package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.baomidou.mybatisplus.mapper.Wrapper; import com.core.common.Cools; import com.core.exception.CoolException; import com.zy.asrs.entity.*; import com.zy.asrs.mapper.BasCrnErrorMapper; import com.zy.asrs.mapper.WrkMastMapper; import com.zy.asrs.service.*; import com.zy.asrs.utils.Utils; import com.zy.common.model.LocTypeDto; import com.zy.common.model.MatDto; import com.zy.common.model.SearchLocParam; import com.zy.common.model.StartupDto; import com.zy.common.service.CommonService; import com.zy.common.utils.CollectionUtils; import com.zy.common.utils.HttpHandler; import com.zy.core.CrnThread; import com.zy.core.DevpThread; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.*; import com.zy.core.model.*; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.command.LedCommand; import com.zy.core.model.command.SteCommand; import com.zy.core.model.protocol.CrnProtocol; import com.zy.core.model.protocol.StaProtocol; import com.zy.core.model.protocol.SteProtocol; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.BarcodeThread; import com.zy.core.thread.LedThread; import com.zy.core.thread.SiemensDevpThread; import com.zy.core.thread.SteThread; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.scheduling.annotation.Async; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; import org.springframework.transaction.interceptor.TransactionAspectSupport; import java.util.*; import java.util.stream.Collectors; /** * 立体仓库WCS系统主流程业务 * Created by vincent on 2020/8/6 */ @Slf4j @Service("mainService") @Transactional public class MainServiceImpl { @Value("${wms.url}") private String wmsUrl; @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastMapper wrkMastMapper; @Autowired private WrkDetlService wrkDetlService; @Autowired private LocMastService locMastService; @Autowired private StaDescService staDescService; @Autowired private BasCrnpService basCrnpService; @Autowired private BasDevpService basDevpService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Autowired private BasSteService basSteService; @Autowired private WrkChargeService wrkChargeService; @Autowired private CommonService commonService; /** * 组托 * 入库站，根据条码扫描生成入库工作档，工作状态 2 */ @Async public void generateStoreWrkFile() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } Short workNo = staProtocol.getWorkNo(); // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) { // 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)) { continue; } } else { 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; } 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); // plc 处理 barcodeThread.setBarcode(""); staProtocol.setWorkNo(dto.getWorkNo().shortValue()); staProtocol.setStaNo(dto.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败"); } } else { log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * 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 */ @Async public void generateStoreWrkFile0() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } Short workNo = staProtocol.getWorkNo(); // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) { // 判断重复工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo()); if (wrkMast == null) { continue; } // 命令下发区 -------------------------------------------------------------------------- // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (result) { // 更新工作主档 wrkMast.setWrkSts(2L); // 工作状态：2.设备上走 wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { 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()) { // 获取拣料入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){ // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode()); if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); if(!Cools.isEmpty(barcode)) { log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode); if("NG".endsWith(barcode) || "NoRead".equals(barcode)) { continue; } } else { continue; } WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode); if (wrkMast == null) { // 无拣料数据 continue; } if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107) || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) { continue; } // 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"); } // 堆垛机站点(目标站) Integer staNo = staDesc.getCrnStn(); // 更新工作档数据状态 wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57 wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走 wrkMast.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(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException("更新工作档数据状态失败"); } // 修改库位状态 Q.拣料/盘点/并板再入库 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); locMast.setLocSts("Q"); locMast.setModiTime(new Date()); if (!locMastService.updateById(locMast)) { throw new CoolException("修改库位状态失败"); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); continue; } // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } } } } } /** * 堆垛机站出库到出库站 */ @Async public void crnStnToOutStn() { for (CrnSlave crnSlave : slaveProperties.getCrn()) { // 遍历堆垛机出库站 for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) { // 获取堆垛机出库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) { // 查询工作档 WrkMast wrkMast = wrkMastMapper.selectPakOutStep16(staProtocol.getSiteId()); if (wrkMast == null) { continue; } // 判断工作档条件 if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) { continue; } // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) { // 移动中 continue; } // 判断堆垛机状态等待确认 if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue()) && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.forkPosType == CrnForkPosType.HOME) { // 命令下发区 -------------------------------------------------------------------------- // 下发站点信息 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) { continue; } // 更新工作档状态为 17.