package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.baomidou.mybatisplus.mapper.Wrapper; import com.core.common.Cools; import com.core.common.DateUtils; import com.core.exception.CoolException; import com.zy.asrs.entity.*; import com.zy.asrs.mapper.BasCrnErrorMapper; import com.zy.asrs.mapper.WaitPakinMapper; import com.zy.asrs.mapper.WrkMastMapper; import com.zy.asrs.service.*; import com.zy.asrs.utils.Utils; import com.zy.asrs.utils.VersionUtils; import com.zy.common.model.LocTypeDto; import com.zy.common.model.MatDto; import com.zy.common.model.SearchLocParam; import com.zy.common.model.StartupDto; import com.zy.common.service.CommonService; import com.zy.common.utils.CollectionUtils; import com.zy.common.utils.HttpHandler; import com.zy.common.utils.News; import com.zy.core.CrnThread; import com.zy.core.DevpThread; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.*; import com.zy.core.model.*; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.command.LedCommand; import com.zy.core.model.command.RgvCommand; import com.zy.core.model.protocol.CrnProtocol; import com.zy.core.model.protocol.RgvProtocol; import com.zy.core.model.protocol.StaProtocol; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.BarcodeThread; import com.zy.core.thread.LedThread; import com.zy.core.thread.SiemensDevpThread; import com.zy.core.thread.ZyRgvThread; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; import org.springframework.transaction.interceptor.TransactionAspectSupport; import java.util.*; import java.util.stream.Collectors; /** * 立体仓库WCS系统主流程业务 * Created by vincent on 2020/8/6 */ @Slf4j @Service("mainService") @Transactional public class MainServiceImpl { public static final long COMMAND_TIMEOUT = 5 * 1000; @Autowired private CommonService commonService; @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastMapper wrkMastMapper; @Autowired private WrkMastService wrkMastService; @Autowired private WrkDetlService wrkDetlService; @Autowired private WaitPakinMapper waitPakinMapper; @Autowired private LocMastService locMastService; @Autowired private StaDescService staDescService; @Autowired private BasCrnpService basCrnpService; @Autowired private BasDevpService basDevpService; @Autowired private LocDetlService locDetlService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Value("${wms.url}") private String wmsUrl; /** * 组托 * 入库站，根据条码扫描生成入库工作档，工作状态 2 */ public synchronized void generateStoreWrkFile() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode()); if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); // 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(); } // 尺寸检测异常 boolean back = false; String errMsg = "异常："; if (staProtocol.isFrontErr()) { errMsg = errMsg+"前超限；"; back = true; } if (staProtocol.isBackErr()) { errMsg = errMsg+"后超限"; back = true; } if (staProtocol.isHighErr()) { errMsg = errMsg+"高超限"; back = true; } if (staProtocol.isLeftErr()) { errMsg = errMsg+"左超限"; back = true; } if (staProtocol.isRightErr()) { errMsg = errMsg+"右超限"; back = true; } if (staProtocol.isWeightErr()) { errMsg = errMsg+"超重"; back = true; } if (staProtocol.isBarcodeErr()) { errMsg = errMsg+"扫码失败"; back = true; } // 退回 if (back) { // led 异常显示 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); if (ledThread != null) { MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg)); } continue; } if (!Cools.isEmpty(barcode)) { log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode); if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) { continue; } } else { // led 异常显示 // LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); // if (ledThread != null) { // String errorMsg = "扫码失败，请重试"; // MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); // } continue; } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) && staProtocol.isPakMk()) { if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) { log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode); //条码为空或者不符合，退库到 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); if (ledThread != null) { String errorMsg = "扫码失败，请重试"; MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); } // staProtocol.setWorkNo((short)9999); // staProtocol.setStaNo((short)(staProtocol.getStaNo()-1)); // devpThread.setPakMk(staProtocol.getSiteId(), false); // boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // if (!result) { // throw new CoolException("更新plc站点信息失败"); // } continue; } // 判断重复工作档 WrkMast wrkMast = new WrkMast(); if (barcode.length() == 8) { wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode); if (wrkMast != null) { log.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo()); continue; } } // 获取入库通知档 // List waitPakins = waitPakinMapper.selectList(new EntityWrapper().eq("zpallet", barcode).eq("io_status", "N")); // if (waitPakins.isEmpty()) { // log.error("无此入库条码数据。条码号={}", barcode); // continue; // } try { LocTypeDto locTypeDto = new LocTypeDto(staProtocol); SearchLocParam param = new SearchLocParam(); param.setBarcode(barcode); param.setIoType(1); param.setSourceStaNo(inSta.getStaNo()); param.setLocType1(locTypeDto.getLocType1()); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin/loc/v1") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); if (jsonObject.getInteger("code").equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); barcodeThread.setBarcode(""); staProtocol.setWorkNo(dto.getWorkNo().shortValue()); staProtocol.setStaNo(dto.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); ledThread.errorReset(); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败"); } } else if(jsonObject.getInteger("code").equals(700)) { // staProtocol.setWorkNo((short) 9999); // staProtocol.setStaNo(inSta.getBackSta().shortValue()); // devpThread.setPakMk(staProtocol.getSiteId(), false); // MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // // led 异常显示 // if (ledThread != null) { // String errorMsg = barcode + "托盘识别异常，请先进行组托！"; // MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); // } log.error(barcode + "托盘识别异常，请先进行组托！"); // led 异常显示 ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); if (ledThread != null) { String errorMsg = barcode + "托盘识别异常，请先进行组托！"; MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); } } else { log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * wms入库 * 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2 */ public synchronized void generateStoreWrkFile0() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { // 获取入库站信息 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() == 101 && devpThread.ioModeOf1F1 != IoModeType.PAKOUT_MODE) { continue; } if (inSta.getStaNo() == 104 && devpThread.ioModeOf1F2 != IoModeType.PAKOUT_MODE) { continue; } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999) && staProtocol.isPakMk()) { // 判断重复工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo()); if (wrkMast == null) { continue; } // 命令下发区 -------------------------------------------------------------------------- // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (result) { // 更新工作主档 wrkMast.setWrkSts(2L); // 工作状态：2.设备上走 wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo()); } } else { log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } } } } } /** * 拣料、并板、盘点再入库 */ public synchronized void stnToCrnStnPick() { 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)) { log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode); if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) { 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(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && staProtocol.getWorkNo() == 9999) { // WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode); LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed()); if (barcode.equals("") || barcode.equals("99999999")) { Integer led = pickSta.getLed(); if (ledThread != null) { String errorMsg = "扫码异常，请重新入库！"; MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); } // // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo((short)9999); staProtocol.setStaNo((short)(staProtocol.getStaNo()-1)); 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()); } continue; } // WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue()); WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper().eq("barcode", barcode)); if (wrkMast == null) { wrkMast = wrkMastMapper.selectPickStep(barcode); } if (wrkMast == null) { // 无拣料数据 continue; } if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107) || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) { continue; } ledThread.errorReset(); // 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)) { log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo()); continue; } try { // 保存工作明细档历史档 if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) { throw new CoolException("保存工作明细档历史档失败"); } // 保存工作主档历史档 if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) { throw new CoolException("保存工作主档历史档失败"); } Date now = new Date(); // 堆垛机站点(目标站) Integer staNo = staDesc.getCrnStn(); // 更新工作档数据状态 wrkMast.setIoTime(now); wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57 wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走 Integer sourceStaNo = 0; switch (wrkMast.getStaNo()){ case 100: sourceStaNo = 101; break; case 103: sourceStaNo = 104; break; } wrkMast.setSourceStaNo(sourceStaNo); // 源站 // 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().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); }else { ledThread.errorReset(); } } } } } /** * 堆垛机站出库到出库站 */ public synchronized void crnStnToOutStn() { for (CrnSlave crnSlave : slaveProperties.getCrn()) { // 遍历堆垛机出库站 for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) { // 获取堆垛机出库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) { // 查询工作档 WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId()); if (wrkMast == null) { continue; } // 判断工作档条件 if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) { continue; } // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) { // 移动中 continue; } // 判断堆垛机状态等待确认 if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue()) && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.forkPosType == CrnForkPosType.HOME) { // 命令下发区 -------------------------------------------------------------------------- // 下发站点信息 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) { continue; } if (crnStn.getStaNo() == 1016 || crnStn.getStaNo() == 1019) { // 更新工作档状态为13.RGV搬运中 wrkMast.setWrkSts(13L); }else { // 更新工作档状态为14 wrkMast.setWrkSts(14L); } wrkMast.setCrnEndTime(new Date()); if (wrkMastMapper.updateById(wrkMast) != 0) { // 复位堆垛机 crnThread.setResetFlag(true); } else { log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } } } } } } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecute() { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } BasCrnp basCrnp = basCrnpService.selectById(crn.getId()); if (basCrnp == null) { log.error("{}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) { // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc(crn, crnProtocol); // 入库 crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn(crn, crnProtocol); // 出库 crnProtocol.setLastIo("I"); } } // 如果最近一次是出库模式 else if (crnProtocol.getLastIo().equals("O")) { if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn(crn, crnProtocol); // 出库 crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc(crn, crnProtocol); // 入库 crnProtocol.setLastIo("O"); } } } // 库位移转 this.locToLoc(crn, crnProtocol); // this.crnRebackHp(crnProtocol, crnThread); } } /** * 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点 */ public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) { // for (CrnSlave crn : slaveProperties.getCrn()) { // // 获取堆垛机信息 // CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); // CrnProtocol crnProtocol = crnThread.getCrnProtocol(); // if (crnProtocol == null) { // continue; // } // BasCrnp basCrnp = basCrnpService.selectById(crn.getId()); // if (basCrnp == null) { // log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId()); // continue; // } if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) { return; } // 已经存在吊车执行任务时，则过滤3,12 if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) { return; } //堆垛机有执行中任务，过滤3,4,11,12 if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) { return; } //输送线没有入库任务，过滤2 if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) { return; } log.