc/v1") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(dto.getWorkNo()); staProtocol.setStaNo(staProtocol.getSiteId().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.error("输送线下发6："+dto.getWorkNo()+","+staProtocol.getSiteId()); if (!result) { News.errorNoLog(""+mark+" - 1"+" - 更新plc站点信息失败"); throw new CoolException("更新plc站点信息失败"); } if (ledThread != null) { // 命令集合 List commands = new ArrayList<>(); // 组装命令 LedCommand ledCommand = new LedCommand(); ledCommand.setWorkNo(dto.getWorkNo()); ledCommand.setIoType(1); ledCommand.setTitle("全板入库"); ledCommand.setLocNo(dto.getLocNo()); ledCommand.setStaNo(dto.getStaNo()); commands.add(ledCommand); MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(1, commands)); // ledThread.errorReset(); } } else { // staProtocol.setWorkNo(wrkNo++); // staProtocol.setStaNo(emptyInSta.getBackSta().shortValue()); // devpThread.setPakMk(staProtocol.getSiteId(), false); // boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // if (!result) { // News.errorNoLog(""+mark+" - 2"+" - 更新plc站点信息失败"); // throw new CoolException("更新plc站点信息失败"); // } // if (ledThread != null) { String errorMsg = jsonObject.getString("msg"); if (!Cools.isEmpty(errorMsg)) { MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg)); } } // News.error(""+mark+" - 3"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } else { News.errorNoLog(""+mark+" - 4"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isAutoing()+"、可入信号：" + staProtocol.isInEnable() +"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo() +"、锁定标记"+ staProtocol.isPakMk()); } } } // News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成"); } /** * 出库 ===>> 工作档信息写入led显示器 */ public synchronized void ledExecute(Integer mark) { for (LedSlave led : slaveProperties.getLed()) { // 获取输送线plc线程 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId()); // 命令集合 List commands = new ArrayList<>(); // 工作档集合 List wrkMasts = new ArrayList<>(); for (Integer staNo : led.getStaArr()) { // 获取叉车站点 StaProtocol staProtocol = devpThread.getStation().get(staNo); if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) { continue; } else { staProtocol = staProtocol.clone(); } // 获取工作档数据 WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo()); if (null == wrkMast) { if(staProtocol.getWorkNo() > 9999){ //异常退出 MessageQueue.offer(SlaveType.Led, 2, new Task(3, "异常退出")); } continue; } wrkMasts.add(wrkMast); // 组装命令 LedCommand ledCommand = new LedCommand(); ledCommand.setWorkNo(wrkMast.getWrkNo()); ledCommand.setIoType(wrkMast.getIoType()); // 出库模式 switch (wrkMast.getIoType()) { case 1: ledCommand.setTitle("全板入库"); break; case 10: ledCommand.setTitle("空板入库"); break; case 12: ledCommand.setTitle("物料衔接"); break; case 57: ledCommand.setTitle("盘点再入库"); break; case 101: ledCommand.setTitle("全板出库"); break; case 103: ledCommand.setTitle("拣料出库"); break; case 104: ledCommand.setTitle("并板出库"); break; case 107: ledCommand.setTitle("盘点出库"); break; case 110: ledCommand.setTitle("空板出库"); ledCommand.setEmptyMk(true); break; default: News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType()); break; } ledCommand.setSourceLocNo(wrkMast.getSourceLocNo()); ledCommand.setStaNo(wrkMast.getStaNo()); ledCommand.setBarcode(wrkMast.getBarcode()); if(wrkMast.getIoType() == 12){ List wrkDetls = wrkDetlService.findByBarcode(wrkMast.getBarcode()); 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(); } ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total)); }); } if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) { List wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo()); wrkDetls.forEach(wrkDetl -> { Double total = 0.0; EntityWrapper wrapper = new EntityWrapper<>(); LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr())); if (Cools.isEmpty(locDetl)) { total = wrkDetl.getAnfme(); } else { total = locDetl.getAnfme(); } if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total)); } if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total)); } if (wrkMast.getIoType() == 107) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),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显示内容命令下发失败！！！[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 || staProtocol.isErr()) { reset = false; break; } } // 获取led线程 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId()); // led显示默认内容 if (reset) { if (ledThread == null) { continue; } if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) { News.error("{}号LED显示默认命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); } // if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) { // News.error("{}号LED显示默认命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); // } } } } /** * 因双深库位阻塞，对浅库位进行移转（入库版) * tip：同步 */ @Transactional public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast) { LocMast loc = locMastService.selectById(pakinWrkMast.getLocNo()); // 获取工作号 int workNo = commonService.getWorkNo(0); Date now = new Date(); // 保存工作档 WrkMast wrkMast = new WrkMast(); wrkMast.setWrkNo(workNo); wrkMast.setIoTime(now); wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID wrkMast.setIoType(11); // 入出库状态： 11.