出库完成 wrkMast.setWrkSts(17L); wrkMast.setCrnEndTime(new Date()); if (wrkMastMapper.updateById(wrkMast) != 0) { // 复位堆垛机 crnThread.setResetFlag(true); } else { log.error("更新工作档的工作状态为 17.出库完成 失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } } } } } } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecute(){ for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } BasCrnp basCrnp = basCrnpService.selectById(crn.getId()); if (basCrnp == null) { 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) { // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { // 入库 if (this.crnStnToLoc(crn, crnProtocol)) { } crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { // 出库 if (this.locToCrnStn(crn, crnProtocol)) { } crnProtocol.setLastIo("I"); } } // 如果最近一次是出库模式 else if (crnProtocol.getLastIo().equals("O")) { if (basCrnp.getOutEnable().equals("Y")) { // 出库 if (this.locToCrnStn(crn, crnProtocol)) { } crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { // 入库 if (this.crnStnToLoc(crn, crnProtocol)) { } crnProtocol.setLastIo("O"); } } // 库位移转 this.locToLoc(crn, crnProtocol); } } } /** * 入库 ===>> 堆垛机站到库位 */ public boolean crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){ for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) { boolean flag = false; // 获取堆垛机入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); continue; } // 获取工作状态为 2,3,4,5,6 的入库工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo()); if(null == wrkMast) { // log.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo()); continue; } if (wrkMast.getWrkSts() < 3) { if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable() && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) { flag = true; } if (!flag) { continue; } } // 获取库位信息 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); if (locMast == null) { 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; } // 置顶任务 wrkMast.setIoPri((double) 9999); wrkMastMapper.updateById(wrkMast); // 目标库位 ===>> 最外层库位 if (locMastService.isOutMost(wrkMast.getLocNo())) { // 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库 Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo()); // 有小车 if (steNo != null) { // 小车行走到堆垛机待搬移点 if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) { this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo()); } // 小车搬走 if (wrkMast.getWrkSts() == 3L) { this.carMoveOut(wrkMast, steNo, crnProtocol); } // 没有小车 } else { // 当前入库库位组没有小车 堆垛机则去站点取货入库 // case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2 // case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6 if ((wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) || wrkMast.getWrkSts() == 6L) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } // 堆垛机入库 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.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 7.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(7L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo()); } return true; } } } // 目标库位 ===>> 非最外层库位 } else { // 判断小车是否在当前组库位，如果是则将穿梭车移至最外层，等待堆垛机放货；如果不是，则堆垛机寻找穿梭车，并放置当前组最外层 Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo()); // 有小车 if (steNo != null) { // 小车行走到堆垛机待搬移点 if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) { this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo()); } // 堆垛机将货放至小车上 3.小车待搬（小车不用搬运，已经在当前组库位） / 6.小车待入 ===>> 7.吊车入库中 if (wrkMast.getWrkSts() == 3L || wrkMast.getWrkSts() == 6L) { // 小车处于空闲 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.isIdle()) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } // 堆垛机入库 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排 crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列 crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { 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 3.小车待搬 ===>> 7.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(7L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } return true; } } } // 没有小车 } else { if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) { // 寻找当前堆垛机对应的小车 SteThread steThread = queryIdleCar(wrkMast); if (steThread != null) { // 让小车等待搬运待续 this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo()); } } // 堆垛机搬运小车 if (wrkMast.getWrkSts() == 3L) { this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol); } } } } return false; } /** * 出库 ===>> 库位到堆垛机站 */ public boolean 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.selectPakOutStep111215(slave.getId(), crnStn.getStaNo()); if (wrkMast == null) { continue; } // 工作档状态判断 if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){ log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType()); continue; } // 获取源库位信息 LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) { log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts()); continue; } // 获取堆垛机出库站信息 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("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); continue; } // 判断堆垛机出库站状态 if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y") && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) { // 命令下发区 -------------------------------------------------------------------------- // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { continue; } // 置顶任务 wrkMast.setIoPri((double) 9999); wrkMastMapper.updateById(wrkMast); // 最外层库位，直接堆垛机出库 if (locMastService.isOutMost(wrkMast.getSourceLocNo())) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } // 堆垛机出库 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.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 => 16.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(16L); 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 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } return true; } // 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库 } else { // 当前组库位是否有穿梭车 Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo()); // 有小车 if (steNo != null) { if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { // 给穿梭车下发命令 让其将货物挪至堆垛机搬运点 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.isIdle()) { // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 11.生成出库ID => 14.小车搬出库 Date now = new Date(); wrkMast.setWrkSts(14L); wrkMast.setSteNo(steNo); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 11.生成出库ID => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } if (wrkMast.getWrkSts() == 15L) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } // 堆垛机出库 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(sourceSta.getRow1()).shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { 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 15.等待吊车 => 16.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(16L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } return true; } } // 没有小车 } else { if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { // 寻找最近的小车 SteThread steThread = queryIdleCar(wrkMast); if (steThread != null) { // 让小车等待搬运待续 this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo()); } } // 堆垛机搬运小车 if (wrkMast.getWrkSts() == 12L) { this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol); } } } } } return false; } /** * 库位移转 */ public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){ // 获取工作档信息 WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId()); if (null == wrkMast) { return; } // 获取源库位信息 LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo()); if (null == sourceLoc) { 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 (!sourceLoc.getLocSts().equals("R") && !sourceLoc.getLocSts().equals("S")) { return; } // 获取目标库位信息 LocMast loc = locMastService.selectById(wrkMast.getLocNo()); if (null == loc) { 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; } // 置顶任务 wrkMast.setIoPri((double) 9999); wrkMastMapper.updateById(wrkMast); // 源库位 ===>> 最外层库位 if (locMastService.isOutMost(wrkMast.getSourceLocNo())) { // 目标库位 ===>> 最外层库位 if (locMastService.isOutMost(wrkMast.getLocNo())) { // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(loc.getRow1().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { 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 => 16.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(16L); 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()); } } } else { Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo()); // 有小车 if (steNo != null) { // 小车行走到堆垛机待搬移点 if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { // 标记移库当前流程 wrkMast.setMk("I"); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo()); } this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo()); } // 堆垛机将货放至小车上 6.小车待入 ===>> 7.吊车入库中 if (wrkMast.getWrkSts() == 6L) { // 小车处于空闲 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 堆垛机入库 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getRow1()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { 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 6.小车待入 ===>> 7.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(7L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } else { if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { // 寻找当前堆垛机对应的小车 SteThread steThread = queryIdleCar(wrkMast); if (steThread != null) { // 标记移库当前流程 wrkMast.setMk("I"); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo()); } // 让小车等待搬运待续 this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo()); } } // 堆垛机搬运小车 if (wrkMast.getWrkSts() == 3L) { this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol); } } } } else { // 当前组库位是否有穿梭车 Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo()); // 有小车 if (steNo != null) { if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { // 给穿梭车下发命令 让其将货物挪至堆垛机搬运点 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 11.生成出库ID => 14.小车搬出库 Date now = new Date(); wrkMast.setWrkSts(14L); wrkMast.setSteNo(steNo); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 11.生成出库ID => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } if (wrkMast.getWrkSts() == 15L) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 目标库位 ===>> 最外层库位 if (locMastService.isOutMost(wrkMast.getLocNo())) { // 堆垛机出库 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getRow1()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { 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 15.等待吊车 => 16.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(16L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } // wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()); } } else { // 把货搬到临时存放货位 todo:luxiaotao // 小车行走到堆垛机待搬移点 if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo()); } // 堆垛机将货放至小车上 6.小车待入 ===>> 7.吊车入库中 if (wrkMast.getWrkSts() == 6L) { // 小车处于空闲 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } // 堆垛机入库 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getRow1()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { 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 6.小车待入 ===>> 7.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(7L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } } } else { if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) { // 寻找最近的小车 SteThread steThread = queryIdleCar(wrkMast); if (steThread != null) { // 标记移库当前流程 wrkMast.setMk("O"); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo()); } // 让小车等待搬运待续 this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo()); } } // 堆垛机搬运小车 if (wrkMast.getWrkSts() == 12L) { this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol); } } } } /** * 当前库位组是否存在空闲小车 */ public Integer hasCarOfIdle(String locNo) { for (SteSlave ste : slaveProperties.getSte()) { // 获取堆垛机信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId()); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.isIdle()) { if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) { return steProtocol.getSteNo().intValue(); } } } return null; } /** * 查找当前库位最适合的穿梭车来作业 */ public SteThread queryIdleCar(WrkMast wrkMast) { Integer crnNo = wrkMast.getCrnNo(); BasSte basSte = basSteService.findByCrnNo(crnNo); // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo()); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol != null) { if (steProtocol.isIdle()) { return steThread; } } return null; } /** * 让小车从 远点 ====>> 待机 * 等待堆垛机搬运 */ public void letCarBeWaiting(WrkMast wrkMast, Integer steNo, String locNo) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 绑定穿梭车 wrkMast.setSteNo(steNo); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } public void letCarBeWaiting(WrkCharge wrkCharge, Integer steNo) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (!basSteService.updatePakMk(steNo, "Y")) { log.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo); return; } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol.getRow())); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 绑定穿梭车 wrkCharge.setSteNo(steNo); wrkCharge.setModiTime(new Date()); if (!wrkChargeService.updateById(wrkCharge)) { log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo()); } } } /** * 让小车从 远点 ====>> 移动到近点 * 等待堆垛机搬运 */ public void letCarBeReady(WrkMast wrkMast, Integer steNo, String locNo) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 绑定穿梭车 wrkMast.setSteNo(steNo); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } /** * 入出库 ===>> 堆垛机搬入小车 */ public void carMoveIn(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) { // 获取堆垛机信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { // 堆垛机空闲 if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() == 0) { LocMast locMast; // 入库搬 if (wrkMast.getWrkSts() <= 10) { locMast = locMastService.selectById(wrkMast.getLocNo()); // 堆垛机命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排 crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列 crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { 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 { // 修改穿梭车运行中排列层 steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1()); // 修改工作档状态 3.小车待搬 => 4.迁入小车 Date now = new Date(); wrkMast.setWrkSts(4L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 3.小车待搬 => 4.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo()); } } // 出库搬 } else { locMast = locMastService.selectById(wrkMast.getSourceLocNo()); // 堆垛机命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排 crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列 crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { 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 { // 修改穿梭车运行中排列层 steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1()); // 修改工作档状态 12.小车待搬 => 13.迁入小车 Date now = new Date(); wrkMast.setWrkSts(13L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 12.小车待搬 => 13.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } } /** * 入库 ===>> 堆垛机搬出小车 */ public void carMoveOut(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } // 穿梭车空闲 if (steProtocol.isIdle()) { // 堆垛机空闲 if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() == 0) { BasSte basSte = basSteService.selectById(steNo); if (basSte == null) { log.error("{}号穿梭车在数据库不存在！！！", steNo); return; } String idleLocNo = basSte.getIdleLoc(); // 堆垛机命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排 crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列 crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(idleLocNo).shortValue()); // 目标库位排 crnCommand.setDestinationPosY((short) Utils.getBay(idleLocNo)); // 目标库位列 crnCommand.setDestinationPosZ((short) Utils.getLev(idleLocNo)); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { 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 { // 修改穿梭车运行中排列层 steThread.modifyPos(Utils.getGroupRow(idleLocNo), Utils.getBay(idleLocNo), Utils.getLev(idleLocNo)); // 修改工作档状态 3.小车待搬 => 5.迁出小车 Date now = new Date(); wrkMast.setWrkSts(5L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 3.小车待搬 => 5.迁出小车 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } /** * 执行对工作档的完成操作 */ @Async @Transactional public void storeFinished() { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } // 状态：等待确认 并且 任务完成位 = 1 if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) { // 获取入库待确认工作档 WrkMast wrkMast = wrkMastMapper.selectCrnWaiting(crnProtocol.getTaskNo().intValue()); if (wrkMast == null) { // 充电任务 WrkCharge wrkCharge = wrkChargeService.selectById(crnProtocol.getTaskNo()); if (wrkCharge == null) { log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo()); continue; } else { // 小车搬至指定库位完成 if (wrkCharge.getWrkSts() == 23) { // 23.吊车搬运 ===>> 24.小车到达 wrkCharge.setWrkSts(24L); if (!wrkChargeService.updateById(wrkCharge)) { log.error("修改充电任务状态 23.吊车搬运 ===>> 24.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { // 堆垛机复位 crnThread.setResetFlag(true); // 穿梭车重新定位排列层 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo()); if (!steThread.confirmPos()) { log.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo()); } } } } } if (wrkMast == null) { continue; } if (wrkMast.getIoType() != 11) { // 入库 ==>> 货物搬入库 if (wrkMast.getWrkSts() == 7){ // 判断是否需要小车入库 if (locMastService.isOutMost(wrkMast.getLocNo())) { // ==> 9.入库完成 wrkMast.setWrkSts(9L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { log.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo()); } } else { // 给穿梭车下发命令 Integer steNo = wrkMast.getSteNo(); SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.isIdle()) { // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库 if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 7.吊车入库中 => 8.小车搬入库 wrkMast.setWrkSts(8L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { log.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } // 入库 ===>> 迁入小车 完成 } else if (wrkMast.getWrkSts() == 4) { // 4.迁入小车 ==> 6.小车待入 wrkMast.setWrkSts(6L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); // 穿梭车重新定位排列层 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo()); if (!steThread.confirmPos()) { log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo()); } // 穿梭车去待机位 BasSte basSte = basSteService.selectById(wrkMast.getSteNo()); SteCommand steCommand = new SteCommand(); steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号 steCommand.setTaskNo(9999); // 工作号 steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去近点 等待堆垛机叉取 // steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // steCommand.setBay(steProtocol.getBay()); // steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) { log.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand)); } } else { log.error("修改工作档状态 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo()); } // 入库 ===>> 迁出小车 完成 } else if (wrkMast.getWrkSts() == 5) { // 5.迁出小车 ==> 6.小车待入 wrkMast.setWrkSts(6L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); // 穿梭车重新定位排列层 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo()); if (!steThread.confirmPos()) { log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo()); } // 穿梭车去待机位 BasSte basSte = basSteService.selectById(wrkMast.getSteNo()); SteCommand steCommand = new SteCommand(); steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号 steCommand.setTaskNo(9999); // 工作号 steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去近点 等待堆垛机叉取 // steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // steCommand.setBay(steProtocol.getBay()); // steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) { log.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand)); } } else { log.error("修改工作档状态 5.迁出小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo()); } // 出库 ===>> 迁入小车 完成 } else if (wrkMast.getWrkSts() == 13) { // 给穿梭车下发命令 Integer steNo = wrkMast.getSteNo(); SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } // 穿梭车重新定位排列层 if (!steThread.confirmPos()) { log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo()); } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 搬出库 if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 13.迁入小车 ==> 14.小车搬出库 wrkMast.setWrkSts(14L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { log.error("修改工作档状态 13.迁入小车 ==> 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo()); } } // 移库 ===>> 堆垛机搬至目标库位组 完成 } // 库位移转 } else { if (wrkMast.getWrkSts() == 16) { Date now = new Date(); if (locMastService.isOutMost(wrkMast.getLocNo())) { // 16.吊车出库中 ==> 9.入库完成 wrkMast.setWrkSts(9L); wrkMast.setCrnEndTime(now); } else { // 16.吊车出库中 ==> 9.入库完成 wrkMast.setWrkSts(9L); } wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { log.error("修改工作档状态 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } else if (wrkMast.getWrkSts() == 4) { // 4.迁入小车 ==> 6.小车待入 wrkMast.setWrkSts(6L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); // 穿梭车重新定位排列层 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo()); if (!steThread.confirmPos()) { log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo()); } // 穿梭车去待机位 BasSte basSte = basSteService.selectById(wrkMast.getSteNo()); SteCommand steCommand = new SteCommand(); steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号 steCommand.setTaskNo(9999); // 工作号 steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去近点 等待堆垛机叉取 // steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // steCommand.setBay(steProtocol.getBay()); // steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) { log.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand)); } } else { log.error("修改工作档状态 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo()); } // 入库 ===>> 迁出小车 完成 } else if (wrkMast.getWrkSts() == 7){ // 判断是否需要小车入库 if (locMastService.isOutMost(wrkMast.getLocNo())) { // ==> 9.入库完成 wrkMast.setWrkSts(9L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { log.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo()); } } else { // 给穿梭车下发命令 Integer steNo = wrkMast.getSteNo(); SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.isIdle()) { // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库 if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 7.吊车入库中 => 8.小车搬入库 wrkMast.setWrkSts(8L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { log.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } else if (wrkMast.getWrkSts() == 13) { // 给穿梭车下发命令 Integer steNo = wrkMast.getSteNo(); SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } // 穿梭车重新定位排列层 if (!steThread.confirmPos()) { log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo()); } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 搬出库 if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 13.迁入小车 ==> 14.小车搬出库 wrkMast.setWrkSts(14L); Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } else { log.error("修改工作档状态 13.迁入小车 ==> 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } } } /** * 执行对工作档的完成操作 */ public synchronized void carGenerateStore() { Date now = new Date(); for (SteSlave ste : slaveProperties.getSte()) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId()); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0) { if (steProtocol.getTaskNo() == 9999) { steThread.setResetFlag(true); } else { // 查询是否有待入库的任务 WrkMast wrkMast = wrkMastMapper.selectCarWaiting(steProtocol.getTaskNo().intValue()); if (wrkMast == null) { // 充电任务 WrkCharge wrkCharge = wrkChargeService.selectById(steProtocol.getTaskNo()); if (wrkCharge == null) { continue; } else { if (wrkCharge.getWrkSts() == 21) { // 21.准备充电 ===>> 22.小车待搬 wrkCharge.setWrkSts(22L); if (!wrkChargeService.updateById(wrkCharge)) { log.error("修改充电任务状态 21.准备充电 ===>> 22.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { steThread.setResetFlag(true); } } else if (wrkCharge.getWrkSts() == 25) { // 25.小车去充电 ===>> 26.等待充电 wrkCharge.setWrkSts(26L); if (!wrkChargeService.updateById(wrkCharge)) { log.error("修改充电任务状态 25.小车去充电 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { steThread.setResetFlag(true); } } } } if (wrkMast == null) { continue; } switch (wrkMast.getWrkSts().intValue()) { case 2: // 修改工作档状态 2.设备上走 => 3.小车待搬 wrkMast.setWrkSts(3L); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 2.设备上走 => 3.小车待搬 失败！！，工作号={}", wrkMast.getWrkNo()); } else { steThread.setResetFlag(true); } break; case 8: // 修改工作档状态 8.小车搬入库 => 9.入库完成 wrkMast.setWrkSts(9L); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 8.小车搬入库 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo()); } else { steThread.setResetFlag(true); } break; case 11: if (wrkMast.getIoType() != 11) { // 修改工作档状态 11.生成出库ID => 12.小车待搬 wrkMast.setWrkSts(12L); } else { if (Cools.isEmpty(wrkMast.getMk())) { log.error("移库工作档没有流程标记！！，工作号={}", wrkMast.getWrkNo()); } else { if (wrkMast.getMk().equals("I")) { String locNo = wrkMast.getLocNo(); if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) { // 修改工作档状态 11.生成出库ID => 6.小车待入 wrkMast.setWrkSts(6L); } else { // 修改工作档状态 11.生成出库ID => 3.小车待搬 wrkMast.setWrkSts(3L); } } else if (wrkMast.getMk().equals("O")) { // 修改工作档状态 11.生成出库ID => 12.小车待搬 wrkMast.setWrkSts(12L); } } } wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.小车待搬 失败！！，工作号={}", wrkMast.getWrkNo()); } else { steThread.setResetFlag(true); } break; case 14: // 修改工作档状态 14.小车搬出库 => 15.等待吊车 wrkMast.setWrkSts(15L); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 14.小车搬出库 => 15.等待吊车 失败！！，工作号={}", wrkMast.getWrkNo()); } else { steThread.setResetFlag(true); } break; } } } } } /** * 堆垛机异常信息记录 */ @Async public void recCrnErr(){ Date now = new Date(); for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } if (true) { // if (crnProtocol.getModeType() != CrnModeType.STOP) { // 有任务 if (crnProtocol.getTaskNo() != 0) { BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue()); // 有异常 if (latest == null) { if (crnProtocol.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 */ @Async public void storeEmptyPlt(){ for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历空板入库口 for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) { // 获取空板入库站信息 DevpThread devpThread = (DevpThread) 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() == 0 || (staProtocol.getWorkNo() >= 9990 && staProtocol.getWorkNo() <= 9999) || staProtocol.getWorkNo() == 9997) && 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().shortValue()); staProtocol.setStaNo(dto.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败"); } } else { log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * 出库 ===>> 工作档信息写入led显示器 */ @Async public void ledExecute() { for (LedSlave led : slaveProperties.getLed()) { // 获取输送线plc线程 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId()); // 命令集合 List commands = new ArrayList<>(); // 工作档集合 List wrkMasts = new ArrayList<>(); for (Integer staNo : led.getStaArr()) { // 获取叉车站点 StaProtocol staProtocol = devpThread.getStation().get(staNo); if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) { continue; } else { staProtocol = staProtocol.clone(); } // 获取工作档数据 WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo()); if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; } wrkMasts.add(wrkMast); // 组装命令 LedCommand ledCommand = new LedCommand(); ledCommand.setWorkNo(wrkMast.getWrkNo()); ledCommand.setIoType(wrkMast.getIoType()); // 出库模式 switch (wrkMast.getIoType()) { case 101: ledCommand.setTitle("全板出库"); break; case 103: ledCommand.setTitle("拣料出库"); break; case 104: ledCommand.setTitle("并板出库"); break; case 107: ledCommand.setTitle("盘点出库"); break; case 110: ledCommand.setTitle("空板出库"); ledCommand.setEmptyMk(true); break; default: 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.setStaNo(wrkMast.getStaNo()); if (wrkMast.getIoType() != 110) { List wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo()); wrkDetls.forEach(wrkDetl -> { if (wrkMast.getIoType() == 101) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getAnfme())); } if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getAnfme())); } }); } commands.add(ledCommand); } Set workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet()); // 获取LED线程 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId()); // 相同工作号集合则过滤 if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) { continue; } // 命令下发 ------------------------------------------------------------------------------- if (!commands.isEmpty()) { if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) { log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); continue; } } try { // 修改主档led标记 for (WrkMast wrkMast : wrkMasts) { wrkMast.setOveMk("Y"); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException("更新工作档失败"); } } // 更新线程当前工作号集合 ledThread.setWorkNos(workNos); } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } /** * 其他 ===>> LED显示器复位，显示默认信息 */ @Async public void ledReset() { for (LedSlave led : slaveProperties.getLed()) { // 获取输送线plc线程 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId()); // 命令集合 boolean reset = true; for (Integer staNo : led.getStaArr()) { // 获取叉车站点 StaProtocol staProtocol = devpThread.getStation().get(staNo); if (staProtocol == null) { continue; } if (staProtocol.getWorkNo() != 0) { reset = false; break; } } // 获取led线程 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId()); // led显示默认内容 if (reset) { if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) { log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); } } } } /** * 小车电量检测 ===>> 发起充电 */ public synchronized void loopSteCharge() { for (SteSlave ste : slaveProperties.getSte()) { SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId()); SteProtocol steProtocol = steThread.getSteProtocol(); BasSte basSte = basSteService.selectById(ste.getId()); if (Cools.isEmpty(steProtocol, basSte)) { continue; } try { // 在线 空闲 无作业标记 不在充电 if (steProtocol.getMode() == 0 || !steProtocol.statusType.equals(SteStatusType.IDLE) || basSte.getPakMk().equals("Y") // || steProtocol.getChargeStatus() == 1 ) { continue; } if (!steProtocol.isEnable()) { continue; } if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) { continue; } WrkCharge wrkCharge = wrkChargeService.selectWorking(steProtocol.getSteNo().intValue()); if (wrkCharge == null && steProtocol.getChargeStatus() == 0) { String idleLoc = basSte.getIdleLoc(); wrkCharge = new WrkCharge(); wrkCharge.setSteNo(ste.getId()); wrkCharge.setWrkNo(commonService.getChargeWorkNo(4)); wrkCharge.setWrkSts(21L); // 21.准备充电 wrkCharge.setCrnNo(basSte.getCrnNo()); wrkCharge.setIoPri((double) 10); wrkCharge.setLocNo(idleLoc); if (!wrkChargeService.insert(wrkCharge)) { log.error("保存{}号穿梭车充电任务失败!!!", ste.getId()); continue; } // 处于充电库位组 if (Utils.getGroupRow(idleLoc).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(idleLoc) && steProtocol.getLev() == Utils.getLev(idleLoc)) { // 修改工作档状态 21.准备充电 => 24.小车到达 wrkCharge.setWrkSts(24L); wrkCharge.setModiTime(new Date()); if (!wrkChargeService.updateById(wrkCharge)) { log.error("修改充电任务状态 21.准备充电 => 24.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo()); } } else { this.letCarBeWaiting(wrkCharge, ste.getId()); } } else { // filter if (wrkCharge == null || (wrkCharge.getWrkSts() < 26 && steProtocol.getChargeStatus() == 1)) { continue; } // 22.小车待搬 if (wrkCharge.getWrkSts() == 22) { // 搬小车至充电库位 LocMast locMast = locMastService.selectById(basSte.getIdleLoc()); // 堆垛机命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排 crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列 crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改穿梭车运行中排列层 steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1()); // 修改工作档状态 22.小车待搬 => 23.吊车搬运 Date now = new Date(); wrkCharge.setWrkSts(23L); wrkCharge.setCrnStrTime(now); wrkCharge.setModiTime(now); if (!wrkChargeService.updateById(wrkCharge)) { log.error("修改工作档状态 22.小车待搬 => 23.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo()); } } } else if (wrkCharge.getWrkSts() == 24L) { // 小车行驶至充电位 if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) { if (steProtocol.getChargeStatus() == 1) { continue; } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号 steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findChargeByLoc(steProtocol.getRow().intValue())); if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) { log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand)); } else { // 修改工作档状态 24.小车到达 ===> 25.小车去充电 wrkCharge.setWrkSts(25L); Date now = new Date(); wrkCharge.setCrnEndTime(now); wrkCharge.setModiTime(now); if (!wrkChargeService.updateById(wrkCharge)) { log.error("修改充电任务状态 24.小车到达 ===> 25.小车去充电 失败！！，工作号={}", wrkCharge.getWrkNo()); } } } } else if (wrkCharge.getWrkSts() == 26) { if (steProtocol.getChargeStatus() == 0) { continue; } // 给输送线下发充电任务 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); SteChargeType steChargeType = SteChargeType.get(wrkCharge.getLocNo()); if (null != steChargeType) { if (devpThread.charge(steChargeType.ssbm - 1, true)) { // 修改工作档状态 26.等待充电 ===> 28.完成充电 wrkCharge.setWrkSts(28L); if (!wrkChargeService.updateById(wrkCharge)) { log.error("修改充电任务状态 26.等待充电 ===> 28.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo()); } else { steThread.setResetFlag(true); } } } else { log.error("获取充电桩号失败，解析库位：{}", wrkCharge.getLocNo()); } } } } catch (Exception e) { log.error("fail", e); } } } public List crn1DemoLocs = new ArrayList(); public String crn1LastLoc = ""; public List crn2DemoLocs = new ArrayList(); public String crn2LastLoc = ""; public List crn3DemoLocs = new ArrayList(); public String crn3LastLoc = ""; public synchronized void demo() { if (Cools.isEmpty(crn1DemoLocs)) { crn1DemoLocs = locMastService.getDemoNextLoc(1); } if (Cools.isEmpty(crn2DemoLocs)) { crn2DemoLocs = locMastService.getDemoNextLoc(2); } if (Cools.isEmpty(crn3DemoLocs)) { crn3DemoLocs = locMastService.getDemoNextLoc(3); } for (CrnSlave crn : slaveProperties.getCrn()) { if (!crn.getDemo()) { continue; } // 必须为演示状态 // CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); // CrnProtocol crnProtocol = crnThread.getCrnProtocol(); // if (crnProtocol == null) { // continue; // } // 只有当堆垛机空闲 并且 无任务时才继续执行 // if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { String locNo = null; Iterator iterator = crn1DemoLocs.iterator(); if (crn.getId() == 1) { iterator = crn1DemoLocs.iterator(); } else if (crn.getId() == 2) { iterator = crn2DemoLocs.iterator(); } else if (crn.getId() == 3) { iterator = crn3DemoLocs.iterator(); } while (iterator.hasNext()) { String next = iterator.next(); String lastLoc = ""; if (crn.getId() == 1) { lastLoc = crn1LastLoc; } else if (crn.getId() == 2) { lastLoc = crn2LastLoc; } else if (crn.getId() == 3) { lastLoc = crn3LastLoc; } if (!Cools.isEmpty(lastLoc)) { if (!lastLoc.substring(2, 7).equals(next.substring(2, 7)) || !Utils.getGroupRow(lastLoc).equals(Utils.getGroupRow(next))) { locNo = next; iterator.remove(); break; } else { iterator.remove(); } } else { locNo = next; iterator.remove(); break; } } if (!Cools.isEmpty(locNo)) { if (crn.getId() == 1) { crn1LastLoc = locNo; } else if (crn.getId() == 2) { crn2LastLoc = locNo; } else if (crn.getId() == 3) { crn3LastLoc = locNo; } } // log.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo); // 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(WorkNoType.PICK.type); // // 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"); // } } // } } /** * 堆垛机演示 ===>> 库位移转 */ public synchronized void crnDemoOfLocMove(){ 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; } log.info("{}号堆垛机正在演示", crn.getId()); // 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(WorkNoType.PICK.type); // // 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.sync(locDetl); // wrkDetl.setWrkNo(workNo); // wrkDetl.setIoTime(new Date()); // wrkDetl.setAnfme(locDetl.getAnfme()); // wrkDetl.setAppeTime(new Date()); // wrkDetl.setModiTime(new Date()); // if (!wrkDetlService.insert(wrkDetl)) { // throw new CoolException("保存工作档明细失败"); // } // } // // 修改源库位状态 // if (sourceLoc.getLocSts().equals("D") || sourceLoc.getLocSts().equals("F")) { // 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"); // } } } } }