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点"); // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo((short) 9999); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点 crnCommand.setSourcePosX((short) 0); // 源库位排 crnCommand.setSourcePosY((short) 0); // 源库位列 crnCommand.setSourcePosZ((short) 0); // 源库位层 crnCommand.setDestinationPosX((short) 0); // 目标库位排 crnCommand.setDestinationPosY((short) 0); // 目标库位列 crnCommand.setDestinationPosZ((short) 0); // 目标库位层 crnCommand.setLocType1((short) 0); // 货物类型 if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) { log.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) { for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) { boolean flag = false; // 获取堆垛机入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) { flag = true; } if (!flag) { continue; } // 获取工作状态为2（设备上走）的入库工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo()); if (null == wrkMast) { // 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) { log.error("查询库存无数据--库位号{}", wrkMast.getLocNo()); continue; } if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) { log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts()); continue; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { continue; } // 已经存在吊车执行任务时，则过滤 if (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())) { 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")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null == waitWrkMast) { log.error("{}库位异常，未检索到相应工作档！", shallowLocNo); } else { waitWrkMast.setIoPri(15D); waitWrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(waitWrkMast) == 0) { log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo()); } continue; } } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { // 此标记避免多次执行移库任务 if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) { wrkMast.setUpdMk("Y"); 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); // 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")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) { continue; } } } // 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.setLocType1(locMast.getLocType1().shortValue()); // 货物类型 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // long startTime = System.currentTimeMillis(); // while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) { // // if (true) { // break; // } // // try{ // Thread.sleep(500); // }catch(Exception ignore){} // } // 修改工作档状态 2.设备上走 => 3.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(3L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } /** * 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) { 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()); // 获取工作状态为14的工作档 WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep14(slave.getId(), crnStn.getStaNo()); if ( wrkMast1 !=null) { continue; } for (WrkMast wrkMast : wrkMasts) { 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 locMast = locMastService.selectById(wrkMast.getSourceLocNo()); if (!locMast.getLocSts().equals("R") && !locMast.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(), locMast.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) { break; // continue; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); break; // continue; } // 判断堆垛机出库站状态 if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) { // 命令下发区 -------------------------------------------------------------------------- // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // continue; break; } // 双深库位且浅库位有货，则需先对浅库位进行库位移转 if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) { String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo()); LocMast shallowLoc = locMastService.selectById(shallowLocNo); // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！ if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); if (null == waitWrkMast) { log.error("{}库位异常，未检索到相应工作档！", shallowLocNo); } else { if (waitWrkMast.getWrkSts() == 11) { waitWrkMast.setIoPri(15D); waitWrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(waitWrkMast) == 0) { log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo()); } continue; } else { } } } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { // 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); } log.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")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); if (null != waitWrkMast && (waitWrkMast.getWrkSts() == 4 || waitWrkMast.getWrkSts() == 5)) { continue; } } } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { break; // return; } // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(locMast.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(locMast.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(locMast.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.setLocType1(locMast.getLocType1().shortValue()); // 货物类型 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(12L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } break; } } } } } // /** // * 出库 ===>> 库位到堆垛机站 // */ // public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){ // for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) { // // 获取工作状态为11（生成出库ID）的出库工作档 // WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo()); // if (wrkMast == null) { // continue; // } // // 工作档状态判断 // if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){ // log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType()); // continue; // } // // 获取源库位信息 // LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); // if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) { // log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts()); // continue; // } // // 获取堆垛机出库站信息 // SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); // StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); // if (staProtocol == null) { // continue; // } else { // staProtocol = staProtocol.clone(); // } // //// // 入出库模式判断 //// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; } // // // // 查询站点详细信息 // BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); // if (staDetl == null) { // log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); // continue; // } // // 判断堆垛机出库站状态 // if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y") // && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) { // // 命令下发区 -------------------------------------------------------------------------- // // // 堆垛机控制过滤 // if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // continue; // } // // // 双深库位且浅库位有货，则需先对浅库位进行库位移转 // if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) { // String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo()); // LocMast shallowLoc = locMastService.selectById(shallowLocNo); // // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！ // if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) { // WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); // if (null == waitWrkMast) { // log.error("{}库位异常，未检索到相应工作档！", shallowLocNo); // } else { // if(waitWrkMast.getWrkSts() == 11) { // waitWrkMast.setIoPri(15D); // waitWrkMast.setModiTime(new Date()); // if (wrkMastMapper.updateById(waitWrkMast) == 0) { // log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo()); // } // continue; // } else { // // } // } // } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { // // 此标记避免多次执行移库任务 // if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) { // wrkMast.setUpdMk("Y"); // wrkMastMapper.updateById(wrkMast); // // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行) // moveLocForDeepLoc(slave, shallowLoc); // } // log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo()); // continue; // } // } // // // 已经存在吊车执行任务时，则过滤 // if (wrkMastMapper.selectWorking(slave.getId()) != null) { // return; // } // // // 1.堆垛机开始移动 // CrnCommand crnCommand = new CrnCommand(); // crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 // crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 // crnCommand.setAckFinish((short) 0); // 任务完成确认位 // crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 // crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排 // crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 // crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 // crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排 // crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列 // crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层 // crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 货物类型 // if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { // log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); // } else { // // 修改工作档状态 11.生成出库ID => 12.吊车出库中 // Date now = new Date(); // wrkMast.setWrkSts(12L); // wrkMast.setCrnStrTime(now); // wrkMast.setModiTime(now); // if (wrkMastMapper.updateById(wrkMast) == 0) { // log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); // } // } // } // } // } /** * 库位移转 */ public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) { // 获取工作档信息 WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId()); if (null == wrkMast) { return; } // 获取源库位信息 LocMast sourceLocMast = locMastService.selectById(wrkMast.getSourceLocNo()); if (null == sourceLocMast) { log.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo()); return; } // 源库位 库位状态判断 if (!sourceLocMast.getLocSts().equals("R") && !sourceLocMast.getLocSts().equals("S")) { return; } // 获取目标库位信息 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); if (null == locMast) { log.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo()); return; } // 获取堆垛机信息 并 判断是否可入出 BasCrnp basCrnp = basCrnpService.selectById(slave.getId()); if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) { return; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { return; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 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(sourceLocMast.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLocMast.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLocMast.getLev1().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.setLocType1(locMast.getLocType1().shortValue()); // 货物类型 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(12L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("【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()); } } } /** * 执行对工作档的完成操作 */ public synchronized void storeFinished() { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } // 状态：等待确认 并且 任务完成位 = 1 if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) { if (crnProtocol.getTaskNo() == 9999) { // 堆垛机复位 crnThread.setResetFlag(true); } else { // 获取入库待确认工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue()); if (wrkMast == null) { log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo()); continue; } // 入库 + 库位转移 ==> 4.入库完成 if (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 crnThread.setResetFlag(true); } } } } } /** * 堆垛机异常信息记录 */ public synchronized void recCrnErr() { Date now = new Date(); for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } if (true) { // if (crnProtocol.getModeType() != CrnModeType.STOP) { // 有任务 if (crnProtocol.getTaskNo() != 0) { BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue()); // 有异常 if (latest == null) { if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) { WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo()); if (wrkMast == null) { continue; } BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm()); String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName(); BasErrLog basErrLog = new BasErrLog( null, // 编号 wrkMast.getWrkNo(), // 工作号 now, // 发生时间 null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 crn.getId(), // 堆垛机 null, // plc wrkMast.getLocNo(), // 目标库位 wrkMast.getStaNo(), // 目标站 wrkMast.getSourceStaNo(), // 源站 wrkMast.getSourceLocNo(), // 源库位 wrkMast.getBarcode(), // 条码 (int) crnProtocol.getAlarm(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "任务中异常" // 备注 ); if (!basErrLogService.insert(basErrLog)) { log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName); } } } else { // 异常修复 if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basErrLogService.updateById(latest)) { log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } // 无任务 } else { BasErrLog latest = basErrLogService.findLatest(crn.getId()); // 有异常 if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) { // 记录新异常 if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) { BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm()); String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName(); BasErrLog basErrLog = new BasErrLog( null, // 编号 null, // 工作号 now, // 发生时间 null, // 结束时间 null, // 工作状态 null, // 入出库类型 crn.getId(), // 堆垛机 null, // plc null, // 目标库位 null, // 目标站 null, // 源站 null, // 源库位 null, // 条码 (int) crnProtocol.getAlarm(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "无任务异常" // 备注 ); if (!basErrLogService.insert(basErrLog)) { log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName); } } // 无异常 } else { // 异常修复 if (latest != null && latest.getStatus() == 1) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basErrLogService.updateById(latest)) { log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } } } } } // ------------------------------------------------------------------------------- /** * 空栈板初始化入库,叉车入库站放货 */ public synchronized void storeEmptyPlt() { for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历空板入库口 for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) { // 获取空板入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo()); LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 站点条件判断 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() >= 9990 && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) { List wrkMasts = wrkMastService.selectList(new EntityWrapper() .eq("sta_no", emptyInSta.getStaNo()) .eq("io_type", 10) .eq("wrk_sts", 2)); if (!Cools.isEmpty(wrkMasts)){ continue; } 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); ledThread.errorReset(); // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(dto.getWorkNo().shortValue()); staProtocol.setStaNo(dto.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败"); } } else { log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * 出库 ===>> 工作档信息写入led显示器 */ public synchronized void ledExecute() { for (LedSlave led : slaveProperties.getLed()) { // 获取输送线plc线程 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId()); // 命令集合 List commands = new ArrayList<>(); // 工作档集合 List wrkMasts = new ArrayList<>(); for (Integer staNo : led.getStaArr()) { // 获取叉车站点 StaProtocol staProtocol = devpThread.getStation().get(staNo); if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) { continue; } else { staProtocol = staProtocol.clone(); } // 获取工作档数据 WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo()); if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; } wrkMasts.add(wrkMast); // 组装命令 LedCommand ledCommand = new LedCommand(); ledCommand.setWorkNo(wrkMast.getWrkNo()); ledCommand.setIoType(wrkMast.getIoType()); // 出库模式 switch (wrkMast.getIoType()) { case 101: ledCommand.setTitle("全板出库"); break; case 103: ledCommand.setTitle("拣料出库"); break; case 104: ledCommand.setTitle("并板出库"); break; case 107: ledCommand.setTitle("盘点出库"); break; case 110: ledCommand.setTitle("空板出库"); ledCommand.setEmptyMk(true); break; default: News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType()); break; } ledCommand.setSourceLocNo(wrkMast.getSourceLocNo()); ledCommand.setStaNo(wrkMast.getStaNo()); ledCommand.setBarcode(wrkMast.getBarcode()); if (wrkMast.getIoType() != 110) { List wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo()); wrkDetls.forEach(wrkDetl -> { if (wrkMast.getIoType() == 101) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())); } if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())); } if (wrkMast.getIoType() == 107) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())); } }); } commands.add(ledCommand); } Set workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet()); // 获取LED线程 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId()); // 相同工作号集合则过滤 if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) { continue; } // 命令下发 ------------------------------------------------------------------------------- if (!commands.isEmpty()) { if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) { News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); continue; } } try { // 修改主档led标记 for (WrkMast wrkMast : wrkMasts) { wrkMast.setOveMk("Y"); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException("更新工作档失败"); } } // 更新线程当前工作号集合 ledThread.setWorkNos(workNos); } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } /** * 其他 ===>> LED显示器复位，显示默认信息 */ public synchronized void ledReset() { for (LedSlave led : slaveProperties.getLed()) { // 获取输送线plc线程 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId()); // 命令集合 boolean reset = true; for (Integer staNo : led.getStaArr()) { // 获取叉车站点 StaProtocol staProtocol = devpThread.getStation().get(staNo); if (staProtocol == null) { continue; } if (staProtocol.getWorkNo() != 0 || staProtocol.isErr()) { reset = false; break; } } // 获取led线程 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId()); // led显示默认内容 if (reset) { if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) { News.error("{}号LED命令下发失败1565！！！[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) { try { 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) { log.error("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo()); throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo()); } // 获取工作号 int workNo = commonService.getWorkNo(0); // 保存工作档 WrkMast wrkMast = new WrkMast(); wrkMast.setWrkNo(workNo); wrkMast.setIoTime(new Date()); wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID wrkMast.setIoType(11); // 入出库状态： 11.库格移载 wrkMast.setIoPri(13D); wrkMast.setCrnNo(crn.getId()); wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位 wrkMast.setLocNo(loc.getLocNo()); // 目标库位 wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板 wrkMast.setPicking("N"); // 拣料 wrkMast.setExitMk("N"); // 退出 wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板 wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码 wrkMast.setLinkMis("N"); wrkMast.setAppeTime(new Date()); wrkMast.setModiTime(new Date()); int res = wrkMastMapper.insert(wrkMast); if (res == 0) { 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)) { 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)) { throw new CoolException("更新源库位状态失败"); } } else { throw new CoolException("源库位出库失败"); } // 修改目标库位状态 if (loc.getLocSts().equals("O")) { loc.setLocSts("S"); // S.