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.*; import com.zy.asrs.service.*; import com.zy.asrs.utils.CodeDetectionUtil; import com.zy.asrs.utils.RouteUtils; 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.RedisUtil; import com.zy.common.utils.RgvUtils; 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.cpmmandParam.CrnCommandParam; import com.zy.core.model.protocol.CrnProtocol; import com.zy.core.model.protocol.JarProtocol; 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.*; 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.TimeUnit; 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 WaitPakinMapper waitPakinMapper; @Autowired private LocMastService locMastService; @Autowired private StaDescService staDescService; @Autowired private BasCrnpService basCrnpService; @Autowired private BasRgvService basRgvService; @Autowired private BasDevpService basDevpService; @Autowired private LocDetlService locDetlService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Autowired private BasRgvErrMapper basRgvErrMapper; @Autowired private BasRgvErrLogService basRgvErrLogService; @Autowired private BasRgvPathService basRgvPathService; @Autowired private RedisUtil redisUtil; @Autowired private WrkMastStaMapper wrkMastStaMapper; @Autowired private BasRgvMapMapper basRgvMapMapper; @Autowired private RgvOneSignMapper rgvOneSignMapper; @Autowired private WrkMastCrnMapper wrkMastCrnMapper; @Autowired private WrkMastSplitTwinMapper wrkMastSplitTwinMapper; @Autowired private WrkMastSplitTwinService wrkMastSplitTwinService; @Autowired private BasJarMastService basJarMastService; @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(); 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) || !CodeDetectionUtil.barcodeDetection(barcode)) { continue; } } else { continue; } // 获取入库站信息 // SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); 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(5, errMsg)); } continue; } // 入出库模式判断 // if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; } // if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == 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.isPakMk()) {// && !Cools.isEmpty(barcode)) { // 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172站点 // staProtocol.setWorkNo((short)32222); // staProtocol.setStaNo((short)172); // 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 = 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); if (jsonObject.getInteger("code").equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); barcodeThread.setBarcode(""); staProtocol.setWorkNo(dto.getWorkNo()); if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) { staProtocol.setStaNo(dto.getStaNo()); } else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站 staProtocol.setStaNo(dto.getRgvSstaNo()); } 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(); } } } } } /** * 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 generateStoreWrkFileSingle() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSingleSta()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode()); if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); if (!Cools.isEmpty(barcode)) { // log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode); if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) { continue; } } else { continue; } // 获取入库站信息 // SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); 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(5, errMsg)); } continue; } // 入出库模式判断 // if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; } // if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == 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.isPakMk()) {// && !Cools.isEmpty(barcode)) { if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || !CodeDetectionUtil.barcodeDetection(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172站点 // staProtocol.setWorkNo((short)32222); // staProtocol.setStaNo((short)172); // 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 = 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/pair/station/single/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 ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); barcodeThread.setBarcode(""); staProtocol.setWorkNo(dto.getWorkNo()); if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) { staProtocol.setStaNo(dto.getStaNo()); } else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站 staProtocol.setStaNo(dto.getRgvSstaNo()); } 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/pair/station/single/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * 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 generateStoreWrkFileLarge() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInLargeSta()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode()); if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); if (!Cools.isEmpty(barcode)) { // log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode); if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) { continue; } } else { continue; } // 获取入库站信息 // SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); 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(5, errMsg)); } continue; } // 入出库模式判断 // if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; } // if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == 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.isPakMk()) {// && !Cools.isEmpty(barcode)) { if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || !CodeDetectionUtil.barcodeDetection(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172站点 // staProtocol.setWorkNo((short)32222); // staProtocol.setStaNo((short)172); // 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 = 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); if (jsonObject.getInteger("code").equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); barcodeThread.setBarcode(""); staProtocol.setWorkNo(dto.getWorkNo()); if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) { staProtocol.setStaNo(dto.getStaNo()); } else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站 staProtocol.setStaNo(dto.getRgvSstaNo()); } 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); LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); if (ledThread != null) { MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, "入库失败！")); } } } 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.getInWmsSta()) { // 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.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0 && 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()); Integer staNo = wrkMast.getStaNo(); if (wrkMast.getSourceStaNo()==145){ staNo = 147; } staProtocol.setStaNo(staNo); 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; // } // } 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()) { // WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode); WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"7"); if (wrkMast == null) { // 无拣料数据 continue; } if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107) || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) { continue; } // 获取库位号 try { SearchLocParam param = new SearchLocParam(); param.setBarcode(wrkMast.getBarcode()); param.setIoType(wrkMast.getIoType()); param.setSourceStaNo(pickSta.getStaNo()); //作业站点 param.setLocType1((short)1); 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(wrkMast.getWrkNo()); staProtocol.setStaNo(dto.