库格移载 wrkMast.setIoPri(15D); wrkMast.setCrnNo(crn.getId()); wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位 wrkMast.setLocNo(loc.getLocNo()); // 目标库位 wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板 wrkMast.setPicking("N"); // 拣料 wrkMast.setExitMk("N"); // 退出 wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板 wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码 wrkMast.setLinkMis("N"); wrkMast.setCtnNo("Y"); // 入库阻塞库位移转标记 wrkMast.setAppeTime(now); wrkMast.setModiTime(now); int res = wrkMastMapper.insert(wrkMast); if (res == 0) { throw new CoolException("保存工作档失败"); } // 工作档明细保存 if (shallowLoc.getLocSts().equals("F")) { List locDetls = locDetlService.selectList(new EntityWrapper().eq("loc_no", shallowLoc.getLocNo())); for (LocDetl locDetl : locDetls) { WrkDetl wrkDetl = new WrkDetl(); wrkDetl.setWrkNo(workNo); wrkDetl.setIoTime(now); wrkDetl.setAnfme(locDetl.getAnfme()); VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制 wrkDetl.setAppeTime(now); wrkDetl.setModiTime(now); if (!wrkDetlService.insert(wrkDetl)) { throw new CoolException("保存工作档明细失败"); } } } // 修改源库位状态 if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) { shallowLoc.setLocSts("S"); // S.入库预约，入库阻塞库位移转 shallowLoc.setModiTime(now); if (!locMastService.updateById(shallowLoc)) { throw new CoolException("更新源库位状态失败"); } } else { throw new CoolException("源库位出库失败"); } // // 修改目标库位状态 // if (loc.getLocSts().equals("O")) { // loc.setLocSts("S"); // S.入库预约 // loc.setModiTime(new Date()); // if (!locMastService.updateById(loc)) { // throw new CoolException("更新目标库位状态失败"); // } // } else { // throw new CoolException("移转失败"); // } wrkMast.setLocNo(shallowLoc.getLocNo()); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException("修改阻塞入库任务失败"); } } /** * 因双深库位阻塞，对浅库位进行移转（立即执行版) * tip：同步 */ private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc,Integer mark) { try { News.warnNoLog(""+mark+"moveLocForDeepLoc"+" - 0"+" - 开始执行:因双深库位阻塞，对浅库位进行移转（立即执行版)"); List rows = locMastService.queryDistinctRow(crn.getId()); LocMast loc = null; for (Integer row : rows) { if (Utils.isDeepLoc(slaveProperties, row)) { loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1()); if (loc != null) { if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) { String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo()); LocMast shallowLoc1 = locMastService.selectById(shallowLocNo); if (!shallowLoc1.getLocSts().equals("O")) { loc = null; } } } if (null != loc) { break; } } } if (null == loc) { for (Integer row : rows) { if (Utils.isShallowLoc(slaveProperties, row)) { loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1()); if (null != loc) {//对应深库位非在库状态,不能移库 String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo()); LocMast deepLoc1 = locMastService.selectById(deepLoc); if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) { loc = null; } } if (null != loc) { break; } } } } if (null == loc) { News.error(""+mark+"moveLocForDeepLoc"+" - 1"+" - 双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo()); throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo()); } // 获取工作号 int workNo = commonService.getWorkNo(0); // 保存工作档 WrkMast wrkMast = new WrkMast(); wrkMast.setWrkNo(workNo); wrkMast.setIoTime(new Date()); wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID wrkMast.setIoType(11); // 入出库状态： 11.库格移载 wrkMast.setIoPri(13D); wrkMast.setCrnNo(crn.getId()); wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位 wrkMast.setLocNo(loc.getLocNo()); // 目标库位 wrkMast.setFullPlt(shallowLoc.getLocSts().equals("F") ? "Y" : "N"); // 满板 wrkMast.setPicking("N"); // 拣料 wrkMast.setExitMk("N"); // 退出 wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板 wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码 wrkMast.setLinkMis("N"); wrkMast.setAppeTime(new Date()); wrkMast.setModiTime(new Date()); int res = wrkMastMapper.insert(wrkMast); if (res == 0) { News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 2"+" - 保存工作档失败"); throw new CoolException("保存工作档失败"); } // 工作档明细保存 if (shallowLoc.getLocSts().equals("F")) { List locDetls = locDetlService.selectList(new EntityWrapper().eq("loc_no", shallowLoc.getLocNo())); for (LocDetl locDetl : locDetls) { WrkDetl wrkDetl = new WrkDetl(); wrkDetl.setWrkNo(workNo); wrkDetl.setIoTime(new Date()); wrkDetl.setAnfme(locDetl.getAnfme()); VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制 wrkDetl.setAppeTime(new Date()); wrkDetl.setModiTime(new Date()); if (!wrkDetlService.insert(wrkDetl)) { News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 3"+" - 保存工作档明细失败"); throw new CoolException("保存工作档明细失败"); } } } // 修改源库位状态 if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) { shallowLoc.setLocSts("R"); // R.出库预约 shallowLoc.setModiTime(new Date()); if (!locMastService.updateById(shallowLoc)) { News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 4"+" - 更新源库位状态失败"); throw new CoolException("更新源库位状态失败"); } } else { News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 5"+" - 源库位出库失败"); throw new CoolException("源库位出库失败"); } // 修改目标库位状态 if (loc.getLocSts().equals("O")) { loc.setLocSts("S"); // S.