package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.Cools; import com.core.exception.CoolException; import com.zy.asrs.domain.dto.NotifyCustomDataDto; import com.zy.asrs.domain.enums.NotifyMsgType; import com.zy.asrs.domain.enums.TaskStatusType; import com.zy.asrs.domain.enums.WorkNoType; import com.zy.asrs.entity.*; import com.zy.asrs.entity.param.Result; import com.zy.asrs.mapper.*; import com.zy.asrs.service.*; import com.zy.asrs.utils.CommandUtils; import com.zy.asrs.utils.CrnOperaUtils; import com.zy.asrs.utils.NotifyUtils; import com.zy.asrs.utils.Utils; import com.zy.common.service.CommonService; import com.zy.common.utils.HttpHandler; import com.zy.core.CrnThread; import com.zy.core.DevpThread; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.*; import com.zy.core.model.CrnSlave; import com.zy.core.model.DevpSlave; import com.zy.core.model.Task; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.protocol.CrnProtocol; import com.zy.core.model.protocol.StaProtocol; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.BarcodeThread; import com.zy.core.thread.SiemensDevpThread; import com.zy.system.service.ConfigService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; import org.springframework.transaction.interceptor.TransactionAspectSupport; import java.io.IOException; import java.util.*; /** * 立体仓库WCS系统主流程业务 * Created by vincent on 2020/8/6 */ @Slf4j @Service("mainService") @Transactional public class MainServiceImpl { public static final long COMMAND_TIMEOUT = 5 * 1000; @Autowired private SlaveProperties slaveProperties; @Autowired private LocMastService locMastService; @Autowired private BasCrnpService basCrnpService; @Autowired private BasDevpService basDevpService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Autowired private TaskWrkMapper taskWrkMapper; @Autowired private TaskWrkService taskWrkService; @Autowired private ConfigService configService; @Autowired private StaDescMapper staDescMapper; @Autowired private CommandInfoService commandInfoService; @Autowired private OpenServiceImpl openServiceImpl; @Autowired private StaDescService staDescService; @Autowired private ApiLogService apiLogService; @Autowired private CommonService commonService; @Autowired private CrnOperaUtils crnOperaUtils; @Autowired private NotifyUtils notifyUtils; @Value("${wms.count}") private Integer maxCount; @Value("${wms.url}") private String wmsUrl; @Value("${wms.inboundTaskApplyPath}") private String inboundTaskApplyPath; @Value("${wms.TaskExecCallback}") private String TaskExecCallback; @Value("${wms.taskStatusFeedbackPath}") private String taskStatusFeedbackPath; public synchronized void generateStoreWrkFile1() { try { // 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(); Short stano = staProtocol.getStaNo(); // 尺寸检测异常 boolean back = false; String errMsg = ""; if (staProtocol.isFrontErr()) { errMsg = "前超限"; back = true; } if (!back && staProtocol.isBackErr()) { errMsg = "后超限"; back = true; } if (!back && staProtocol.isHighErr()) { errMsg = "高超限"; back = true; } if (!back && staProtocol.isLeftErr()) { errMsg = "左超限"; back = true; } if (!back && staProtocol.isRightErr()) { errMsg = "右超限"; back = true; } if (!back && staProtocol.isWeightErr()) { errMsg = "超重"; back = true; } if (!back && staProtocol.isBarcodeErr()) { errMsg = "扫码失败"; back = true; } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && workNo >= 9790 && 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(); TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper().eq("barcode", barcode)); if (taskWrk1 != null) { log.info("托盘码：" + barcode + "任务档存在"); continue; } HashMap requestParam = new HashMap<>(); requestParam.put("BoxNo", barcode);//托盘码 requestParam.put("TerminalNo", inSta.getStaNo());//入库口 if (back) { requestParam.put("WCSStatus", 1);//失败 requestParam.put("WCSErrorMessage", errMsg);//失败原因 }else { requestParam.put("WCSStatus", 0);//成功 } String response = ""; Boolean success = false; try { response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath(inboundTaskApplyPath) .setJson(JSON.toJSONString(requestParam)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (back) { devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); continue; } int returnStatus = Integer.parseInt(jsonObject.get("ReturnStatus").toString()); if (returnStatus == 0) { Result result = JSON.parseObject(jsonObject.get("Result").toString(), Result.class); // 创新一个入库工作档 TaskWrk taskWrk = taskWrkService.selectByTaskNo(result.getTaskNo()); if(taskWrk != null) { log.info("任务：" + result.getTaskNo() + "已经存在"); continue; } String locNo = Utils.getLocNo(result.getRow(), result.getFloor(), result.getColumn()); LocMast locMast = locMastService.selectByLocNo(locNo); if (locMast == null) { log.info(locNo + "库位不存在"); continue; } Date now = new Date(); taskWrk = new TaskWrk(); taskWrk.setTaskNo(result.getTaskNo());//任务号 taskWrk.setWrkNo(commonService.getWorkNo(WorkNoType.PAKIN.type));//获取入库工作号 taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收 taskWrk.setWrkSts(2);//2.设备上走 taskWrk.setCreateTime(now); taskWrk.setIoType(1);//任务类型 taskWrk.setIoPri(13);//优先级 taskWrk.setBarcode(barcode);//条码 taskWrk.setCrnNo(locMast.getCrnNo()); taskWrk.setTargetPoint(locNo); taskWrk.setStartPoint(String.valueOf(staProtocol.getStaNo())); if (!Cools.isEmpty(taskWrk.getTargetPoint())) { taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint()); } if (!taskWrkService.insert(taskWrk)) { log.info("任务：" + result.getTaskNo() + "任务创建失败"); continue; } StaDesc staDesc = staDescService.selectOne(new EntityWrapper() .eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId())); staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue()); staProtocol.setStaNo(staDesc.getCrnStn().shortValue()); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); //上报 HashMap hashMap = new HashMap<>(); hashMap.put("TaskNo", taskWrk.getTaskNo()); NotifyCustomDataDto customDataDto = new NotifyCustomDataDto(); customDataDto.setUri(wmsUrl); customDataDto.setPath(taskStatusFeedbackPath); customDataDto.setData(JSON.toJSONString(hashMap)); boolean notifyResult = notifyUtils.notify("task", 1, String.valueOf(taskWrk.getWrkNo()), taskWrk.getTaskNo(), NotifyMsgType.TASK_START, JSON.toJSONString(taskWrk), true, customDataDto); if(notifyResult) { taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//任务派发 taskWrkService.updateById(taskWrk); } } } catch (Exception e) { log.error("请求入库调用接口失败"); log.error("异常信息打印：" + e); try { BasDevp basDevp = basDevpService.selectById(inSta.getStaNo()); if (Cools.isEmpty(basDevp)) { log.error("站点号异常" + inSta.getStaNo()); } else if (basDevp.getStaErr() != 0) { basDevp.setStaErr(2); basDevpService.updateById(basDevp); } } catch (Exception e1) { // 退回 log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1); } } finally { apiLogService.save("wms请求入库货位接口" , wmsUrl + inboundTaskApplyPath , null , "127.0.0.1" , JSON.toJSONString(requestParam) , response , success ); } log.info("入库请求参数=" + JSON.toJSONString(barcode)); log.info("入库请求返回参数=" + JSON.toJSONString(response)); } } } } catch (Exception e) { log.error("generateStoreWrkFile e", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 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()) { List staDescs = staDescMapper.selectList(new EntityWrapper().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo())); for (StaDesc staDesc : staDescs) { 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) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) { // 查询工作档 TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString()); if (taskWrk == null) { continue; } log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk)); // R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false); staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue()); staProtocol.setStaNo(staDesc.getStnNo().shortValue()); boolean offer = false; try { offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol)); } catch (Exception e) { log.error("下发输送线任务失败：异常:" + e); log.error("下发输送线任务失败：异常:offer:" + offer); } // JSONObject jsonObject = JSON.parseObject(JSON.toJSONString(r)); if (offer) { log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk)); taskWrk.setStatus(5); taskWrk.setWrkSts(14); taskWrkService.updateById(taskWrk); } else { log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(taskWrk)); // log.error("下发输送线任务失败：异常信息:"+JSON.toJSONString(r)); } } } catch (Exception e) { log.error("出库到出库站异常:异常信息：" + e); } } } } } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecute() throws IOException { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } BasCrnp basCrnp = basCrnpService.selectById(crn.getId()); if (basCrnp == null) { log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId()); continue; } // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) { // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc(crn, crnProtocol); // 入库 crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn(crn, crnProtocol); // 出库 crnProtocol.setLastIo("I"); } } // 如果最近一次是出库模式 else if (crnProtocol.getLastIo().equals("O")) { if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn(crn, crnProtocol); // 出库 crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc(crn, crnProtocol); // 入库 crnProtocol.setLastIo("O"); } } // 库位移转 this.locToLoc(crn, crnProtocol); } } } /** * 入库 ===>> 堆垛机站到库位 */ public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException { for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) { List staDescs = staDescMapper.selectList(new EntityWrapper().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo())); for (StaDesc staDesc : staDescs) { boolean flag = false; // 获取堆垛机入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) { flag = true; } if (!flag) { continue; } // 获取工作状态为2（设备上走）的入库工作档 TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString()); if (null == taskWrk) { continue; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { continue; } // 已经存在吊车执行任务时，则过滤 if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) { continue; } taskWrk.setAssignTime(new Date());//派发时间 taskWrk.setWrkSts(3);//工作状态 3.吊车入库 taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号 taskWrk.setModiTime(new Date()); taskWrk.setModiUser(9988L); // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(staDesc.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位列 crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位层 crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位排 crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列 crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位层 crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排 crnCommand.setCommand((short) 1); log.info("堆垛机入库任务下发={}",crnCommand); if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) { log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand)); throw new CoolException("堆垛机命令生成失败"); } else { try { taskWrkService.updateById(taskWrk); } catch (Exception e) { e.printStackTrace(); log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo()); } } } } } /** * 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) { List taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null); if (taskWrksInitial.isEmpty()) { return; } for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) { List staDescs = staDescMapper.selectList(new EntityWrapper().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo())); for (StaDesc staDesc : staDescs) { // 获取工作状态为11（生成出库ID）的出库工作档 List taskWrks = taskWrkMapper.selectPakOut(slave.getId(), staDesc.getStnNo().toString()); for (TaskWrk taskWrk : taskWrks) { if (taskWrk == null) { continue; } // 工作档状态判断 if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == null || taskWrk.getStartPoint() == null) { log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getStartPoint(), taskWrk.getIoType()); continue; } LocMast locMast=locMastService.selectByLocNo(taskWrk.getStartPoint()); //判断其库位是否为深库位，如果为深库位找其浅库位是都有货 if(locMast.getRow1()==1||locMast.getRow1()==5){ LocMast locMast1=locMastService.selectOne(new EntityWrapper() .eq("row1", (locMast.getRow1()+1)) .eq("bay1",locMast.getBay1()) .eq("lev1",locMast.getLev1()).eq("loc_sts","F")); if (!Cools.isEmpty(locMast1)){ log.info(locMast.getLocNo()+"出深库位，浅库位有货"); continue; } }else if(locMast.getRow1()==4||locMast.getRow1()==8){ LocMast locMast1=locMastService.selectOne(new EntityWrapper() .eq("row1", (locMast.getRow1()-1)) .eq("bay1",locMast.getBay1()) .eq("lev1",locMast.getLev1()).eq("loc_sts","F")); if (!Cools.isEmpty(locMast1)){ log.info(locMast.getLocNo()+"出深库位，浅库位有货"); continue; } } // 获取堆垛机出库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { break; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); break; } // 判断堆垛机出库站状态 