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); // ledThread.errorReset(); 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/拣料再入库任务下发成功===>>" + staProtocol); } catch (Exception e) { log.error("盘点再入库失败===>>" + e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } else { 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(); } } } } } /** * 拣料、并板、盘点再入库 拆垛位置 */ public synchronized void stnToCrnStnPick2() { for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历拣料入库口 for (DevpSlave.Sta pickSta : devp.getPickSta2()) { // 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(); } BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId()); if (Cools.isEmpty(basDevp) || basDevp.getReportSign()!=1){ continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) { WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3"); if (wrkMast == null) { continue; } if (staProtocol.isEmptyMk()){ log.error("站点号"+staProtocol.getSiteId()+"空板信号异常！"); continue; } if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107) || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) { continue; } String barcode = wrkMast.getBarcode(); if(!Cools.isEmpty(barcode)) { if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) { continue; } } else { continue; } // 获取库位号 try { SearchLocParam param = new SearchLocParam(); param.setBarcode(barcode); param.setIoType(wrkMast.getIoType()); param.setSourceStaNo(pickSta.getStaNo()); //作业站点 param.setLocType1((short)1); 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(wrkMast.getWrkNo()); staProtocol.setStaNo(dto.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); // ledThread.errorReset(); 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/拣料再入库任务下发成功===>>" + staProtocol); } catch (Exception e) { log.error("盘点再入库失败===>>" + e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } else { 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(); } // // 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 // 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()); // 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()); // } } } } } /** * 拣料、并板、盘点再入库 拆垛位置 */ public synchronized void storeEmptyPlt4() { for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历叠盘入库口 for (DevpSlave.Sta pickSta : devp.getEmptyInSta2()) { // 获取入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId()); if (Cools.isEmpty(basDevp) || basDevp.getReportSign()!=1){ continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) { WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3"); if (wrkMast == null) { WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3"); if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L); if (Cools.isEmpty(wrkMastSta)){ WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId()); wrkMastSta1.setType(2); wrkMastSta1.setWrkType(1); wrkMastStaMapper.insert(wrkMastSta1); } } } } } } } /** * 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()) { switch (crnSlave.getId()){ case 1: case 2: crnStnToOutStnOne(crnStn); continue; case 3: case 4: case 5: crnStnToOutStnTwo(crnStn,1); continue; case 6: case 7: crnStnToOutStnThree(crnStn); continue; default: break; } } } } /** * 堆垛机站出库到出库站 */ public synchronized boolean crnStnToOutStnOne(CrnSlave.CrnStn crnStn ) { try{ // 获取堆垛机出库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { return false; } 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) { return false; } // 判断工作档条件 if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) { return false; } // 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 return false; } WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(crnProtocol.getTaskNo().intValue()); if (!Cools.isEmpty(wrkMastCrn) && wrkMastCrn.getWrkSts().equals(12L)){ wrkMast = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNo().intValue()); } else { return false; } // 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 -------------------------------------------------------------------------- StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther()); if (staProtocolOther == null) { return false; } else { staProtocolOther = staProtocolOther.clone(); } if (staProtocolOther.isAutoing() && staProtocolOther.isLoading() && (staProtocolOther.getWorkNo() == 0 || staProtocolOther.getStaNo() == null)) { // WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(wrkMast.getWrkNo()); WrkMast wrkMastOne = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoOne().intValue()); WrkMast wrkMastTwo = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue()); WrkMast wrkMast1 = null; WrkMast wrkMast2 = null; if (Utils.getRow(wrkMastOne.getSourceLocNo()) == wrkMast.getCrnNo()*4){ wrkMast1 = wrkMastTwo; wrkMast2 = wrkMastOne; }else { wrkMast2 = wrkMastTwo; wrkMast1 = wrkMastOne; } // 下发站点信息 staProtocolOther.setWorkNo(Cools.isEmpty(wrkMast1.getWorkNoOther())? wrkMast1.getWrkNo():wrkMast1.getWorkNoOther()); staProtocolOther.setStaNo(wrkMast1.getStaNo()); if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocolOther))) { return false; } // 下发站点信息 staProtocol.setWorkNo(Cools.isEmpty(wrkMast2.getWorkNoOther())? wrkMast2.getWrkNo():wrkMast2.getWorkNoOther()); // staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo())); staProtocol.setStaNo(wrkMast2.getStaNo()); if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) { return false; } boolean sign = true; // 更新工作档状态为14失败 wrkMastCrn.setWrkSts(14L); if (wrkMastCrnMapper.updateById(wrkMastCrn) != 0) { } else { sign = false; log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } // 更新工作档状态为14失败 wrkMastOne.setWrkSts(14L); wrkMastOne.setCrnEndTime(new Date()); if (wrkMastMapper.updateById(wrkMastOne) != 0) { } else { sign = false; log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } // 更新工作档状态为14失败 wrkMastTwo.setWrkSts(14L); wrkMastTwo.setCrnEndTime(new Date()); if (wrkMastMapper.updateById(wrkMastTwo) != 0) { } else { sign = false; log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } if (sign){ // 复位堆垛机 crnThread.setResetFlag(true); return true; } } } } }catch (Exception e){ log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo()); } return false; } public synchronized boolean crnStnToOutStnTwo(CrnSlave.CrnStn crnStn ,Integer conStation) { try{ Date now = new Date(); // 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) { return false; } 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) { return false; } // 判断工作档条件 if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) { return false; } // 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 (conStation==1){ if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) { // 移动中 return false; } // 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 && crnProtocol.getLoaded()==0) { List wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), conStation, null, 2, 3); if (wrkMastSplitTwinList.size()!=1){ log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",conStation,2,3); } for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){ if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){ log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",wrkMast.getCrnNo(),"工作任务与执行任务不匹配",conStation,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo()); return false; } // 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))) { return false; } // 更新工作档状态为14失败 wrkMast.setWrkSts(14L); wrkMast.setCrnEndTime(now); if (wrkMastMapper.updateById(wrkMast) != 0) { wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1); wrkMastSplitTwin.setUpdateTime(now); // 修改成功后复位堆垛机 if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) { // 堆垛机复位 crnThread.setResetFlag(true); return true; }else { log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"修改执行档案失败",conStation,2,3); } } else { log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } } } }else if (conStation==2){ if (crnProtocol.statusTypeTwo == CrnStatusType.FETCHING || crnProtocol.statusTypeTwo == CrnStatusType.PUTTING) { // 移动中 return false; } // 判断堆垛机状态等待确认 if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNoTwo().equals(wrkMast.getWrkNo().shortValue()) && crnProtocol.statusTypeTwo == CrnStatusType.WAITING && crnProtocol.forkPosTypeTwo == CrnForkPosType.HOME && crnProtocol.getLoadedTwo()==0) { List wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), conStation, null, 2, 3); if (wrkMastSplitTwinList.size()!=1){ log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",conStation,2,3); } for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){ if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){ log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",wrkMast.getCrnNo(),"工作任务与执行任务不匹配",conStation,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo()); return false; } // 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))) { return false; } // 更新工作档状态为14失败 wrkMast.setWrkSts(14L); wrkMast.setCrnEndTime(now); if (wrkMastMapper.updateById(wrkMast) != 0) { wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1); wrkMastSplitTwin.setUpdateTime(now); // 修改成功后复位堆垛机 if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) { // 堆垛机复位 crnThread.setResetFlagTwo(true); return true; }else { log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"修改执行档案失败",conStation,2,3); } } else { log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } } } } } }catch (Exception e){ log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo()); } return false; } public synchronized boolean crnStnToOutStnThree(CrnSlave.CrnStn crnStn ) { try{ // 获取堆垛机出库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { return false; } 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) { return false; } // 判断工作档条件 if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) { return false; } // 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 return false; } // 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()); staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo())); if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) { return false; } // 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 crnThread.setResetFlag(true); return true; } else { log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } } } }catch (Exception e){ log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo()); } return false; } /** * 堆垛机站出库到出库站 */ public synchronized void crnStnToOutStnTwo() { for (CrnSlave crnSlave : slaveProperties.getCrn()) { // 遍历堆垛机出库站 for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) { switch (crnSlave.getId()){ case 3: case 4: case 5: crnStnToOutStnTwo(crnStn,2); continue; default: break; } } } } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecute() { try{ for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } BasCrnp basCrnp = basCrnpService.selectById(crn.getId()); if (basCrnp == null) { log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId()); continue; } // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) { // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { switch (crn.getId()){ case 1: case 2: this.crnStnToLoc1Single(crn, crnProtocol); // 入库 break; case 3: case 4: case 5: continue; default: this.crnStnToLoc1(crn, crnProtocol,1); // 入库 } crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { switch (crn.getId()){ case 1: case 2: this.locToCrnStn1Single(crn, crnProtocol); // 出库 break; case 3: case 4: case 5: continue; default: this.locToCrnStn1(crn, crnProtocol,1); // 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")) { switch (crn.getId()){ case 1: case 2: this.locToCrnStn1Single(crn, crnProtocol); // 出库 break; case 3: case 4: case 5: continue; default: this.locToCrnStn1(crn, crnProtocol,1); // 出库 } crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { switch (crn.getId()){ case 1: case 2: this.crnStnToLoc1Single(crn, crnProtocol); // 入库 break; case 3: case 4: case 5: continue; default: this.crnStnToLoc1(crn, crnProtocol,1); // 入库 } crnProtocol.setLastIo("O"); } } } // 库位移转 this.locToLoc(crn, crnProtocol); // this.crnRebackHp(crnProtocol, crnThread); } }catch (Exception e){ log.error("堆垛机出入库下发报错"+e); } } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecuteTwo() { try{ 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; } int[] sign = new int[]{0,0}; // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getModeType() == CrnModeType.AUTO) { // 只有当堆垛机工位空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) { /* * 任务拆分特殊处理 * */ if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE && crnProtocol.getTaskNoTwo() == 0 && crnProtocol.getLoadedTwo() == 0 && crnProtocol.getForkPosTwo() == 0){ sign[0] = 1; sign[1] = 1; } } } if (sign[0]==1){ // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { switch (crn.getId()){ case 3: case 4: case 5: this.crnStnToLoc1Big(crn, crnProtocol, sign[1]); // 入库 break; default: continue; } crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { switch (crn.getId()){ case 3: case 4: case 5: this.locToCrnStn1Big(crn, crnProtocol, sign[1]); // 出库 break; default: continue; } 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")) { switch (crn.getId()){ case 3: case 4: case 5: this.locToCrnStn1Big(crn, crnProtocol, sign[1]); // 出库 break; default: continue; } crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { switch (crn.getId()){ case 3: case 4: case 5: this.crnStnToLoc1Big(crn, crnProtocol, sign[1]); // 入库 break; default: continue; } crnProtocol.setLastIo("O"); } } } // 库位移转 this.locToLoc(crn, crnProtocol); // this.crnRebackHp(crnProtocol, crnThread); } }catch (Exception e){ log.error("堆垛机出入库下发报错"+e); } } /** * 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.selectByLocNo1(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 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()); } } } } /** * 入库 ===>> 堆垛机站到库位 * 2024-06-05 */ public synchronized void crnStnToLoc1Big(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) { List wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId()); Integer crnStation1 = crnStation;//记录 for(WrkMast wrkMast : wrkMasts){ if (wrkMast == null) { continue; } crnStation=crnStation1;//刷新 CrnSlave.CrnStn crnStn = null; for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){ if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){ crnStn = crnStn1; break; } } if(Cools.isEmpty(crnStn)){ continue; } 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().equals(wrkMast.getWrkNo()) && staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) { flag = true; } if (!flag) { continue; } // 获取库位信息 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); if (locMast == null) { 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; } //工位 if (crnStation == 1){ // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { break; } // 堆垛机控制过滤 if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) { break; } }else if(crnStation == 2){ // 堆垛机控制过滤 if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) { break; } }else { break; } if (locMast.getBay1()==81){ crnStation=2; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } // 已经存在吊车执行任务时，则过滤 if (wrkMastSplitTwinMapper.selectCount(new EntityWrapper().eq("wrk_no", wrkMast.getWrkNo().longValue())) != 0) { break; // return; } // 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.selectByLocNo1(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.SEPARATE_TAKE); // 任务模式: 单取货 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((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, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, 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 2.设备上走 => 3.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(3L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now); wrkMastSplitTwin.setWrkSts(1); wrkMastSplitTwin.setWrkStart(wrkMast.getStaNo().toString()); wrkMastSplitTwin.setWrkEnd(wrkMast.getLocNo()); wrkMastSplitTwin.setStartRow(crnStn.getRow()); wrkMastSplitTwin.setStartBay(crnStn.getBay()); wrkMastSplitTwin.setStartLev(crnStn.getLev()); wrkMastSplitTwin.setEndRow(locMast.getRow1()); wrkMastSplitTwin.setEndBay(locMast.getBay1()); wrkMastSplitTwin.setEndLev(locMast.getLev1()); wrkMastSplitTwin.setWrkType(1); wrkMastSplitTwin.setIoType(1); 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()); } if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){ log.error("创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo()); } break; } } } /** * 入库 ===>> 堆垛机站到库位 * 2024-01-15 煜星小料箱 */ public synchronized void crnStnToLoc1Single(CrnSlave slave, CrnProtocol crnProtocol) { List wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId()); for(WrkMast wrkMast : wrkMasts){ if (wrkMast == null) { continue; } CrnSlave.CrnStn crnStn = null; for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){ if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){ crnStn = crnStn1; break; } } if(Cools.isEmpty(crnStn)){ continue; } boolean flag = false; boolean flagOther = 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(); } StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther()); if (staProtocolOther == null) { continue; } else { staProtocolOther = staProtocolOther.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().equals(wrkMast.getWrkNo()) && staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) { flag = true; } if (staProtocol.getWorkNo().equals(staProtocolOther.getWorkNo())){ continue; } // 查询站点详细信息 BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther()); if (staDetlOther == null) { log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther()); continue; } if (staProtocolOther.isAutoing() && staProtocolOther.isLoading() && staProtocolOther.getWorkNo() > 0 && staProtocolOther.isInEnable() && staDetlOther.getCanining() != null && staDetlOther.getCanining().equals("Y")) { flagOther = true; } if (!flag || !flagOther) { continue; } //查询堆垛机任务 WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(wrkMast.getWrkNo()); if (Cools.isEmpty(wrkMastCrn)){ continue; } WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue()); // 获取库位信息 LocMast locMast = locMastService.selectById(Utils.getRow(wrkMastCrn.getLocNo())%4>2? wrkMastCrn.getLocNoTwo():wrkMastCrn.getLocNoOne()); if (locMast == null) { log.error("查询库存无数据--库位号{}", wrkMastCrn.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={}", locMast.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; } // 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 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 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()); } // 修改工作档状态 2.设备上走 => 3.吊车入库中 wrkMastOther.setWrkSts(3L); wrkMastOther.setCrnStrTime(now); wrkMastOther.setModiTime(now); if (wrkMastMapper.updateById(wrkMastOther) == 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={}", wrkMastOther.getWrkNo()); } wrkMastCrn.setWrkSts(3L); wrkMastCrn.setModiTime(now); if (wrkMastCrnMapper.updateById(wrkMastCrn) == 0) { log.error("修改堆垛机工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMastCrn.getWrkNo()); } } } } /** * 入库 ===>> 堆垛机站到库位 * 2024-01-15 优化双工位 */ public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) { List wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId()); for(WrkMast wrkMast : wrkMasts){ if (wrkMast == null) { continue; } CrnSlave.CrnStn crnStn = null; for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){ if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){ crnStn = crnStn1; break; } } if(Cools.isEmpty(crnStn)){ continue; } 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().equals(wrkMast.getWrkNo()) && staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) { flag = true; } if (!flag) { continue; } // 获取库位信息 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); if (locMast == null) { 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; } //工位 if (crnStation == 1){ // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { break; } }else if(crnStation == 2){ // 堆垛机控制过滤 if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) { break; } }else { break; } // 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.selectByLocNo1(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 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, 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 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()); 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 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.getSourceLocNo(), 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) { 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) { 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()); 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.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")) { // 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) { 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(sourceSta.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { 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 * 2024-01-15 优化双工位 */ public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) { List wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId()); for (WrkMast wrkMast : wrkMasts) { if (wrkMast == null) { continue; } CrnSlave.CrnStn crnStn = null; for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){ if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){ crnStn = crnStn1; break; } } if(Cools.isEmpty(crnStn)){ 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; } //退库模式跳过118、119出库任务 if (wrkMast.getStaNo()==118 || wrkMast.getStaNo()==119){ RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(); if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){ 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.getSourceLocNo(), 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) { 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) { 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()); 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 -------------------------------------------------------------------------- //工位 if (crnStation == 1){ // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // continue; break; } }else if(crnStation == 2){ // 堆垛机控制过滤 if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) { // continue; break; } }else { 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.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")) { // 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) { 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(sourceSta.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, 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 * 2024-01-15 煜星小料箱 */ public synchronized void locToCrnStn1Single(CrnSlave slave, CrnProtocol crnProtocol) { List wrkMastCrnList = wrkMastCrnMapper.selectList(new EntityWrapper() .eq("crn_no", crnProtocol.getCrnNo()).eq("wrk_sts", 11L)); for (WrkMastCrn wrkMastCrn : wrkMastCrnList) { if (wrkMastCrn == null) { continue; } CrnSlave.CrnStn crnStn = null; for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){ if(crnStn1.getStaNo().equals(wrkMastCrn.getSourceStaNo())){ crnStn = crnStn1; break; } } if(Cools.isEmpty(crnStn)){ continue; } // 工作档状态判断 if (wrkMastCrn.getIoType() < 100 || wrkMastCrn.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={}", wrkMastCrn.getWrkNo(), wrkMastCrn.getSourceLocNo(), wrkMastCrn.getIoType()); continue; } // 获取源库位信息 LocMast sourceSta = locMastService.selectById(wrkMastCrn.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={}", wrkMastCrn.getSourceLocNo(), 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) { break; // continue; } else { staProtocol = staProtocol.clone(); } StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther()); if (staProtocolOther == null) { continue; } else { staProtocolOther = staProtocolOther.clone(); } // // 入出库模式判断 // if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; } // if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != 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()); break; // continue; } // 查询站点详细信息 BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther()); if (staDetlOther == null) { log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther()); 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 (staProtocolOther.isAutoing() && !staProtocolOther.isLoading() && staDetlOther.getCanouting() != null && staDetlOther.getCanouting().equals("Y") && staProtocolOther.getWorkNo() == 0 && staProtocolOther.isOutEnable()){ // 命令下发区 -------------------------------------------------------------------------- // 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; } // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMastCrn.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 if (!MessageQueue.offer(SlaveType.Crn, wrkMastCrn.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastCrn.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(); wrkMastCrn.setWrkSts(12L); wrkMastCrn.setModiTime(now); if (wrkMastCrnMapper.updateById(wrkMastCrn) == 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={}", wrkMastCrn.getWrkNo()); } WrkMast wrkMastOne = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoOne().intValue()); wrkMastOne.setWrkSts(12L); wrkMastOne.setCrnStrTime(now); wrkMastOne.setModiTime(now); if (wrkMastMapper.updateById(wrkMastOne) == 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={}", wrkMastOne.getWrkNo()); } WrkMast wrkMastTwo = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue()); wrkMastTwo.setWrkSts(12L); wrkMastTwo.setCrnStrTime(now); wrkMastTwo.setModiTime(now); if (wrkMastMapper.updateById(wrkMastTwo) == 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={}", wrkMastTwo.getWrkNo()); } break; } } } } } /** * 出库 ===>> 库位到堆垛机站 * 2024-06-05 煜星大料箱 */ public synchronized void locToCrnStn1Big(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) { List wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId()); Integer crnStation1 = crnStation; for (WrkMast wrkMast : wrkMasts) { if (wrkMast == null) { continue; } crnStation = crnStation1; CrnSlave.CrnStn crnStn = null; for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){ if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){ crnStn = crnStn1; break; } } if(Cools.isEmpty(crnStn)){ 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; } //退库模式跳过118、119出库任务 if (wrkMast.getStaNo()==118 || wrkMast.getStaNo()==119){ RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(); if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){ 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.getSourceLocNo(), 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) { 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) { 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()); 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 -------------------------------------------------------------------------- //工位 if (crnStation == 1){ // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // continue; break; } // 堆垛机控制过滤 if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) { // continue; break; } }else if(crnStation == 2){ // 堆垛机控制过滤 if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) { // continue; break; } }else { break; } if (sourceSta.getBay1().shortValue()==81){ crnStation = 2; } // 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")) { // 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) { continue; } } } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { break; // return; } // 已经存在吊车执行任务时，则过滤 if (wrkMastSplitTwinMapper.selectCount(new EntityWrapper().eq("wrk_no", wrkMast.getWrkNo().longValue())) != 0) { break; // return; } if (true){ // 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.SEPARATE_TAKE); // 任务模式: 单取货 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((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, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, 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); WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now); wrkMastSplitTwin.setWrkSts(1); wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo()); wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString()); wrkMastSplitTwin.setStartRow(sourceSta.getRow1()); wrkMastSplitTwin.setStartBay(sourceSta.getBay1()); wrkMastSplitTwin.setStartLev(sourceSta.getLev1()); wrkMastSplitTwin.setEndRow(crnStn.getRow()); wrkMastSplitTwin.setEndBay(crnStn.getBay()); wrkMastSplitTwin.setEndLev(crnStn.getLev()); wrkMastSplitTwin.setWrkType(1); wrkMastSplitTwin.setIoType(2); 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()); } if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){ log.error("创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo()); } break; } } // else { // // 1.堆垛机开始移动 // CrnCommandParam crnCommandParam = new CrnCommandParam(); // 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.SEPARATE_TAKE); // 任务模式: 单取货 // 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((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, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, 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); // WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now); // wrkMastSplitTwin.setWrkSts(1); // wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo()); // wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString()); // wrkMastSplitTwin.setStartRow(sourceSta.getRow1()); // wrkMastSplitTwin.setStartBay(sourceSta.getBay1()); // wrkMastSplitTwin.setStartLev(sourceSta.getLev1()); // wrkMastSplitTwin.setEndRow(crnStn.getRow()); // wrkMastSplitTwin.setEndBay(crnStn.getBay()); // wrkMastSplitTwin.setEndLev(crnStn.getLev()); // wrkMastSplitTwin.setWrkType(1); // wrkMastSplitTwin.setIoType(2); // 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()); // } // // if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){ // log.error("创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo()); // } // break; // } // } } } } /** * 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 sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); if (null == sourceSta) { 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 (!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) { 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(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 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()) { switch (crn.getId()){ case 1: case 2: storeFinishedExecuteOne(crn); continue; case 3: case 4: case 5: storeFinishedExecuteTwo(crn); continue; case 6: case 7: storeFinishedExecuteThree(crn); continue; default: continue; } } } public synchronized boolean storeFinishedExecuteOne(CrnSlave crn) { try{ // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { return false; } if (crnProtocol.modeType != CrnModeType.AUTO){ return false; } // 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() == 32222) { // 堆垛机复位 crnThread.setResetFlag(true); } else { // 获取入库待确认工作档 WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(crnProtocol.getTaskNo().intValue()); if (wrkMastCrn == 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()); return false; } // 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()); return false; } // 获取入库待确认工作档 WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue()); if (wrkMastOther == 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()); return false; } // 入库 + 库位转移 ==> 4.入库完成 if (wrkMastCrn.getWrkSts() == 3 || (wrkMastCrn.getWrkSts() == 12 && wrkMastCrn.getIoType() == 11)) { wrkMastCrn.setWrkSts(4L); } else { return false; } Date now = new Date(); wrkMastCrn.setModiTime(now); wrkMast.setCrnEndTime(now); wrkMast.setWrkSts(4L); wrkMast.setModiTime(now); wrkMastOther.setCrnEndTime(now); wrkMastOther.setWrkSts(4L); wrkMastOther.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastCrnMapper.updateById(wrkMastCrn) > 0 && wrkMastMapper.updateById(wrkMast) > 0 && wrkMastMapper.updateById(wrkMastOther) > 0 ) { // 堆垛机复位 crnThread.setResetFlag(true); return true; } } } }catch (Exception e){ log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1); } return false; } public synchronized boolean storeFinishedExecuteTwo(CrnSlave crn) { try{ // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { return false; } if (crnProtocol.modeType != CrnModeType.AUTO){ return false; } // 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() == 32222) { // 堆垛机复位 crnThread.setResetFlag(true); return 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()); return false; } // 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 { return false; } Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 堆垛机复位 List wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 2, 3); if (wrkMastSplitTwinList.size()!=1){ log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",1,2,3); } for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){ if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){ log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",crn.getId(),"工作任务与执行任务不匹配",1,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo()); return false; } wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1); wrkMastSplitTwin.setUpdateTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 修改成功后复位堆垛机 if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) { // 堆垛机复位 crnThread.setResetFlag(true); return true; }else { log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",1,2,3); } }else { log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改工作档案失败！",1,2,3); } } return false; } }else if (crnProtocol.statusType == CrnStatusType.SEPARATE_WAITING && crnProtocol.getTaskNo() != 0 && crnProtocol.getLoaded()==1){ if (crnProtocol.getTaskNo() == 32222) { // 堆垛机复位 crnThread.setResetFlag(true); return true; } else { List wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 1, 1); if (wrkMastSplitTwinList.size()!=1){ log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",1,1,1); } for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){ Date now = new Date(); wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1); wrkMastSplitTwin.setUpdateTime(now); // 修改成功后复位堆垛机 if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) { // 堆垛机复位 crnThread.setResetFlag(true); return true; }else { log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",1,2,3); } } } } }catch (Exception e){ log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1); } return false; } public synchronized boolean storeFinishedExecuteThree(CrnSlave crn) { try{ // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { return false; } if (crnProtocol.modeType != CrnModeType.AUTO){ return false; } // 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() == 32222) { // 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()); return false; } // 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 { return false; } 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); return true; } } } }catch (Exception e){ log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1); } return false; } /** * 执行对工作档的完成操作 */ public synchronized void storeFinishedTwo() { for (CrnSlave crn : slaveProperties.getCrn()) { switch (crn.getId()){ case 3: case 4: case 5: storeFinishedTwoExecute(crn); continue; default: continue; } } } public synchronized boolean storeFinishedTwoExecute(CrnSlave crn) { try{ // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { return false; } if (crnProtocol.modeType != CrnModeType.AUTO){ return false; } // 状态：等待确认 并且 任务完成位 = 1 if (crnProtocol.statusTypeTwo == CrnStatusType.WAITING && crnProtocol.getTaskNoTwo() != 0) { if (crnProtocol.getTaskNoTwo() == 32222) { // 堆垛机复位 crnThread.setResetFlagTwo(true); } else { // 获取入库待确认工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNoTwo().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.getTaskNoTwo()); return false; } // 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 { return false; } Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 堆垛机复位 List wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 2, 3); if (wrkMastSplitTwinList.size()!=1){ log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",2,2,3); } for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){ if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){ log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",crn.getId(),"工作任务与执行任务不匹配",1,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo()); return false; } wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1); wrkMastSplitTwin.setUpdateTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 修改成功后复位堆垛机 if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) { // 堆垛机复位 crnThread.setResetFlagTwo(true); return true; }else { log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",2,2,3); } }else { log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改工作档案失败！",2,2,3); } } return false; } }else if (crnProtocol.statusTypeTwo == CrnStatusType.SEPARATE_WAITING && crnProtocol.getTaskNoTwo() != 0 && crnProtocol.getLoadedTwo()==1){ if (crnProtocol.getTaskNoTwo() == 32222) { // 堆垛机复位 crnThread.setResetFlagTwo(true); } else { List wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 1, 1); if (wrkMastSplitTwinList.size()!=1){ log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",2,1,1); } for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){ Date now = new Date(); wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1); wrkMastSplitTwin.setUpdateTime(now); // 修改成功后复位堆垛机 if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) { // 堆垛机复位 crnThread.setResetFlagTwo(true); return true; }else { log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",2,2,3); } } } } }catch (Exception e){ log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2); } return false; } /** * 异常信息记录 */ public synchronized void recErr() { try { this.recCrnErr(); this.recRgvErr(); } catch (Exception e) { log.error("recErr fail", e); } } /** * RGV异常信息记录 */ public synchronized void recRgvErr() { Date now = new Date(); for (RgvSlave rgv : slaveProperties.getRgv()) { // 获取RGV信息 RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } if (true) { // 有任务 if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getTaskNo2() != 0) { Integer taskNo = rgvProtocol.getTaskNo1() > 0 ? rgvProtocol.getTaskNo1().intValue() : rgvProtocol.getTaskNo2().intValue(); BasRgvErrLog latest = basRgvErrLogService.findLatestByTaskNo(rgv.getId(), taskNo); // 有异常 if (latest == null) { if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) { WrkMast wrkMast = wrkMastMapper.selectById(taskNo); if (wrkMast == null) { continue; } BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm()); String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName(); BasRgvErrLog basRgvErrLog = new BasRgvErrLog( 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 rgv.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) rgvProtocol.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 (!basRgvErrLogService.insert(basRgvErrLog)) { log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.getId(), errName); } } } else { // 异常修复 if (rgvProtocol.getAlarm() == null || rgvProtocol.getAlarm() == 0) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basRgvErrLogService.updateById(latest)) { log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId()); } } } // 无任务 } else { BasRgvErrLog latest = basRgvErrLogService.findLatest(rgv.getId()); // 有异常 if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) { // 记录新异常 if (latest == null || (latest.getErrCode() != rgvProtocol.getAlarm().intValue())) { BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm()); String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName(); BasRgvErrLog basRgvErrLog = new BasRgvErrLog( 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 rgv.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) rgvProtocol.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 (!basRgvErrLogService.insert(basRgvErrLog)) { log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.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 (!basRgvErrLogService.updateById(latest)) { log.error("RGV异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId()); } } } } } } } /** * 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()) { if (devp.getId()==1) continue; // 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(); } // 站点条件判断 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) { 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(dto.getStaNo()); 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(); } } } } } /** * 空栈板初始化入库,叉车入库站放货 */ public synchronized void storeEmptyPltSingle() { for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历空板入库口 for (DevpSlave.Sta emptyInSta : devp.getEmptyInSingleSta()) { // 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(); } // 站点条件判断 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) { 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/pair/station/single/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(dto.getStaNo()); 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/pair/station/single/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * 空栈板初始化入库,叉车入库站放货 */ public synchronized void storeEmptyPltLarge() { for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历空板入库口 for (DevpSlave.Sta emptyInSta : devp.getEmptyInLargeSta()) { // 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(); } // 站点条件判断 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) { 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(dto.getStaNo()); 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(); } } } } } /** * 入库 ===>> 空栈板初始化入库,1楼叠盘机叠盘 */ public synchronized void storeEmptyPlt2() { for (DevpSlave devp : slaveProperties.getDevp()) { if (devp.getId()==2) continue; // 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(); } // 站点条件判断 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) { try { WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L); if (Cools.isEmpty(wrkMastSta)){ WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId()); wrkMastSta1.setType(2); wrkMastSta1.setWrkType(1);//工作类型 1:取（叠盘） 2：拆盘 3：取放 5：满取 6：满放 wrkMastStaMapper.insert(wrkMastSta1); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * 空栈板初始化入库,叉车入库站放货 */ public synchronized void storeEmptyPlt3() { try{ RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(); if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){ return; } for (RgvSlave rgvSlave:slaveProperties.getRgv()) { RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId()); RgvProtocol rgvProtocol = rgvThread.getRgvProtocol(); if (rgvProtocol == null) { continue; } BasRgv basRgv = basRgvService.selectById(rgvSlave.getId()); if (basRgv == null) { log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId()); continue; } // 只有当RGV空闲、自动,工位二有物//rgv可用 if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0 // && (rgvProtocol.getLoaded2()==2 || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物 ；2一层有物二层无物 （只能满放）；3 1、2层都有物 4：（）只允许拆盘 && rgvProtocol.getLoaded2()==3 ////0 无物；1 一层无物二层有物 ；2一层有物二层无物 （只能满放）；3 1、2层都有物 4：（）只允许拆盘 ) { try { WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122); if (!Cools.isEmpty(wrkMast1)){ continue; } // 获取空板入库站信息 SearchLocParam param = new SearchLocParam(); param.setIoType(10); param.setSourceStaNo(122); param.setLocType1((short)1); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin/empty/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 WrkMast wrkMast = wrkMastMapper.selectPakInStep3(dto.getWorkNo()); if (!Cools.isEmpty(wrkMast) && wrkMast.getIoType()==10 && wrkMast.getWrkSts()==2){ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue()); if (Cools.isEmpty(wrkMastSta)){ WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),wrkMast.getStaNo()); wrkMastSta1.setWrkNo(wrkMast.getWrkNo().longValue()); wrkMastSta1.setType(2); wrkMastSta1.setWrkType(6);//工作类型 1:取（叠盘） 2：拆盘 3：取放 5：满取 6：满放 wrkMastStaMapper.insert(wrkMastSta1); } } } else { log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/empty/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } }catch (Exception e){ log.error("3933行执行小车放空板任务下发失败"); log.error("3933行"+e); } } /** * 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; } if (null == wrkMast) { 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: case 202: ledCommand.setTitle("全板入库"); break; case 10: ledCommand.setTitle("空板入库"); 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; case 212: ledCommand.setTitle("空板出库"); ledCommand.setEmptyMk(true); break; default: log.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.setLocNo(wrkMast.getLocNo()); ledCommand.setStaNo(wrkMast.getStaNo()); // ledCommand.setSourceStaNo(wrkMast.getSourceStaNo()); if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) { List wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo()); wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl))); } 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 (led.getId() == 7) { if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) { log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); continue; } else { ledThread.setLedMk(false); } // } // else { // if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) { // log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); // continue; // } else { // ledThread.setLedMk(false); // } // } } 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.isLoading()) { 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 && !ledThread.isLedMk()) { if (led.getId() == 7) { ledThread.setLedMk(true); if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) { log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); } else { } } else { ledThread.setLedMk(true); if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) { log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); } else { } } } } } /** * 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()); LocMast loc = locMastService.queryDemoLoc(crn.getId()); if (null == sourceLoc || 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(); } } /** * 入出库 ===>> 小车作业下发 */ public synchronized boolean steIoExecute(Integer sign) { return false; } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecuteTwoExecute(Integer i) { for (CrnSlave crn : slaveProperties.getCrn()) { try{ switch (crn.getId()){ case 3: case 4: case 5: crnWrkMastSplitTwinExecute(crn,i); continue; default: continue; } }catch (Exception e){ log.error("堆垛机出入库执行任务下发报错,堆垛机号={},异常信息={}",crn.getId(),e.getMessage()); } } } public synchronized boolean crnWrkMastSplitTwinExecute(CrnSlave crn,Integer i){ try{ // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { return false; } 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()); return false; } int[] sign = new int[]{0,0}; // 只有当堆垛机自动时才继续执行 if (crnProtocol.getModeType() == CrnModeType.AUTO) { // 只有当堆垛机工位1取货或者有物 并且 工位2无任务时才继续执行 switch (i){ case 1: if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) { sign[0] = 1; sign[1] = 1; } break; case 2: if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getLoaded() == 1 && crnProtocol.getForkPos() == 0) { sign[0] = 2; sign[1] = 1; } break; case 3: if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE && crnProtocol.getTaskNoTwo() == 0 && crnProtocol.getLoadedTwo() == 0 && crnProtocol.getForkPosTwo() == 0){ sign[0] = 1; sign[1] = 2; } break; case 4: if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE && crnProtocol.getTaskNoTwo() == 0 && crnProtocol.getLoadedTwo() == 1 && crnProtocol.getForkPosTwo() == 0){ sign[0] = 2; sign[1] = 2; } break; default: } } if (sign[0]!=0){ List wrkMastSplitTwinList = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),sign[1],null,sign[0],0); if (wrkMastSplitTwinList.size()>1){ log.error("堆垛机出入库下发异常,堆垛机号={},异常信息={},工位号={},工作类型={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",sign[1],sign[0]); return false; } for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){ boolean ack = sign[0] == 1 ? crnExecuteTakeFull(crn.getId(), wrkMastSplitTwin, sign[1]) : crnExecutePutFull(crn.getId(), wrkMastSplitTwin, sign[1]); if (ack){ wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkType()==1? 1:3); wrkMastSplitTwinService.updateById(wrkMastSplitTwin); }else { log.error("堆垛机出入库下发报错,堆垛机号={},异常信息={}",crn.getId(),"下发任务返回值为："+ack); } } } }catch (Exception e){ log.error("堆垛机出入库下发报错,堆垛机号={},异常信息={}",crn.getId(),e.getMessage()); } return false; } /* * 堆垛机取货至工位任务 * */ public synchronized boolean crnExecuteTakeFull(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwin, Integer crnStation){ try{ // 命令下发区 -------------------------------------------------------------------------- // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnNo); // 堆垛机编号 crnCommand.setTaskNo(wrkMastSplitTwin.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货 crnCommand.setSourcePosX(wrkMastSplitTwin.getStartRow().shortValue()); // 源库位排 crnCommand.setSourcePosY(wrkMastSplitTwin.getStartBay().shortValue()); // 源库位列 crnCommand.setSourcePosZ(wrkMastSplitTwin.getStartLev().shortValue()); // 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, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /* * 堆垛机放货货至出库站点任务 * */ public synchronized boolean crnExecutePutFull(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwin, Integer crnStation){ try{ // 命令下发区 -------------------------------------------------------------------------- // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnNo); // 堆垛机编号 crnCommand.setTaskNo(wrkMastSplitTwin.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_PUT); // 任务模式: 单放货 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(wrkMastSplitTwin.getEndRow().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(wrkMastSplitTwin.getEndBay().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(wrkMastSplitTwin.getEndLev().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand)); return false; } else { return true; } }catch (Exception e){ return false; } } /** * Jar任务创建 */ public synchronized void jarGenerateWrkMastSta() { for (JarSlave jarSlave : slaveProperties.getJar()) { try{ Integer count = basJarMastService.getJarMastByJarIdCount(jarSlave.getId().longValue()); if (count>=7){ continue; } BasJarMast jarMastByJarIdMax = basJarMastService.getJarMastByJarIdMax(jarSlave.getId().longValue()); if (!Cools.isEmpty(jarMastByJarIdMax) && jarMastByJarIdMax.getJarLocDigit()==7){ continue; } jarGenerateWrkMastStaExecute(jarSlave); }catch (Exception e){ log.error(jarSlave.getId()+"号小车复位线程报错！"+e); } } } /** * Jar任务创建 执行 */ public synchronized boolean jarGenerateWrkMastStaExecute(JarSlave jarSlave) { try{ // 获取堆垛机信息 JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId()); JarProtocol jarProtocol = jarThread.getJarProtocol(); if (jarProtocol == null) { return false; } if (jarProtocol.modeType != JarModeType.AUTO){ return false; } JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId()); JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol(); if (jarOtherProtocol == null) { return false; } if (jarOtherProtocol.modeType != JarModeType.AUTO){ return false; } //自动、空闲、右门关闭、 if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0 && !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.jarErr==0){ } } catch (Exception e){ // log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2); } return false; } /** * Jar任务创建 执行 */ public synchronized boolean jarGenerateWrkMastStaExecuteOne(JarSlave jarSlave) { try{ // 获取堆垛机信息 JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId()); JarProtocol jarProtocol = jarThread.getJarProtocol(); if (jarProtocol == null) { return false; } if (jarProtocol.modeType != JarModeType.AUTO){ return false; } JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId()); JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol(); if (jarOtherProtocol == null) { return false; } if (jarOtherProtocol.modeType != JarModeType.AUTO){ return false; } //自动、空闲、右门关闭、 if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0 && !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.jarErr==0){ } } catch (Exception e){ // log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2); } return false; } /** * Jar任务创建 执行 */ public synchronized boolean jarGenerateWrkMastStaExecuteTwo(JarSlave jarSlave) { try{ // 获取堆垛机信息 JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId()); JarProtocol jarProtocol = jarThread.getJarProtocol(); if (jarProtocol == null) { return false; } if (jarProtocol.modeType != JarModeType.AUTO){ return false; } JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId()); JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol(); if (jarOtherProtocol == null) { return false; } if (jarOtherProtocol.modeType != JarModeType.AUTO){ return false; } //自动、空闲、右门关闭、 if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0 && !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.jarErr==0){ } } catch (Exception e){ // log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2); } return false; } /** * Jar任务执行 */ public synchronized void jarExecuteWrkMastSta() { try{ }catch (Exception e){ log.error("小车复位线程报错！"+e); } } /** * Jar完成 */ public synchronized void jarCompleteWrkMastSta() { try{ }catch (Exception e){ log.error("小车复位线程报错！"+e); } } /* * 小车取空板至工位任务 满取 * */ public synchronized boolean jarRgvTake1(Integer rgvId,WrkMastSta wrkMastSta){ try{ // 命令下发区 -------------------------------------------------------------------------- RgvCommand rgvCommand = new RgvCommand(); rgvCommand.setRgvNo(rgvId); // RGV编号 rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位 rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号 rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_5); // 工位2任务模式: 满取 rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点 rgvCommand.setCommand((short) 2); //工位2任务确认 if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) { //step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand)); return false; } else { return true; } } catch (Exception e){ return false; } } /* * Rgv 移动 * */ public synchronized boolean jarRgvTake2(Integer rgvId,BasJarMast basJarMast){ return false; } /* * 小车取空板至工位任务 满取 * */ public synchronized boolean jarRgvTake3(Integer rgvId,BasJarMast basJarMast){ return false; } /* * 小车取空板至工位任务 满取 * */ public synchronized boolean jarRgvTake4(Integer rgvId,BasJarMast basJarMast){ return false; } /* * 小车取空板至工位任务 满取 * */ public synchronized boolean jarRgvTake5(Integer rgvId,BasJarMast basJarMast){ return false; } /* * 小车取空板至工位任务 满取 * */ public synchronized boolean jarRgvTake6(Integer rgvId,BasJarMast basJarMast){ return false; } /* * 小车取空板至工位任务 满取 * */ public synchronized boolean jarRgvTake7(Integer rgvId,BasJarMast basJarMast){ return false; } /* * 穿梭板移动 * */ public synchronized boolean jarRgvTake8(Integer rgvId,BasJarMast basJarMast){ return false; } }