入库预约 loc.setModiTime(new Date()); if (!locMastService.updateById(loc)) { News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 6"+" - 更新目标库位状态失败"); throw new CoolException("更新目标库位状态失败"); } } else { News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 7"+" - 移转失败"); throw new CoolException("移转失败"); } } catch (Exception e) { News.error(""+mark+"moveLocForDeepLoc"+" - 8"+" - 双深库位阻塞，对浅库位进行移转失败", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 入出库模式切换函数 */ public synchronized void ioConvert() { try { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); for (DevpSlave.Sta inSta : devp.getInSta()) { if (inSta.getStaNo() == 2) { continue; } WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getStaNo()); switch (inSta.getStaNo()) { case 203://1F if (pakout != null) { if (devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING; WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo()); if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading() && !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading() && devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) { // 出库模式 devpThread.ioModeOf2F = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf2F = IoModeType.PAKIN_MODE; } break; case 401://1F if (pakout != null) { if (devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioModeOf4F = IoModeType.PAKOUT_BOOTING; WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo()); if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading() && !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading() && devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) { // 出库模式 devpThread.ioModeOf4F = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf4F = IoModeType.PAKIN_MODE; } break; } } } } catch (Exception e) { e.printStackTrace(); } } public synchronized void outOfDevp(Integer mark) { List wrkMasts = wrkMastMapper.selectPick(); if (wrkMasts.size()!=0){ News.warnNoLog(""+mark+" - 0"+" - 开始执行outOfDevp"); } for (WrkMast wrkMast : wrkMasts) { if (basDevpService.selectCount(new EntityWrapper().eq("wrk_no", wrkMast.getWrkNo())) == 0) { wrkMast.setCtnNo("Y"); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error(""+mark+" - 1"+" - 修改{}工作档失败，ctn_no", wrkMast.getWrkNo()); } } } } // // public synchronized void taskStart() { // for (RgvSlave rgvSlave : slaveProperties.getRgv()) { // try { // if (rgvDetection(rgvSlave)) { // String taskNoNow = rgvOtherTaskWrk(rgvSlave); // List basDevpPositions = basDevpPositionService.selectList(new EntityWrapper().orderBy("plc_position", true)); // boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave); // if (basDevpPositions.isEmpty()) { // log.error("获取所有站点信息异常"); // try{ // DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); // deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成：获取所有站点信息异常"); // } catch (Exception e2){ // } // continue; // } // List wrkMastList = new ArrayList<>(); // List staList = new ArrayList<>(); // for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) { // TaskWrk taskWrk = deviceDetection(inSta); // if (taskWrk != null) { // if (taskWrk.getWrkNo().toString().equals(taskNoNow)) continue; // wrkMastList.add(taskWrk); // staList.add(inSta.getStaNo()); // } // } // // if (wrkMastList.isEmpty() || staList.isEmpty()) continue; // // boolean sign = false; // // if (rgvOtherStatusEnable(rgvSlave)) { // //分成上下两部分任务 // List[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions, itSmall); // List rangeListSou = avoidRange[itSmall ? 0 : 1]; // List rangeListSouOther = avoidRange[itSmall ? 1 : 0]; // //就近排序 // RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId()); // List rangeList = RouteUtils.SortNearby(rangeListSou, rgvProtocol.RgvPos, basDevpPositions); // List rangeListOther = RouteUtils.SortNearby(rangeListSouOther, rgvProtocol.RgvPos, basDevpPositions); // // //所属部分就进取货 // // //筛选范围内任务 // //就近排序 // //筛选在范围任务 // Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance); // List belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions); // // if (!sign && staList.size()==1){ // if (rgvOtherIDLEOther(rgvSlave)){ // if (!rgvOtherIDLE(rgvSlave,staList.get(0))){ // System.out.println("空闲就近跳过==="+rgvSlave.getId()+"==="); // RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"空闲就近跳过"); // // sign=true; // } // } // if (sign){ // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staList.get(0))) { // WrkMast wrkMast = deviceDetection(rgvStn); // if (wrkMast != null) { // Integer outStaNo = BarcodeUtils.getOutStaNo(wrkMast.getStaNo().toString());//站点转换 需要修改 // for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){ // if (rgvSuper.getStaNo().equals(outStaNo)){ // System.out.println("空闲就近跳过后因最远再次执行==="+rgvSlave.getId()+"==="); // // sign=false; // break; // } // } // } else { // return; // } // break; // } // } // } // } // // if(!sign){ // for (Integer staNoNow : belongToRange) { // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staNoNow)) { // WrkMast wrkMast = deviceDetection(rgvStn); // if (wrkMast != null) { // BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper().eq("DEV_NO", BarcodeUtils.getOutStaNo(wrkMast.getStaNo().toString())));//站点转换 需要修改 // if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) { // System.out.println("全范围执行==="+rgvSlave.getId()+"==="+wrkMast); // System.out.println("全范围执行==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange)); // // sign = taskGenerate(rgvSlave, rgvStn, 0); // } // } // break; // } // } // if (sign) { // break; // } // } // } // if (!sign) { // // 筛选范围内取货任务 // for (Integer staNoNow : belongToRange) { // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staNoNow)) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()); // for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) { // if (rgvStnOut.getStaNo().equals(outStaNo)) { // System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+taskWrk); // System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange)); // // sign = taskGenerate(rgvSlave, rgvStn, 0); // break; // } // } // } // break; // } // } // if (sign) { // break; // } // } // } // // if (!sign && staList.size()==1){ // if (rgvOtherIDLEOther2(rgvSlave)){ // if (!rgvOtherIDLE2(rgvSlave,staList.get(0))){ // System.out.println("运行就近跳过==="+rgvSlave.getId()+"==="); // RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"运行就近跳过"); // // sign=true; // } // } // if (sign){ // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staList.get(0))) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()); // for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){ // if (rgvSuper.getStaNo().equals(outStaNo)){ // System.out.println("运行就近跳过后因最远再次执行==="+rgvSlave.getId()+"==="); // // sign=false; // break; // } // } // } else { // return; // } // break; // } // } // } // } // // // // if (!sign && staList.size()>1) { // for (Integer staNoNow : rangeList) { // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staNoNow)) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()))); // if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) { // System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk); // System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange)); // // sign = taskGenerate(rgvSlave, rgvStn, 0); // } // } // break; // } // } // if (sign) { // break; // } // } // }else if (!sign && staList.size()==1){ // BasDevpPosition basDevpPosition1 = basDevpPositionService.selectOne(new EntityWrapper().eq("DEV_NO", staList.get(0))); // if (Math.abs(basDevpPosition1.getPlcPosition()- rgvProtocol.getRgvPos())().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()))); // if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) { // System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk); // System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange)); // // sign = taskGenerate(rgvSlave, rgvStn, 0); // } // } // break; // } // } // if (sign) { // break; // } // } // } // } // // // // if (!sign && staList.size()>1) { // // 半边区域内取货任务 // for (Integer staNoNow : rangeList) { // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staNoNow)) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()); // for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) { // if (rgvStnOut.getStaNo().equals(outStaNo)) { // System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+taskWrk); // System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange)); // // sign = taskGenerate(rgvSlave, rgvStn, 0); // break; // } // } // } // break; // } // } // if (sign) { // break; // } // } // } // if (!sign && staList.size()>1) { // for (Integer staNoNow : rangeListOther) { // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staNoNow)) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()); // for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){ // if (rgvSuper.getStaNo().equals(outStaNo)){ // System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"==="); // BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()))); // if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) { // sign = taskGenerate(rgvSlave, rgvStn, 0); // } // break; // } // } // } // break; // } // if (sign) { // break; // } // } // if (sign) { // break; // } // } // // }else if (!sign && staList.size()==1){ // for (Integer staNoNow : rangeList) { // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staNoNow)) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()); // for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){ // if (rgvSuper.getStaNo().equals(outStaNo)){ // System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"==="); // BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()))); // if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) { // sign = taskGenerate(rgvSlave, rgvStn, 0); // } // break; // } // } // } // break; // } // if (sign) { // break; // } // } // if (sign) { // break; // } // } // // } // RgvErrCache.updateRgvErr(rgvSlave.getId(),"未查询到可执行任务"); // // } else { // //可用区域就近取货 // //就近排序 // RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId()); // List rangeList = RouteUtils.SortNearby(staList, rgvProtocol.RgvPos, basDevpPositions); // // 半边区域内取货任务 // for (Integer staNoNow : rangeList) { // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staNoNow)) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()); // for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) { // if (rgvStnOut.getStaNo().equals(outStaNo)) { // sign = taskGenerate(rgvSlave, rgvStn, 0); // break; // } // } // } // break; // } // } // if (sign) { // break; // } // } // } // } // } catch (Exception e) { // log.error("任务生成失败===》异常信息：{}", e.getMessage()); // try{ // DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); // deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成失败"); // } catch (Exception e2){ // } // } // } // } // // public String rgvOtherTaskWrk(RgvSlave slave) { // // RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId()); // TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache(); // ConcurrentHashMap allTaskProtocol = taskProtocolCache.getAllTaskProtocol(); // if (!allTaskProtocol.isEmpty()) { // for (TaskProtocol taskProtocol : allTaskProtocol.values()) { // if (taskProtocol.getTaskNo() != 0) { // return taskProtocol.getTaskNo().toString(); // } // } // } // return "无"; // // } // // public boolean rgvDetection(RgvSlave slave) { // RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId()); // RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId()); // // if (rgvProtocol == null || rgvTaskProtocol == null) { // return false; // } // if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 // || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) { // return false; // } // if (rgvProtocol.getLoaded()==1){ // return false; // } // RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId()); // RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId()); // // if (rgvProtocolOther == null) { // return false; // } // if (rgvProtocolOther.statusEnable) { // if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) { // return false; // } // } // return true; // } // public boolean rgvOtherIDLEOther(RgvSlave slave) { // RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId()); // RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId()); // // if (rgvProtocol == null || rgvTaskProtocol == null) { // return false; // } // if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 // || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) { // return false; // } // // if (rgvProtocol.getLoaded()!=0) { // return false; // } // return true; // } // public boolean rgvOtherIDLEOther2(RgvSlave slave) { // RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId()); // RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId()); // // if (rgvProtocol == null || rgvTaskProtocol == null) { // return false; // } // if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) // || rgvProtocol.getRgvPos().equals(0L) // || rgvTaskProtocol.getAvoid() == -1) { // return false; // } // // if (rgvProtocol.getLoaded()!=0) { // return false; // } // return true; // } // public boolean rgvOtherIDLE(RgvSlave slave,Integer staNo) { // RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId()); // RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId()); // // if (rgvProtocol == null || rgvTaskProtocol == null) { // return false; // } // if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 // || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) { // return false; // } // RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId()); // // if (rgvProtocolOther == null) { // return true; // } // if (rgvProtocolOther.statusEnable) { // BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper().eq("DEV_NO", staNo)); // long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos()) // - // Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos())); // if (abs<100){ // return true; // } // if (Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos()) // >= // Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos())){ // return false; // } // } // return true; // } // public boolean rgvOtherIDLE2(RgvSlave slave,Integer staNo) { // RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId()); // RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId()); // // if (rgvProtocol == null || rgvTaskProtocol == null) { // return false; // } // if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 // || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) { // return false; // } // RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId()); // // if (rgvProtocolOther == null) { // return true; // } // if (rgvProtocolOther.statusEnable) { // BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper().eq("DEV_NO", staNo)); // long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos()) // - // Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos())); // if (abs<100){ // return true; // } // if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()) // >= // Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){ // return false; // } // } // return true; // } // // public TaskWrk deviceDetection(RgvSlave.RgvStn inSta) { // // DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId()); // StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); // if (staProtocol == null) { // return null; // } // // 判断是否满足取货条件 // if (!staProtocol.isPakMkTask()) { // devpThread.setErrorDev(staProtocol.getSiteId(), "任务已下发等待小车取"); // return null; // } // // 判断是否满足取货条件 // if (staProtocol.isAutoing() //// && staProtocol.isLoading() //// && staProtocol.isStaOk() // && staProtocol.getWorkNo() != 0) { // TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo()); // if (taskWrk != null) { // Integer stano = staProtocol.getStaNo(); // if (staProtocol.getSiteId() == 1004 || staProtocol.getSiteId()==1020){ // if (!staProtocol.isPakMkRun()) { // devpThread.setErrorDev(staProtocol.getSiteId(), "异常回退标记，需要回退"); // return null; // } // if (!staProtocol.isLoading()) { // devpThread.setErrorDev(staProtocol.getSiteId(), "无物"); // return null; // } // if (!staProtocol.isInEnable()) { // devpThread.setErrorDev(staProtocol.getSiteId(), "等待可入信号"); // return null; // } // if (!staProtocol.isStaOk()) { // devpThread.setErrorDev(staProtocol.getSiteId(), "等待链条就绪"); // return null; // } // // 尺寸检测异常 // boolean back = false; // String errMsg = "-"; // if (staProtocol.getGrossWt()>=600){ // errMsg = "超重："+staProtocol.getGrossWt()+"kg"; // back = true; // } // if (staProtocol.isFrontErr()) { // if (!back){ // errMsg = "前超限"; // } else { // errMsg = errMsg+"---"+"前超限"; // } // back = true; // } // if (staProtocol.isBackErr()) { // if (!back){ // errMsg = "后超限"; // } else { // errMsg = errMsg+"---"+"后超限"; // } // back = true; // } // if (staProtocol.isHighErr()) { // if (!back){ // errMsg = "高超限"; // } else { // errMsg = errMsg+"---"+"高超限"; // } // back = true; // } // if (staProtocol.isLeftErr()) { // if (!back){ // errMsg = "左超限"; // } else { // errMsg = errMsg+"---"+"左超限"; // } // back = true; // } // if (staProtocol.isRightErr()) { // if (!back){ // errMsg = "右超限"; // } else { // errMsg = errMsg+"---"+"右超限"; // } // back = true; // } //// if (!back && staProtocol.isWeightErr()) { //// errMsg = "超重"; //// back = true; //// } // if (staProtocol.isBarcodeErr()) { // if (!back){ // errMsg = "扫码失败"; // } else { // errMsg = errMsg+"---"+"扫码失败"; // } // back = true; // } // // 退回 // if (back) { // if (stano.equals(staProtocol.getStaNo() + 1)) { // return null; // } // if (!staProtocol.isPakMk()) { // return null; // } // System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回"); //// 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(9999); // staProtocol.setStaNo(staProtocol.getStaNo()+1); // devpThread.setPakMk(staProtocol.getSiteId(), false); // devpThread.setPakMkRun(staProtocol.getSiteId(), false); // devpThread.setPakMkTask(staProtocol.getSiteId(), false); // devpThread.setErrorDev(staProtocol.getSiteId(), errMsg); // MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol)); // try{ // taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示 // taskWrk.setModiTime(new Date()); // taskWrkMapper.updateById(taskWrk); // } catch (Exception e){ // devpThread.setErrorDev(staProtocol.getSiteId(), errMsg+"异常信息保存工作档案失败！"); // } // return null; // } // } // return taskWrk; // } // } else if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0 && !staProtocol.isLoading()){ // if (inSta.isDirectionOther()){ // StaProtocol staProtocolOther = devpThread.getStation().get(inSta.getStaNoOther()); // if (staProtocolOther == null) { // return null; // } // // 判断是否满足取货条件 // if (staProtocolOther.isAutoing() // && staProtocolOther.getWorkNo() != 0) { // TaskWrk taskWrkOther = taskWrkService.selectByWrkNo(staProtocolOther.getWorkNo()); // if (taskWrkOther != null) { // return taskWrkOther; // } // } // } // } // return null; // } // public boolean deviceDetection(RgvSlave.RgvStn inSta,Integer rgvNo) { // ArrayList arrayList = new ArrayList() {{ // add(1009); // add(1011); // add(1012); // add(1014); // add(1016); // }}; // try{ // // DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId()); // ArrayList listW = new ArrayList(); // ArrayList listL = new ArrayList(); // for (Integer staNo : arrayList){ // StaProtocol staProtocol = devpThread.getStation().get(staNo); // if (staProtocol == null) { // RgvErrCache.updateRgvErr(rgvNo,staNo+"站点数据丢失"); // return false; // } // // 判断是否满足取货条件 // if (staProtocol.getWorkNo() != 0) { // if (!listW.contains(staProtocol.getWorkNo())) { // listW.add(staProtocol.getWorkNo()); // } // } // // 判断是否满足取货条件 // if (staProtocol.isLoading()) { // if (!listL.contains(staProtocol.getStaNo())) { // listL.add(staProtocol.getStaNo()); // } // } // } // if (listW.size()>=3){ // RgvErrCache.updateRgvErr(rgvNo,"等待1012拣选，防止堵塞"); // return false; // } // if (listL.size()>=3){ // RgvErrCache.updateRgvErr(rgvNo,"等待1012拣选，防止堵塞"); // return false; // } // } catch (Exception e){ // RgvErrCache.updateRgvErr(rgvNo,"1012检测异常："+e.getMessage()); // return false; // } // return true; // } // // public boolean rgvOtherStatusEnable(RgvSlave slave) { // RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId()); // if (rgvProtocolOther == null) { // return true; // } // if (rgvProtocolOther.statusEnable) { //// if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) { // return true; //// } // } // return false; // } // // public synchronized void taskStart() { // for (RgvSlave rgvSlave : slaveProperties.getRgv()) { // try { // if (rgvDetection(rgvSlave)) { // String taskNoNow = rgvOtherTaskWrk(rgvSlave); // List basDevpPositions = basDevpPositionService.selectList(new EntityWrapper().orderBy("PLC_POSITION", true)); // boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave); // if (basDevpPositions.isEmpty()) { // log.error("获取所有站点信息异常"); // try{ // DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); // deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成：获取所有站点信息异常"); // } catch (Exception e2){ // } // continue; // } // List taskWrkList = new ArrayList<>(); // List staList = new ArrayList<>(); // for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) { // TaskWrk taskWrk = deviceDetection(inSta); // if (taskWrk != null) { // if (taskWrk.getWrkNo().toString().equals(taskNoNow)) continue; // taskWrkList.add(taskWrk); // staList.add(inSta.getStaNo()); // } // } // // if (taskWrkList.isEmpty() || staList.isEmpty()) continue; // // boolean sign = false; // // if (rgvOtherStatusEnable(rgvSlave)) { // //分成上下两部分任务 // List[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions, itSmall); // List rangeListSou = avoidRange[itSmall ? 0 : 1]; // List rangeListSouOther = avoidRange[itSmall ? 1 : 0]; // //就近排序 // RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId()); // List rangeList = RouteUtils.SortNearby(rangeListSou, rgvProtocol.RgvPos, basDevpPositions); // List rangeListOther = RouteUtils.SortNearby(rangeListSouOther, rgvProtocol.RgvPos, basDevpPositions); // // //所属部分就进取货 // // //筛选范围内任务 // //就近排序 // //筛选在范围任务 // Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance); // List belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions); // // if (!sign && staList.size()==1){ // if (rgvOtherIDLEOther(rgvSlave)){ // if (!rgvOtherIDLE(rgvSlave,staList.get(0))){ // System.out.println("空闲就近跳过==="+rgvSlave.getId()+"==="); // RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"空闲就近跳过"); // // sign=true; // } // } // if (sign){ // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staList.get(0))) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()); // for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){ // if (rgvSuper.getStaNo().equals(outStaNo)){ // System.out.println("空闲就近跳过后因最远再次执行==="+rgvSlave.getId()+"==="); // // sign=false; // break; // } // } // } else { // return; // } // break; // } // } // } // } // // if(!sign){ // for (Integer staNoNow : belongToRange) { // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staNoNow)) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()))); // if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) { // System.out.println("全范围执行==="+rgvSlave.getId()+"==="+taskWrk); // System.out.println("全范围执行==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange)); // // sign = taskGenerate(rgvSlave, rgvStn, 0); // } // } // break; // } // } // if (sign) { // break; // } // } // } // if (!sign) { // // 筛选范围内取货任务 // for (Integer staNoNow : belongToRange) { // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staNoNow)) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()); // for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) { // if (rgvStnOut.getStaNo().equals(outStaNo)) { // System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+taskWrk); // System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange)); // // sign = taskGenerate(rgvSlave, rgvStn, 0); // break; // } // } // } // break; // } // } // if (sign) { // break; // } // } // } // // if (!sign && staList.size()==1){ // if (rgvOtherIDLEOther2(rgvSlave)){ // if (!rgvOtherIDLE2(rgvSlave,staList.get(0))){ // System.out.println("运行就近跳过==="+rgvSlave.getId()+"==="); // RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"运行就近跳过"); // // sign=true; // } // } // if (sign){ // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staList.get(0))) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()); // for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){ // if (rgvSuper.getStaNo().equals(outStaNo)){ // System.out.println("运行就近跳过后因最远再次执行==="+rgvSlave.getId()+"==="); // // sign=false; // break; // } // } // } else { // return; // } // break; // } // } // } // } // // // // if (!sign && staList.size()>1) { // for (Integer staNoNow : rangeList) { // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staNoNow)) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()))); // if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) { // System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk); // System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange)); // // sign = taskGenerate(rgvSlave, rgvStn, 0); // } // } // break; // } // } // if (sign) { // break; // } // } // }else if (!sign && staList.size()==1){ // BasDevpPosition basDevpPosition1 = basDevpPositionService.selectOne(new EntityWrapper().eq("DEV_NO", staList.get(0))); // if (Math.abs(basDevpPosition1.getPlcPosition()- rgvProtocol.getRgvPos())().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()))); // if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) { // System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk); // System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange)); // // sign = taskGenerate(rgvSlave, rgvStn, 0); // } // } // break; // } // } // if (sign) { // break; // } // } // } // } // // // // if (!sign && staList.size()>1) { // // 半边区域内取货任务 // for (Integer staNoNow : rangeList) { // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staNoNow)) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()); // for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) { // if (rgvStnOut.getStaNo().equals(outStaNo)) { // System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+taskWrk); // System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange)); // // sign = taskGenerate(rgvSlave, rgvStn, 0); // break; // } // } // } // break; // } // } // if (sign) { // break; // } // } // } // if (!sign && staList.size()>1) { // for (Integer staNoNow : rangeListOther) { // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staNoNow)) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()); // for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){ // if (rgvSuper.getStaNo().equals(outStaNo)){ // System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"==="); // BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()))); // if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) { // sign = taskGenerate(rgvSlave, rgvStn, 0); // } // break; // } // } // } // break; // } // if (sign) { // break; // } // } // if (sign) { // break; // } // } // // }else if (!sign && staList.size()==1){ // for (Integer staNoNow : rangeList) { // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staNoNow)) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()); // for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){ // if (rgvSuper.getStaNo().equals(outStaNo)){ // System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"==="); // BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()))); // if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) { // sign = taskGenerate(rgvSlave, rgvStn, 0); // } // break; // } // } // } // break; // } // if (sign) { // break; // } // } // if (sign) { // break; // } // } // // } // RgvErrCache.updateRgvErr(rgvSlave.getId(),"未查询到可执行任务"); // // } else { // //可用区域就近取货 // //就近排序 // RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId()); // List rangeList = RouteUtils.SortNearby(staList, rgvProtocol.RgvPos, basDevpPositions); // // 半边区域内取货任务 // for (Integer staNoNow : rangeList) { // for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) { // if (rgvStn.getStaNo().equals(staNoNow)) { // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk != null) { // Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()); // for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) { // if (rgvStnOut.getStaNo().equals(outStaNo)) { // sign = taskGenerate(rgvSlave, rgvStn, 0); // break; // } // } // } // break; // } // } // if (sign) { // break; // } // } // } // } // } catch (Exception e) { // log.error("任务生成失败===》异常信息：{}", e.getMessage()); // try{ // DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); // deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成失败"); // } catch (Exception e2){ // } // } // } // } // // // public boolean taskGenerate(RgvSlave rgvSlave, RgvSlave.RgvStn rgvStn, Integer sign) { // try { // RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); // TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache(); // DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId()); // // TaskProtocol issuedTake = new TaskProtocol(); // TaskProtocol issuedPut = new TaskProtocol(); // try { // ConcurrentHashMap allTaskProtocol = taskProtocolCache.getAllTaskProtocol(); // if (allTaskProtocol.size() > 0) { // return false; // } // TaskWrk taskWrk = deviceDetection(rgvStn); // if (taskWrk == null) { // return false; // } //// Integer targetPointConvert = taskWrk.getTargetPointConvert(); // Integer targetPointConvert = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint()); // if (targetPointConvert == null) { // return false; // } // if (targetPointConvert == 1009){ // if (!deviceDetection(rgvStn, rgvSlave.getId())){ // return false; // } // } // try{ // devpThread.setPakMkTask(rgvStn.getStaNo(), false); // } catch (Exception e2){ // RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"小车任务下发标记更新失败"); // } // // // BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper().eq("DEV_NO", rgvStn.getStaNo())); // BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper().eq("DEV_NO", targetPointConvert)); // //执行 // issuedTake.setTaskNo(Long.valueOf(taskWrk.getWrkNo())); // issuedTake.setTaskStatus(2); // issuedTake.setTargetPositionStaNo(basDevpPositionSou.getDevNo()); // issuedTake.setTargetPositionStaNoPlcId(basDevpPositionSou.getPlcId()); // issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus())); // issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition()); // issuedTake.setIsRunning(1); // issuedTake.setDirection(basDevpPositionSou.getRgvSign()==1); // // // issuedPut.setTaskNo(Long.valueOf(taskWrk.getWrkNo())); // issuedPut.setTaskStatus(3); // issuedPut.setTargetPositionStaNo(basDevpPositionEnd.getDevNo()); // issuedPut.setTargetPositionStaNoPlcId(basDevpPositionEnd.getPlcId()); // issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus())); // issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition()); // issuedPut.setIsRunning(1); // issuedPut.setDirection(basDevpPositionEnd.getRgvSign()==1); // // try{ // if (taskWrk.getIoType()==2 && basDevpPositionEnd.getRgvSign()==1){ // Date now = new Date(); // taskWrk.setStatus(TaskStatusType.OVER.id); // taskWrk.setModiTime(now);//更新时间 // taskWrk.setCompleteTime(now);//完结时间 // taskWrkService.updateById(taskWrk); // } // } catch (Exception e){ // // } // } catch (Exception e) { // log.error("任务生成失败issued1===》异常信息：{}", e.getMessage()); // RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued1"); // // try{ // DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); // deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "任务生成失败issued1"); // } catch (Exception e2){ // } // return false; // } // // switch (sign) { // case 1: // taskProtocolCache.updateTaskProtocol(issuedTake); // break; // case 2: // taskProtocolCache.updateTaskProtocol(issuedPut); // break; // default: // taskProtocolCache.updateTaskProtocol(issuedTake); // taskProtocolCache.updateTaskProtocol(issuedPut); // break; // } // } catch (Exception e) { // log.error("任务生成失败issued2===》异常信息：{}", e.getMessage()); // RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued2"); // // try{ // DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class); // deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "站点任务生成失败issued2"); // } catch (Exception e2){ // } // } // return true; // } }