入库预约 loc.setModiTime(new Date()); if (!locMastService.updateById(loc)) { throw new CoolException("更新目标库位状态失败"); } } else { throw new CoolException("移转失败"); } } catch (Exception e) { log.error("双深库位阻塞，对浅库位进行移转失败", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 堆垛机演示 ===>> 库位移转 */ public synchronized void crnDemoOfLocMove1() { try { for (CrnSlave crn : slaveProperties.getCrn()) { if (!crn.getDemo()) { continue; } // 必须为演示状态 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { // 获取移库工作档信息 WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId()); if (null != wrkMast) { continue; } LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId()); if (null == sourceLoc ) { continue; } LocMast loc = locMastService.queryDemoLoc0(crn.getId(),sourceLoc.getLocType1()); if ( null == loc) { continue; } String sourceLocNo = sourceLoc.getLocNo(); String locNo = loc.getLocNo(); // 获取工作号 int workNo = commonService.getWorkNo(0); // 保存工作档 wrkMast = new WrkMast(); wrkMast.setWrkNo(workNo); wrkMast.setIoTime(new Date()); wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID wrkMast.setIoType(11); // 入出库状态： 11.库格移载 wrkMast.setIoPri(13D); wrkMast.setCrnNo(crn.getId()); wrkMast.setSourceLocNo(sourceLocNo); // 源库位 wrkMast.setLocNo(locNo); // 目标库位 wrkMast.setFullPlt("N"); // 满板：Y wrkMast.setPicking("N"); // 拣料 wrkMast.setExitMk("N"); // 退出 wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板 wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码 wrkMast.setLinkMis("N"); wrkMast.setAppeTime(new Date()); wrkMast.setModiTime(new Date()); int res = wrkMastMapper.insert(wrkMast); if (res == 0) { throw new CoolException("保存工作档失败"); } // 工作档明细保存 // List locDetls = locDetlService.selectList(new EntityWrapper().eq("loc_no", sourceLocNo)); // for (LocDetl locDetl : locDetls) { // WrkDetl wrkDetl = new WrkDetl(); // wrkDetl.setWrkNo(workNo); // wrkDetl.setIoTime(new Date()); // wrkDetl.setAnfme(locDetl.getAnfme()); // VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制 // wrkDetl.setAppeTime(new Date()); // wrkDetl.setModiTime(new Date()); // if (!wrkDetlService.insert(wrkDetl)) { // throw new CoolException("保存工作档明细失败"); // } // } // 修改源库位状态 if (sourceLoc.getLocSts().equals("D")) { sourceLoc.setLocSts("R"); // R.出库预约 sourceLoc.setModiTime(new Date()); if (!locMastService.updateById(sourceLoc)) { throw new CoolException("更新源库位状态失败"); } } else { throw new CoolException("源库位出库失败"); } // 修改目标库位状态 if (loc.getLocSts().equals("O")) { loc.setLocSts("S"); // S.入库预约 loc.setModiTime(new Date()); if (!locMastService.updateById(loc)) { throw new CoolException("更新目标库位状态失败"); } } else { throw new CoolException("移转失败"); } } } } catch (Exception e) { log.error("堆垛机演示 ===>> 库位移转失败", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 堆垛机演示 ===>> 所有库位轮询 */ public synchronized void crnDemoOfLocMove2() { try { for (CrnSlave crn : slaveProperties.getCrn()) { if (!crn.getDemo()) { continue; } // 必须为演示状态 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { // 获取移库工作档信息 WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId()); if (null != wrkMast) { continue; } LocMast sourceLoc = locMastService.queryDemoSourceLoc1(crn.getId()); if (null == sourceLoc ) { continue; } LocMast loc = locMastService.queryDemoLoc2(crn.getId(),sourceLoc.getLocType1()); if ( null == loc) { continue; } String sourceLocNo = sourceLoc.getLocNo(); String locNo = loc.getLocNo(); // 获取工作号 int workNo = commonService.getWorkNo(0); // 保存工作档 wrkMast = new WrkMast(); wrkMast.setWrkNo(workNo); wrkMast.setIoTime(new Date()); wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID wrkMast.setIoType(11); // 入出库状态： 11.库格移载 wrkMast.setIoPri(13D); wrkMast.setCrnNo(crn.getId()); wrkMast.setSourceLocNo(sourceLocNo); // 源库位 wrkMast.setLocNo(locNo); // 目标库位 wrkMast.setFullPlt("N"); // 满板：Y wrkMast.setPicking("N"); // 拣料 wrkMast.setExitMk("N"); // 退出 wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板 wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码 wrkMast.setLinkMis("N"); wrkMast.setAppeTime(new Date()); wrkMast.setModiTime(new Date()); int res = wrkMastMapper.insert(wrkMast); if (res == 0) { throw new CoolException("保存工作档失败"); } // 工作档明细保存 // List locDetls = locDetlService.selectList(new EntityWrapper().eq("loc_no", sourceLocNo)); // for (LocDetl locDetl : locDetls) { // WrkDetl wrkDetl = new WrkDetl(); // wrkDetl.setWrkNo(workNo); // wrkDetl.setIoTime(new Date()); // wrkDetl.setAnfme(locDetl.getAnfme()); // VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制 // wrkDetl.setAppeTime(new Date()); // wrkDetl.setModiTime(new Date()); // if (!wrkDetlService.insert(wrkDetl)) { // throw new CoolException("保存工作档明细失败"); // } // } // 修改源库位状态 if (sourceLoc.getLocSts().equals("D")) { sourceLoc.setLocSts("R"); // R.出库预约 sourceLoc.setModiTime(new Date()); if (!locMastService.updateById(sourceLoc)) { throw new CoolException("更新源库位状态失败"); } } else { throw new CoolException("源库位出库失败"); } // 修改目标库位状态 if (loc.getLocSts().equals("O")) { loc.setLocSts("S"); // S.入库预约 loc.setCtnKind(1); loc.setModiTime(new Date()); if (!locMastService.updateById(loc)) { throw new CoolException("更新目标库位状态失败"); } } else { throw new CoolException("移转失败"); } } } } catch (Exception e) { log.error("堆垛机演示 ===>> 库位移转失败", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 堆垛机命令下发后，异步修改工作档状态 */ public synchronized void crnIoWrkMast() { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } Date now = new Date(); // 堆垛机正在运行 if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { // 获取工作档 WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo()); if (wrkMast == null) { continue; } // 入库 if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 2) { log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo()); // 修改工作档状态 2.设备上走 => 3.吊车入库中 wrkMast.setWrkSts(3L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo()); } // 出库、移库 if (wrkMast.getWrkSts() == 11) { log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo()); // 修改工作档状态 11.