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.controller.CrnController; import com.zy.asrs.domain.enums.TaskStatusType; import com.zy.asrs.domain.enums.WorkNoType; import com.zy.asrs.domain.param.CrnOperatorParam; import com.zy.asrs.entity.*; import com.zy.asrs.mapper.*; import com.zy.asrs.service.*; import com.zy.asrs.utils.CommandUtils; 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 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 { @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastMapper wrkMastMapper; @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 StaDescMapper staDescMapper; @Autowired private StaDescService staDescService; @Autowired private ApiLogService apiLogService; @Autowired private CommonService commonService; @Autowired private CrnController crnController; @Value("${wms.url}") private String wmsUrl; @Value("${wms.inboundTaskApplyPath}") private String inboundTaskApplyPath; @Value("${wms.taskStatusFeedbackPath}") private String taskStatusFeedbackPath; @Value("${wms.rgvOpen}") private boolean rgvOpen; @Value("${constant-parameters.trackEntireLength}") private Long trackEntireLength; @Value("${constant-parameters.trackBenchmark}") private Long trackBenchmark; @Value("${constant-parameters.trackProportion}") private Long trackProportion; public void generateStoreWrkFile() { 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(); } Integer workNo = staProtocol.getWorkNo(); Integer 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; } // 退回 if (back) { if (stano == inSta.getBackSta().shortValue()){ continue; } if (workNo == 0 && stano == 0){ continue; } if (!staProtocol.isPakMk()){ continue; } // News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg); staProtocol.setWorkNo(workNo); staProtocol.setStaNo(inSta.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo)); if (taskWrk != null) { taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示 taskWrk.setModiTime(new Date()); taskWrkMapper.updateById(taskWrk); } continue; } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (workNo == 9991 ) && 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) && !barcode.equals("99999999")) { // 请求wms接口，获取工作号和目标库位 ToWmsDTO toWmsDTO = new ToWmsDTO(barcode,staProtocol.getSiteId(),staProtocol.isHigh() ? 2 : 1); TaskWrk taskWrk1=taskWrkService.selectOne(new EntityWrapper().eq("barcode",barcode)); if(!Cools.isEmpty(taskWrk1)){ log.info("托盘码："+barcode+"任务档存在"); if (taskWrk1.getIoType()==1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())){ StaDesc staDesc = staDescService.selectOne(new EntityWrapper() .eq("crn_no", taskWrk1.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId())); if (Cools.isEmpty(staDesc)){ log.info("托盘码："+barcode+"任务档存在"); return; }else { staProtocol.setWorkNo(taskWrk1.getWrkNo()); staProtocol.setStaNo(staDesc.getCrnStn()); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); } } return; } HashMap headParam = new HashMap<>(); headParam.put("Content-Type","application/json"); String response; try{ response = new HttpHandler.Builder() // .setHeaders(headParam) .setUri(wmsUrl) .setPath(inboundTaskApplyPath) .setJson(JSON.toJSONString(toWmsDTO)) .build() .doPost(); }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); } staProtocol.setWorkNo(9999); staProtocol.setStaNo(inSta.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo)); // if (taskWrk != null) { // taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示 // taskWrkMapper.updateById(taskWrk); // } continue; } JSONObject jsonObject = JSON.parseObject(response); apiLogService.save("wms请求入库货位接口" ,wmsUrl+inboundTaskApplyPath ,null ,"127.0.0.1" ,JSON.toJSONString(toWmsDTO) ,response ,true ); log.info("入库请求参数{}" + JSON.toJSONString(toWmsDTO)); log.info("入库请求返回参数{}" + JSON.toJSONString(response)); if (jsonObject.getInteger("code").equals(200) && !Cools.isEmpty(jsonObject.get("data").toString())) { GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class); try{ BasDevp basDevp = basDevpService.selectById(inSta.getStaNo()); if (Cools.isEmpty(basDevp)){ log.error("站点号异常1"+inSta.getStaNo()); throw new CoolException("站点号异常1,未查询到站点信息"+inSta.getStaNo()); } Integer staNoCrnNo = Utils.StaNoCrnNo(inSta.getStaNo()); if (staNoCrnNo==0){ basDevp.setStaErr(1); basDevpService.updateById(basDevp); log.error("站点号异常2"+inSta.getStaNo()); throw new CoolException("站点号异常2,站点号不存在"+inSta.getStaNo()); }else { LocMast locMast = locMastService.selectOne(new EntityWrapper() .eq("crn_no", staNoCrnNo.longValue()) .eq("loc_no", getWmsDto.getLocNo())); if (Cools.isEmpty(locMast)){ basDevp.setStaErr(1); basDevpService.updateById(basDevp); log.error("站点号异常3"+inSta.getStaNo()); throw new CoolException("站点号异常3：此巷道不存在目标库位"+inSta.getStaNo()); } } } catch (Exception e){ // log.error("扫码检测程序异常"+inSta.getStaNo()+"异常信息"+e); // 退回 log.error("扫码检测程序异常"+inSta.getStaNo()+errMsg); log.error("扫码检测程序异常,异常信息"+e); staProtocol.setWorkNo(9999); staProtocol.setStaNo(inSta.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo)); // if (taskWrk != null) { // taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示 // taskWrkMapper.updateById(taskWrk); // } continue; } //查看该库位是否为空库位 LocMast locMast=locMastService.selectOne(new EntityWrapper() .eq("loc_sts","O") .eq("loc_no",getWmsDto.getLocNo())); if(Cools.isEmpty(locMast)){ try{ HashMap headParam1 = new HashMap<>(); headParam1.put("taskNo",getWmsDto.getTaskNo()); headParam1.put("status",6); headParam1.put("ioType",1); headParam1.put("barcode",barcode); String response2; response2 = new HttpHandler.Builder() // .setHeaders(headParam) .setUri(wmsUrl) .setPath(taskStatusFeedbackPath) .setJson(JSON.toJSONString(headParam1)) .build() .doPost(); JSONObject jsonObject1 = JSON.parseObject(response2); apiLogService.save("wcs派发库位==》不为空《==上报wms" ,wmsUrl+taskStatusFeedbackPath ,null ,"127.0.0.1" ,JSON.toJSONString(headParam1) ,response ,true ); }catch (Exception e){ log.error("wcs派发库位==》不为空《==上报wms", getWmsDto.getWrkNo()); throw new CoolException("wcs派发入库任务上报wms失败,派发库位==》不为空《==，异常信息："+e); } } // 创新一个入库工作档 TaskWrk taskWrk = taskWrkService.selectByTaskNo(getWmsDto.getWrkNo()); if(Cools.isEmpty(taskWrk)) { taskWrk = createTask(getWmsDto,barcode); if (Cools.isEmpty(taskWrk)){ log.error("库位异常，库位号：{}", getWmsDto.getTargetLocationCode()); }else { taskWrkService.insert(taskWrk); StaDesc staDesc = staDescService.selectOne(new EntityWrapper() .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId())); staProtocol.setWorkNo(taskWrk.getWrkNo()); staProtocol.setStaNo(staDesc.getCrnStn()); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); } } }else { continue; } } else { // 退回 log.error("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg); staProtocol.setWorkNo(9999); staProtocol.setStaNo(inSta.getStaNo()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo)); if (taskWrk != null) { taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示 taskWrk.setModiTime(new Date()); taskWrkMapper.updateById(taskWrk); } } } } } } catch (Exception e) { log.error("generateStoreWrkFile e", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 堆垛机站出库到出库站 */ public 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()); staProtocol.setStaNo(staDesc.getCrnStn()); 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)); Date now = new Date(); taskWrk.setStatus(5); taskWrk.setWrkSts(14); taskWrk.setModiTime(now); taskWrk.setCompleteTime(now); 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; } // 库位移转 this.locToLoc(crn, crnProtocol); // 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"); } } } } } /** * 入库 ===>> 堆垛机站到库位 */ public 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; } // int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号 // taskWrk.setWrkNo(workNo);//工作号 Date now = new Date(); taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态 // taskWrk.setAssignTime(now);//派发时间 taskWrk.setExecuteTime(now); taskWrk.setWrkSts(3);//工作状态 3.吊车入库 taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号 taskWrk.setModiTime(now); taskWrk.setModiUser(9988L); // //取出命令 // List commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo()); // Integer commandStep = taskWrk.getCommandStep(); // if (commandInfos.isEmpty()) { // continue;//命令空 // } // CommandInfo commandInfo = commandInfos.get(commandStep); // CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文 // CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class); // // if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) { // 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 2.设备上走 => 3.吊车入库中 // Date now = new Date(); // taskWrk.setWrkSts(3); // taskWrk.setModiTime(now); // if (taskWrkMapper.updateById(taskWrk) == 0) { // log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo()); // } // //开始运行 // String response = CrnStartRunning(taskWrk); // JSONObject jsonObject = JSON.parseObject(response); // if (jsonObject.getInteger("code").equals(200)) { // // }else { // log.error("入库开始运行通讯失败,"+jsonObject.get("msg")); // // } // } // 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); 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){ 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()); log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，异常："+e); } try{ HashMap headParam = new HashMap<>(); headParam.put("taskNo",taskWrk.getTaskNo()); headParam.put("status",taskWrk.getStatus()); headParam.put("ioType",taskWrk.getIoType()); headParam.put("barcode",taskWrk.getBarcode()); String response; response = new HttpHandler.Builder() // .setHeaders(headParam) .setUri(wmsUrl) .setPath(taskStatusFeedbackPath) .setJson(JSON.toJSONString(headParam)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); apiLogService.save("wcs派发入库任务上报wms" ,wmsUrl+taskStatusFeedbackPath ,null ,"127.0.0.1" ,JSON.toJSONString(headParam) ,response ,true ); } catch (Exception e){ log.error("wcs派发入库任务上报wms失败", JSON.toJSONString(taskWrk)); // throw new CoolException("wcs派发入库任务上报wms失败"); } } } // return; } } /** * 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 void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){ List taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null); if (taskWrksInitial.size()==0){ 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; } // 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; } // 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.setStatus(2); taskWrk.setModiTime(now); taskWrk.setExecuteTime(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); } try{ HashMap headParam = new HashMap<>(); headParam.put("taskNo",taskWrk.getTaskNo()); headParam.put("status",taskWrk.getStatus()); headParam.put("ioType",taskWrk.getIoType()); headParam.put("barcode",taskWrk.getBarcode()); String response; response = new HttpHandler.Builder() // .setHeaders(headParam) .setUri(wmsUrl) .setPath(taskStatusFeedbackPath) .setJson(JSON.toJSONString(headParam)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); apiLogService.save("wcs派发出库任务上报wms" ,wmsUrl+taskStatusFeedbackPath ,null ,"127.0.0.1" ,JSON.toJSONString(headParam) ,response ,true ); }catch (Exception e){ log.error("wcs派发出库任务上报wms失败", JSON.toJSONString(taskWrk)); // throw new CoolException("wcs派发入库任务上报wms失败"); } } } } } } } /** * 库位移转 */ public 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.setStatus(2); taskWrk.setModiTime(now); taskWrk.setExecuteTime(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()); } try{ HashMap headParam = new HashMap<>(); headParam.put("taskNo",taskWrk.getTaskNo()); headParam.put("status",taskWrk.getStatus()); headParam.put("ioType",taskWrk.getIoType()); headParam.put("barcode",taskWrk.getBarcode()); String response; response = new HttpHandler.Builder() // .setHeaders(headParam) .setUri(wmsUrl) .setPath(taskStatusFeedbackPath) .setJson(JSON.toJSONString(headParam)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); apiLogService.save("wcs派发移库任务上报wms" ,wmsUrl+taskStatusFeedbackPath ,null ,"127.0.0.1" ,JSON.toJSONString(headParam) ,response ,true ); }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"); } } return; } } } /** * 执行对工作档的完成操作 */ public 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 (!Cools.isEmpty(crnProtocol.getTaskFinish()) && crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.WAITING && 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; } Thread.sleep(300); //确认完成信号 CrnOperatorParam crnOperatorParam=new CrnOperatorParam(); crnOperatorParam.setCrnNo(crn.getId()); Date now = new Date(); crnController.crnTaskComplete(crnOperatorParam); 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(now); 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(now); 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(now); 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(now); locMast1.setModiUser(9999L); locMastService.updateById(locMast1); } taskWrk.setModiTime(now); taskWrk.setCompleteTime(now); taskWrkService.updateById(taskWrk); try{ HashMap headParam = new HashMap<>(); headParam.put("taskNo",taskWrk.getTaskNo()); headParam.put("status",taskWrk.getStatus()); headParam.put("ioType",taskWrk.getIoType()); headParam.put("barcode",taskWrk.getBarcode()); String response; log.error("wcs完结任务上报wms==》", headParam); response = new HttpHandler.Builder() // .setHeaders(headParam) .setUri(wmsUrl) .setPath(taskStatusFeedbackPath) .setJson(JSON.toJSONString(headParam)) .build() .doPost(); log.error("wcs完结任务上报wms==》", response); // JSONObject jsonObject = JSON.parseObject(response); // log.error("wcs完结任务上报wms==》", jsonObject); apiLogService.save("wcs派发入库任务上报wms" ,wmsUrl+taskStatusFeedbackPath ,null ,"127.0.0.1" ,JSON.toJSONString(headParam) ,response ,true ); }catch (Exception e){ log.error("wcs完结任务上报wms失败", taskWrk); log.error("wcs完结任务上报wms失败,报错信息：", e); // throw new CoolException("wcs派发入库任务上报wms失败"); } } } } } /** * 堆垛机异常信息记录 */ 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 (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) { 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()); } } } } } } } 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.setAssignTime(now); taskWrk.setModiTime(now); taskWrk.setModiUser(5555L); 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()); } } return taskWrk; } }