if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) { // 命令下发区 -------------------------------------------------------------------------- // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { break; } int storeCount = basDevpService.getStoreCount(); if(storeCount >= maxCount){ log.error("输送线暂存数达到上限{}",storeCount); break; } // 已经存在吊车执行任务时，则过滤 if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) { break; } CrnCommand command = new CrnCommand(); command.setCrnNo(taskWrk.getCrnNo()); // 堆垛机编号 command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号 command.setAckFinish((short) 0); // 任务完成确认位 command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式 command.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排 command.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列 command.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层 command.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排 command.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列 command.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层 command.setCommand((short) 1); if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command), false)) { log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(command)); throw new CoolException("堆垛机命令生成失败"); } else { try { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); taskWrk.setWrkSts(12); taskWrk.setModiTime(now); if (taskWrkMapper.updateById(taskWrk) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo()); } } catch (Exception e) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo()); log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，异常：" + e); } //上报-出库任务开始时，WCS回调WMS HashMap hashMap = new HashMap<>(); hashMap.put("TaskNo", taskWrk.getTaskNo()); NotifyCustomDataDto customDataDto = new NotifyCustomDataDto(); customDataDto.setUri(wmsUrl); customDataDto.setPath(taskStatusFeedbackPath); customDataDto.setData(JSON.toJSONString(hashMap)); boolean notifyResult = notifyUtils.notify("task", 1, String.valueOf(taskWrk.getWrkNo()), taskWrk.getTaskNo(), NotifyMsgType.TASK_START, JSON.toJSONString(taskWrk), true, customDataDto); if(notifyResult) { taskWrk.setStatus(2); taskWrkService.updateById(taskWrk); } } } } } } } /** * 库位移转 */ public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) { for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) { // 获取工作状态为11（生成出库ID）的移库工作档 List taskWrks = taskWrkMapper.selectList(new EntityWrapper() .eq("crn_no", slave.getId()) .eq("wrk_sts", 11) .eq("io_type", 3) .orderBy("io_pri", false)); for (TaskWrk taskWrk : taskWrks) { // 双深库位且浅库位有货，则需先对浅库位进行库位移转 // if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) { // String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint()); // TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo); // if (!Cools.isEmpty(hallowLocNoTask)){ // continue; // } // } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { continue; } // 已经存在吊车执行任务时，则过滤 if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) { continue; } if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("") || taskWrk.getWrkNo() == null) { continue; } // 工作档状态判断 if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) { log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType()); continue; } // 命令下发区 -------------------------------------------------------------------------- // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排 crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列 crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层 crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排 crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列 crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层 crnCommand.setCommand((short) 1); if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); taskWrk.setWrkSts(12); taskWrk.setModiTime(now); if (taskWrkMapper.updateById(taskWrk) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo()); } String response = ""; Boolean bool=false; HashMap headParam = new HashMap<>(); headParam.put("TaskNo", taskWrk.getTaskNo()); try { response = new HttpHandler.Builder() // .setHeaders(headParam) .setUri(wmsUrl) .setPath(taskStatusFeedbackPath) .setJson(JSON.toJSONString(headParam)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if(jsonObject.get("ReturnStatus").equals(0)){ bool = true; taskWrk.setStatus(2); taskWrkMapper.updateById(taskWrk); } } catch (Exception e) { log.error("wcs派发移库库任务上报wms失败", taskWrk); // throw new CoolException("wcs派发移库库任务上报wms失败"); }finally { apiLogService.save("wcs派发移库任务上报wms" , wmsUrl + taskStatusFeedbackPath , null , "127.0.0.1" , JSON.toJSONString(headParam) , response , bool ); } } return; } } } /** * 执行对工作档的完成操作 */ // public void storeFinished() { // for (CrnSlave crn : slaveProperties.getCrn()) { // // 获取堆垛机信息 // CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); // CrnProtocol crnProtocol = crnThread.getCrnProtocol(); // if (crnProtocol == null) { continue; } // // // 状态：等待确认 并且 任务完成位 = 1 // if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) { // //获取入库待确认工作档 // TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue()); // if (Cools.isEmpty(taskWrk)) { //// log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo()); // continue; // } // // //获取指令ID // Integer commandId = crnProtocol.getCommandId(); // CommandInfo commandInfo = new CommandInfo(); // if (Cools.isEmpty(commandId)){ // commandInfo = commandInfoService.selectOne(new EntityWrapper() // .eq("wrk_no",crnProtocol.getTaskNo()) // .eq("device","Crn")); // }else { // commandInfo = commandInfoService.selectById(commandId); // } // // // if (commandInfo == null) { // //指令不存在 // continue; // } // if (commandInfo.getCommandStatus() == 3){ // continue; // } // commandInfo.setCommandStatus(CommandStatusType.COMPLETE.id);//指令完成 // commandInfo.setCompleteTime(new Date());//指令完成时间 // if (commandInfoService.updateById(commandInfo)) {//修改成功后复位堆垛机 // // 堆垛机复位 // crnThread.setResetFlag(true); // } // } // } // } /** * 执行对工作档的完成操作 */ public synchronized void storeFinished() throws InterruptedException { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } // 状态：等待确认 并且 任务完成位 = 1 if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) { //获取入库待确认工作档 TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(), crnProtocol.getTaskNo().intValue()); if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) { 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; } //确认完成信号 boolean result = crnOperaUtils.crnTaskComplete(crn.getId()); Thread.sleep(1000); if(!result){ return; } if (!Cools.isEmpty(taskWrk)) { if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) { taskWrk.setWrkSts(4);//入库完成 taskWrk.setStatus(5);//完结 //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint()); locMast.setLocSts("F");//F.在库 locMast.setBarcode(taskWrk.getBarcode());//托盘码 locMast.setModiTime(new Date()); locMast.setModiUser(9999L); locMastService.updateById(locMast); } else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) { taskWrk.setWrkSts(13);//出库完成 taskWrk.setStatus(5);//完结 //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint()); locMast.setLocSts("O");//O.空库位 locMast.setBarcode("");//托盘码 locMast.setModiTime(new Date()); locMast.setModiUser(9999L); locMastService.updateById(locMast); } else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) { taskWrk.setWrkSts(4);//入库完成 taskWrk.setStatus(5);//完结 //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint()); locMast.setLocSts("F");//F.在库 locMast.setBarcode(taskWrk.getBarcode());//托盘码 locMast.setModiTime(new Date()); locMast.setModiUser(9999L); locMastService.updateById(locMast); LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint()); locMast1.setLocSts("O");//O.空库位 locMast1.setBarcode("");//托盘码 locMast1.setModiTime(new Date()); locMast1.setModiUser(9999L); locMastService.updateById(locMast1); } taskWrkService.updateById(taskWrk); } } } } /** * 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 (false) { // 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) { TaskWrk taskWrk = taskWrkService.selectByWrkNo(crnProtocol.getTaskNo().intValue()); if (taskWrk == 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 taskWrk.getWrkNo(), // 工作号 now, // 发生时间 null, // 结束时间 taskWrk.getWrkSts().longValue(), // 工作状态 taskWrk.getIoType(), // 入出库类型 crn.getId(), // 堆垛机 null, // plc taskWrk.getTargetPoint(), // 目标库位 null, // 目标站 null, // 源站 taskWrk.getStartPoint(), // 源库位 taskWrk.getBarcode(), // 条码 (int) crnProtocol.getAlarm1(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "任务中异常" // 备注 ); if (!basErrLogService.insert(basErrLog)) { log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName); } } } else { // 异常修复 if (crnProtocol.getAlarm1() == null || crnProtocol.getAlarm1() == 0) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basErrLogService.updateById(latest)) { log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } // 无任务 } else { BasErrLog latest = basErrLogService.findLatest(crn.getId()); // 有异常 if (crnProtocol.getAlarm1() != null && crnProtocol.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.getAlarm1(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "无任务异常" // 备注 ); if (!basErrLogService.insert(basErrLog)) { log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName); } } // 无异常 } else { // 异常修复 if (latest != null && latest.getStatus() == 1) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basErrLogService.updateById(latest)) { log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } } } } } // //自动派发任务 // public synchronized void autoDistribute() { // Config config = configService.selectByCode("autoDistribute"); // if (config == null) { // return; // } // // if (config.getValue().equals("false")) {//判断是否开启自动派发任务 // return; // } // // for (TaskWrk taskWrk : taskWrkService.selectReceive()) { // // try { // taskWrkService.distribute(taskWrk.getTaskNo(), 9527L); // } catch (CoolException e) { // log.info(e.getMessage()); // } // } // } public synchronized void autoCompleteTask() { List taskWrks = taskWrkMapper.selectWorkingTask(); for (TaskWrk taskWrk : taskWrks) { //获取命令集合 List commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo()); if (taskWrk.getCommandStep() < commandInfos.size()) { continue;//当前步序没有到达最后一条命令 } //判断末端命令是否执行完成 CommandInfo commandInfo = commandInfos.get(commandInfos.size() - 1); if (commandInfo.getCommandStatus() != CommandStatusType.COMPLETE.id) { continue;//指令未完成 } Date now = new Date(); //指令已完成，更新任务 if (taskWrk.getIoType() == 1) { //入库任务 taskWrk.setWrkSts(4);//3.吊车入库中 => 4.入库完成 //taskWrk.setStatus(TaskStatusType.COMPLETE.id); taskWrk.setModiTime(now); taskWrkService.updateById(taskWrk); //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint()); locMast.setLocSts("F");//F.在库 locMast.setBarcode(taskWrk.getBarcode());//托盘码 locMast.setModiTime(now); locMast.setModiUser(9999L); locMastService.updateById(locMast); } else if (taskWrk.getIoType() == 2) { //出库任务 taskWrk.setWrkSts(14);//12.吊车出库中 => 14.出库完成 // taskWrk.setStatus(TaskStatusType.COMPLETE.id); taskWrk.setModiTime(now); taskWrkService.updateById(taskWrk); //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint()); locMast.setLocSts("O");//O.空库位 locMast.setBarcode("");//托盘码 locMast.setModiTime(now); locMast.setModiUser(9999L); locMastService.updateById(locMast); } } } private TaskWrk createTask(GetWmsDto dto, String barcode) { String wcsLocNo = dto.getLocNo(); if (Cools.isEmpty(wcsLocNo)) { return null; } Date now = new Date(); TaskWrk taskWrk = new TaskWrk(); int workNo1 = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号 taskWrk.setTaskNo(dto.getWrkNo());//任务号 taskWrk.setWrkNo(workNo1); taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收 taskWrk.setCreateTime(now); taskWrk.setIoType(1);//任务类型 taskWrk.setIoPri(Cools.isEmpty(dto.getTaskPriority()) ? 300 : Integer.parseInt(dto.getTaskPriority()));//优先级 taskWrk.setBarcode(barcode);//条码 LocMast locMast = locMastService.selectByLocNo(wcsLocNo); taskWrk.setCrnNo(locMast.getCrnNo()); taskWrk.setTargetPoint(wcsLocNo); taskWrk.setStartPoint(dto.getStaNo().toString()); if (taskWrk.getIoType() == 1) { taskWrk.setWrkSts(2); if (!Cools.isEmpty(taskWrk.getTargetPoint())) { taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint()); } // } else if (param.getIoType() == 2) { // taskWrk.setWrkSts(11); // if (!Cools.isEmpty(param.getStartPoint())) { // taskWrk.setStartPoint(Utils.getWcsLocNo(param.getStartPoint()));//起点 // taskWrk.setOriginStartPoint(param.getStartPoint()); // } // taskWrk.setTargetPoint(param.getTargetPoint()); // }else if (param.getIoType() == 3){ // taskWrk.setWrkSts(11); // if (!Cools.isEmpty(param.getStartPoint())) { // taskWrk.setStartPoint(param.getStartPoint());//起点 // taskWrk.setOriginStartPoint(param.getStartPoint()); // } } return taskWrk; } }