生成出库ID => 12.吊车出库中 wrkMast.setWrkSts(12L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo()); } } } } /** * 入出库模式切换函数 */ public synchronized void ioConvert() { try { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); for (DevpSlave.Sta inSta : devp.getInSta()) { // if (inSta.getStaNo() == 2) { // continue; // } Integer staNo = 0; switch (inSta.getStaNo()){ case 101: staNo = 102; break; case 104: staNo = 105; break; } WrkMast pakout = wrkMastMapper.selectWorkingPakout(staNo); switch (inSta.getStaNo()) { case 101: // 1F1 if (pakout != null) { if (devpThread.ioModeOf1F1 != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioModeOf1F1 = 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.ioModeOf1F1 = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf1F1 = IoModeType.PAKIN_MODE; } break; case 104: // 1F2 if (pakout != null) { if (devpThread.ioModeOf1F2 != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioModeOf1F2 = 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.ioModeOf1F2 = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf1F2 = IoModeType.PAKIN_MODE; } break; } } } } catch (Exception e) { e.printStackTrace(); } } //RGV搬运 public synchronized void rgvIoExecute() { for (RgvSlave slave : slaveProperties.getRgv()) { ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getId()); if (rgvThread == null) { return; } RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { return; } // 判断RGV是否空闲 if (rgvProtocol.getModeType() == RgvModeType.COMPUTER && rgvProtocol.getStatusType() == RgvStatusType.IDLE) { // 如果最近一次是入库模式，则优先扫描出库站点 if (rgvProtocol.getLastIo().equals("I")) { this.rgvOutExecute(rgvThread, rgvProtocol);//出库 rgvProtocol.setLastIo("O"); }else { this.rgvInExecute(rgvThread, rgvProtocol);//入库 rgvProtocol.setLastIo("I"); } //检查是否存在工位1任务超时没下发 if (rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() == 0) { if (System.currentTimeMillis() - rgvProtocol.getTask1SendTime() > (1000*60)) { //工位1下发时间超过60s RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvProtocol.getRgvNo());//RGV编号 rgvCommand.setCommand((short) 1);//工位1确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvCommand.getRgvNo(), new Task(4, rgvCommand))) { log.error("RGV确认命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand)); return; } log.error("RGV确认命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand)); } } } } } //rgv入库 public synchronized void rgvInExecute(ZyRgvThread rgvThread, RgvProtocol rgvProtocol) { for (RgvSlave.Sta sta : rgvThread.getSlave().getInStn()) { if (rgvProtocol.getTaskNo1() > 0) { //检测rgv工位1是否为入库任务 WrkMast wrkMast1 = wrkMastMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue()); if (wrkMast1.getWrkSts() > 100) { continue;//出库任务跳过 } } SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, sta.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(sta.getSourceStaNo()); //判断输送线是否自动、有物、可入、有工作号 if (!(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isOutEnable() && (staProtocol.getWorkNo() > 0))) { continue; } //搜索工作档 WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getWorkNo().intValue()); if (wrkMast == null) { continue;//工作档不存在 } //获取RGV放货站点 Integer staNo = Utils.getRgvStaNo(rgvProtocol.getRgvNo(), sta.getSourceStaNo(), staProtocol.getStaNo().intValue(), true); if (staNo == null) { continue;//RGV放货站点不存在 } //判断目标站是否自动、可入、无物、无工作号 StaProtocol staProtocol1 = devpThread.getStation().get(staNo); if (!(staProtocol1.isAutoing() && staProtocol1.isInEnable() && !staProtocol1.isLoading() && (staProtocol1.getWorkNo() == 0))) { continue; } // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvProtocol.getRgvNo());//RGV编号 rgvCommand.setAckFinish((short) 0); //判断rgv工位1是否可用 if (rgvProtocol.getTaskNo1() == 0) { rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());//工作号 rgvCommand.setTaskMode1(RgvTaskModeType.PICK_RELEASE);//工作模式 取放货 rgvCommand.setSourceStaNo1(staProtocol.getStaNo());//源站 rgvCommand.setDestinationStaNo1(staNo.shortValue());//目标站 rgvCommand.setCommand((short) 0);//工位1暂不确认 } else if (rgvProtocol.getTaskNo2() == 0) {//判断rgv工位2是否可用 rgvCommand.setTaskNo2(wrkMast.getWrkNo().shortValue());//工作号 rgvCommand.setTaskMode2(RgvTaskModeType.PICK_RELEASE);//工作模式 取放货 rgvCommand.setSourceStaNo2(staProtocol.getStaNo());//源站 rgvCommand.setDestinationStaNo2(staNo.shortValue());//目标站 rgvCommand.setCommand((short) 1);//工位2确认 }else { continue;//没有可用RGV工位 } if (!MessageQueue.offer(SlaveType.Rgv, rgvCommand.getRgvNo(), new Task(2, rgvCommand))) { log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand)); continue; } log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand)); } } //rgv出库 public synchronized void rgvOutExecute(ZyRgvThread rgvThread, RgvProtocol rgvProtocol) { for (RgvSlave.Sta sta : rgvThread.getSlave().getOutStn()) { if (rgvProtocol.getTaskNo1() > 0) { //检测rgv工位1是否为出库任务 WrkMast wrkMast1 = wrkMastMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue()); if (wrkMast1.getWrkSts() < 100) { continue;//入库任务跳过 } } SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, sta.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(sta.getSourceStaNo()); //判断输送线是否自动、有物、可出、有工作号 if (!(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isOutEnable() && (staProtocol.getWorkNo() > 0))) { continue; } //搜索工作档 WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getWorkNo().intValue()); if (wrkMast == null) { continue;//工作档不存在 } //获取RGV放货站点 Integer staNo = Utils.getRgvStaNo(rgvProtocol.getRgvNo(), sta.getSourceStaNo(), staProtocol.getStaNo().intValue(), false); if (staNo == null) { continue;//RGV放货站点不存在 } //判断目标站是否自动、可出、无物、无工作号 StaProtocol staProtocol1 = devpThread.getStation().get(staNo); if (!(staProtocol1.isAutoing() && staProtocol1.isOutEnable() && !staProtocol1.isLoading() && (staProtocol1.getWorkNo() == 0))) { continue; } // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvProtocol.getRgvNo());//RGV编号 rgvCommand.setAckFinish((short) 0); //判断rgv工位1是否可用 if (rgvProtocol.getTaskNo1() == 0) { rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());//工作号 rgvCommand.setTaskMode1(RgvTaskModeType.PICK_RELEASE);//工作模式 取放货 rgvCommand.setSourceStaNo1(staProtocol.getStaNo());//源站 rgvCommand.setDestinationStaNo1(staNo.shortValue());//目标站 rgvCommand.setCommand((short) 0);//工位1暂不确认 } else if (rgvProtocol.getTaskNo2() == 0) {//判断rgv工位2是否可用 rgvCommand.setTaskNo2(wrkMast.getWrkNo().shortValue());//工作号 rgvCommand.setTaskMode2(RgvTaskModeType.PICK_RELEASE);//工作模式 取放货 rgvCommand.setSourceStaNo2(staProtocol.getStaNo());//源站 rgvCommand.setDestinationStaNo2(staNo.shortValue());//目标站 rgvCommand.setCommand((short) 1);//工位2确认 }else { continue;//没有可用RGV工位 } if (!MessageQueue.offer(SlaveType.Rgv, rgvCommand.getRgvNo(), new Task(2, rgvCommand))) { log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand)); continue; } log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand)); } } //RGV工作完成 public synchronized void rgvFinished() { SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); for (RgvSlave slave : slaveProperties.getRgv()) { ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getId()); if (rgvThread == null) { return; } RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { return; } // 状态：等待确认 if (rgvProtocol.getStatusType() == RgvStatusType.WAITING) { if (rgvProtocol.getTaskNo1() == 9999) { // RGV复位 rgvThread.setResetFlag1(true); }else { // 获取待确认工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue()); if (wrkMast == null) { log.error("RGV处于等待确认且任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo1()); continue; } if (rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskFinish1() == 1) { //工位1任务完成 // RGV复位 rgvThread.setResetFlag1(true); //给目标站输送线写入数据 Short destinationPos1 = rgvProtocol.getDestinationPos1();//获取工位1目标站 StaProtocol staProtocol = devpThread.getStation().get(destinationPos1.intValue()).clone(); staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());//写入工作号 staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//写入目标站 if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) { log.info("{}任务，RGV搬运成功，写入输送数据失败{}", wrkMast.getWrkNo(), JSON.toJSONString(staProtocol)); } //2号RGV和3号RGV工作完成后需要更新工作档状态 if (rgvProtocol.getRgvNo() == 2 || rgvProtocol.getRgvNo() == 3) { if (wrkMast.getWrkSts() == 13) {//13.RGV搬运中 => 14.已出库 wrkMast.setWrkSts(14L); wrkMast.setModiTime(new Date()); wrkMastMapper.updateById(wrkMast); } } } if (rgvProtocol.getTaskNo2() > 0 && rgvProtocol.getTaskFinish2() == 1) { //工位2任务完成 // RGV复位 rgvThread.setResetFlag2(true); //给目标站输送线写入数据 Short destinationPos2 = rgvProtocol.getDestinationPos2();//获取工位2目标站 StaProtocol staProtocol = devpThread.getStation().get(destinationPos2.intValue()).clone(); staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());//写入工作号 staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//写入目标站 if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) { log.info("{}任务，RGV搬运成功，写入输送数据失败{}", wrkMast.getWrkNo(), JSON.toJSONString(staProtocol)); } //2号RGV和3号RGV工作完成后需要更新工作档状态 if (rgvProtocol.getRgvNo() == 2 || rgvProtocol.getRgvNo() == 3) { if (wrkMast.getWrkSts() == 13) {//13.RGV搬运中 => 14.已出库 wrkMast.setWrkSts(14L); wrkMast.setModiTime(new Date()); wrkMastMapper.updateById(wrkMast); } } } } } } } /** * 扫描碟盘机自动入库空托盘 */ public synchronized void autoEmptyIn() { for (DevpSlave slave : slaveProperties.getDevp()) { for (DevpSlave.Sta sta : slave.getAutoEmptyIn()) { // 获取空板入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, slave.getId()); StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 站点条件判断 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyInPalletRequire() && staProtocol.getWorkNo() == 0) { List staDescs = staDescService.selectList(new EntityWrapper().eq("type_no", 10).eq("stn_no", sta.getStaNo())); for (StaDesc staDesc:staDescs){ BasDevp basDevp = basDevpService.selectOne(new EntityWrapper().eq("dev_no", staDesc.getCrnStn())); if (basDevp.getAutoing().equals("Y") && basDevp.getLoading().equals("N") && basDevp.getWrkNo() == 0 && basDevp.getCanining().equals("Y")){ // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo((short) 9997); // staProtocol.setStaNo(basDevp.getDevNo().shortValue()); staProtocol.setStaNo((short) 1013); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败"); } return; } } // try { // LocTypeDto locTypeDto = new LocTypeDto(staProtocol); // // SearchLocParam param = new SearchLocParam(); // param.setIoType(10); // param.setSourceStaNo(sta.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().shortValue()); // staProtocol.setStaNo(dto.getStaNo().shortValue()); // devpThread.setPakMk(staProtocol.getSiteId(), false); // boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol)); // if (!result) { // throw new CoolException("更新plc站点信息失败"); // } // } else { // log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response); // } // } catch (Exception e) { // e.printStackTrace(); // TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); // } } } } } /** * 扫描拆盘机自动出库空托盘 */ public synchronized void autoEmptyOut() { for (DevpSlave slave : slaveProperties.getDevp()) { for (DevpSlave.Sta sta : slave.getAutoEmptyOut()) { DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, slave.getId()); StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo()); if (staProtocol == null) { return; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() //自动 && !staProtocol.isLoading() //无物 && staProtocol.isEmptyOutPalletRequire() //空托盘需求信号 // && staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0 ) { WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(sta.getStaNo()); if (null != pakoutEmpty) { return; } List staDescs = staDescService.selectList(new EntityWrapper().eq("stn_no", sta.getStaNo())); for (StaDesc staDesc: staDescs){ BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper().eq("crn_no", staDesc.getCrnNo())); if (!basCrnp.getCrnSts().equals(3) || basCrnp.getCrnErr() != 0){ continue; } try { HashMap map = new HashMap<>(); map.put("crnNo", staDesc.getCrnNo());//目标站 String response = new HttpHandler.Builder() .setUri(wmsUrl) .setParams(map) .setPath("/rpc/auto/emptyOut/v1") .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { JSONObject data = (JSONObject) jsonObject.get("data"); log.info((String) data.get("msg")); return; } else { log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } } }