package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.baomidou.mybatisplus.mapper.Wrapper; import com.core.common.Cools; import com.core.common.DateUtils; import com.core.exception.CoolException; import com.zy.asrs.entity.*; import com.zy.asrs.mapper.BasCrnErrorMapper; import com.zy.asrs.mapper.TestMastMapper; import com.zy.asrs.mapper.WaitPakinMapper; import com.zy.asrs.mapper.WrkMastMapper; import com.zy.asrs.service.*; import com.zy.asrs.utils.Utils; import com.zy.asrs.utils.VersionUtils; import com.zy.common.model.*; 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.CrnSlave; import com.zy.core.model.DevpSlave; import com.zy.core.model.LedSlave; import com.zy.core.model.Task; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.command.LedCommand; 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.LedThread; import com.zy.core.thread.SiemensCrnThread; import com.zy.core.thread.SiemensDevpThread; import lombok.extern.slf4j.Slf4j; import org.apache.poi.ss.formula.functions.T; 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.ArrayList; import java.util.Date; import java.util.List; import java.util.Set; import java.util.stream.Collectors; /** * 立体仓库WCS系统主流程业务 * Created by vincent on 2020/8/6 */ @Slf4j @Service("mainService") @Transactional public class MainServiceImpl { public static final long COMMAND_TIMEOUT = 5 * 1000; @Autowired private CommonService commonService; @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastMapper wrkMastMapper; @Autowired private WrkDetlService wrkDetlService; @Autowired private WaitPakinMapper waitPakinMapper; @Autowired private LocMastService locMastService; @Autowired private StaDescService staDescService; @Autowired private BasCrnpService basCrnpService; @Autowired private BasDevpService basDevpService; @Autowired private LocDetlService locDetlService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Autowired private TestMastService testMastService; @Value("${wms.url}") private String wmsUrl; @Value("${test.url}") private String testUrl; /** * 组托 * 入库站，根据条码扫描生成入库工作档，工作状态 2 */ 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()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode()); if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); // barcode="ILY0127 0001"; 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; } // 获取入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } //staProtocol.setPakMk(true); // // 入出库模式判断 // if ( inSta.getStaNo()==180 && devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999) && staProtocol.isPakMk()){// && !Cools.isEmpty(barcode)) { // if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) { // log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode); // //条码为空或者不符合，退库到172站点 // staProtocol.setWorkNo((short)9999); // staProtocol.setStaNo((short)172); // devpThread.setPakMk(staProtocol.getSiteId(), false); // boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // if (!result) { // throw new CoolException("更新plc站点信息失败"); // } // continue; // } // 判断重复工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode.substring(0,6)); if (wrkMast != null) { log.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo()); continue; } // // 获取入库通知档 // List waitPakins = waitPakinMapper.selectList(new EntityWrapper().eq("zpallet", barcode).eq("io_status", "N")); // if (waitPakins.isEmpty()) { // log.error("无此入库条码数据。条码号={}", barcode); // continue; // } try { String pack =null;//pack码 if(barcode.length()>6){ pack=barcode.substring(6); if(pack.equals("00000000000000000000")){ log.error("没有获得Pack码",pack); continue; } } //String pack="MJY0136 0400"; barcode=barcode.substring(0,6);//托盘码 if(barcode.equals("000000")){ log.error("没有获得条码",barcode); continue; } LocTypeDto locTypeDto = new LocTypeDto(staProtocol); locTypeDto.setLocType1((short)1); SearchLocParam param = new SearchLocParam(); param.setBarcode(barcode); param.setIoType(1); param.setSourceStaNo(inSta.getStaNo()); param.setLocType1(locTypeDto.getLocType1()); param.setPackNo(pack); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin/loc/v1") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); barcodeThread.setBarcode(""); staProtocol.setWorkNo(dto.getWorkNo().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 if (jsonObject.getInteger("code").equals(700) && (!barcodeThread.getBarcode().equals("NG"))){ StartupDto dto = jsonObject.getObject("data", StartupDto.class); barcodeThread.setBarcode(""); staProtocol.setWorkNo((short)9999); staProtocol.setStaNo((short)201); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.error("url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response); }else { StartupDto dto = jsonObject.getObject("data", StartupDto.class); barcodeThread.setBarcode(""); staProtocol.setWorkNo((short)9999); staProtocol.setStaNo((short)201); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response); } // // 检索库位 // LocTypeDto locTypeDto = new LocTypeDto(staProtocol); // List matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList()); // StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos, locTypeDto, 0); // // 工作号 // int workNo = startupDto.getWorkNo(); // // 插入工作明细档 // wrkDetlService.createWorkDetail(workNo, waitPakins, barcode); // // // 插入工作主档 // wrkMast = new WrkMast(); // wrkMast.setWrkNo(workNo); // wrkMast.setIoTime(new Date()); // wrkMast.setWrkSts(2L); // 工作状态：2.设备上走 // wrkMast.setIoType(1); // 入出库状态：1.入库 // wrkMast.setIoPri(10D); // 优先级：10 // wrkMast.setCrnNo(startupDto.getCrnNo()); // wrkMast.setSourceStaNo(startupDto.getSourceStaNo()); // wrkMast.setStaNo(startupDto.getStaNo()); // wrkMast.setLocNo(startupDto.getLocNo()); // wrkMast.setBarcode(barcode); // 托盘码 // wrkMast.setFullPlt("Y"); // 满板：Y // wrkMast.setPicking("N"); // 拣料 // wrkMast.setExitMk("N"); // 退出 // wrkMast.setEmptyMk("N"); // 空板 // wrkMast.setLinkMis("N"); // // 操作人员数据 // wrkMast.setAppeTime(new Date()); // wrkMast.setModiTime(new Date()); // Integer insert = wrkMastMapper.insert(wrkMast); // if (insert == 0) { // throw new CoolException("保存工作档失败"); // } // // 更新目标库位状态 // LocMast locMast = locMastService.selectById(startupDto.getLocNo()); // locMast.setLocSts("S"); // S.入库预约 // locMast.setModiTime(new Date()); // if (!locMastService.updateById(locMast)){ // throw new CoolException("改变库位状态失败"); // } // // 将入库通知档修改为已启动 // if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) { // throw new CoolException("修改入库通知档状态为已启动失败"); // } // // // 命令下发区 -------------------------------------------------------------------------- // // // 更新站点信息 且 下发plc命令 // barcodeThread.setBarcode(""); // staProtocol.setWorkNo((short) workNo); // staProtocol.setStaNo(startupDto.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"); // } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * wms入库 * 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2 */ public void generateStoreWrkFile0() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { // 获取入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // // 入出库模式判断 // if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999) && staProtocol.isPakMk()) { // 判断重复工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo()); if (wrkMast == null) { continue; } // 命令下发区 -------------------------------------------------------------------------- // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (result) { // 更新工作主档 wrkMast.setWrkSts(2L); // 工作状态：2.设备上走 wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo()); } } else { log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } } } } } /** * 拣料、并板、盘点再入库 */ public synchronized void stnToCrnStnPick(){ for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历拣料入库口 for (DevpSlave.Sta pickSta : devp.getPickSta()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode()); if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); if(!Cools.isEmpty(barcode)) { log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode); if("NG".endsWith(barcode) || "NoRead".equals(barcode)) { continue; } } else { continue; } // 获取拣料入库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // // 入出库模式判断 // if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){ // if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) { // log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode); // //条码为空或者不符合，退库到172站点 // staProtocol.setWorkNo((short)9999); // staProtocol.setStaNo((short)172); // devpThread.setPakMk(staProtocol.getSiteId(), false); // boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // if (!result) { // throw new CoolException("更新plc站点信息失败"); // } // continue; // } 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; } // 拣、盘、并 作业站转换 // int stnNo = 0; // if (wrkMast.getStaNo() == 109) { // stnNo = 127; // } else if (wrkMast.getStaNo() == 113) { // stnNo = 128; // } else { // log.error("{}号任务数据异常！", wrkMast.getWrkNo()); // } // 获取目标站 Wrapper wrapper = new EntityWrapper() .eq("type_no", wrkMast.getIoType() - 50) .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站 .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号 StaDesc staDesc = staDescService.selectOne(wrapper); if (Cools.isEmpty(staDesc)) { log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo()); continue; } try { // 保存工作明细档历史档 if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) { throw new CoolException("保存工作明细档历史档失败"); } // 保存工作主档历史档 if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) { throw new CoolException("保存工作主档历史档失败"); } Date now = new Date(); // 堆垛机站点(目标站) Integer staNo = staDesc.getCrnStn(); // 更新工作档数据状态 wrkMast.setIoTime(now); wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57 wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走 wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站 wrkMast.setStaNo(staNo); // 目标站 wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位 wrkMast.setSourceLocNo(""); // 源库位清空 wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException("更新工作档数据状态失败"); } // 更新明细档io_time (历史档关联使用） wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now); // 修改库位状态 Q.拣料/盘点/并板再入库 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); locMast.setLocSts("Q"); locMast.setModiTime(new Date()); if (!locMastService.updateById(locMast)) { throw new CoolException("修改库位状态失败"); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); continue; } // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo().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.getSiteId()==109) && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) { // 查询工作档 WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId()); if (wrkMast == null) { continue; } // 判断工作档条件 if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) { continue; } // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) { // 移动中 continue; } // 判断堆垛机状态等待确认 if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue()) && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.forkPosType == CrnForkPosType.HOME) { // 命令下发区 -------------------------------------------------------------------------- // 下发站点信息 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) { continue; } // 更新工作档状态为14失败 wrkMast.setWrkSts(14L); wrkMast.setCrnEndTime(new Date()); if (wrkMastMapper.updateById(wrkMast) != 0) { // 复位堆垛机 crnThread.setResetFlag(true); } else { log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } } } } } } /** * 入出库 ===>> 堆垛机入出库作业下发 */ public synchronized void crnIoExecute(){ for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } BasCrnp basCrnp = basCrnpService.selectById(crn.getId()); if (basCrnp == null) { log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId()); continue; } // //堆垛机回原点任务中 // if(crnThread.isBackHpFlag()){ // continue; // } // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) { // 库位移转 this.stnToStn(crn, crnProtocol); // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc(crn, crnProtocol); // 入库 crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn(crn, crnProtocol); // 出库 crnProtocol.setLastIo("I"); } } // 如果最近一次是出库模式 else if (crnProtocol.getLastIo().equals("O")) { if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn(crn, crnProtocol); // 出库 crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc(crn, crnProtocol); // 入库 crnProtocol.setLastIo("O"); } } } // 库位移转 this.locToLoc(crn, crnProtocol); // this.crnRebackHp(crnProtocol, crnThread); } } /** * 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点 */ public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread){ // for (CrnSlave crn : slaveProperties.getCrn()) { // // 获取堆垛机信息 // CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); // CrnProtocol crnProtocol = crnThread.getCrnProtocol(); // if (crnProtocol == null) { // continue; // } // BasCrnp basCrnp = basCrnpService.selectById(crn.getId()); // if (basCrnp == null) { // log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId()); // continue; // } if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { if(crnProtocol.getBay() ==1 && crnProtocol.getLevel()==1){ return; } // 已经存在吊车执行任务时，则过滤3,12 if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) { return; } //堆垛机有执行中任务，过滤3,4,11,12 if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) { return; } //输送线没有入库任务，过滤2 if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) { return; } log.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点"); // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo((short) 9999); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点 crnCommand.setSourcePosX((short) 0); // 源库位排 crnCommand.setSourcePosY((short) 0); // 源库位列 crnCommand.setSourcePosZ((short) 0); // 源库位层 crnCommand.setDestinationPosX((short) 0); // 目标库位排 crnCommand.setDestinationPosY((short) 0); // 目标库位列 crnCommand.setDestinationPosZ((short) 0); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand)); } crnThread.setBackHpFlag(true); } // } } /** * 入库 ===>> 堆垛机站到库位 */ public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){ for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) { boolean flag = false; // 获取堆垛机入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable() && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) { flag = true; } if (!flag) { continue; } // 获取工作状态为2（设备上走）的入库工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo()); if(null == wrkMast) { // log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo()); continue; } // 获取库位信息 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); if (locMast == null) { log.error("查询库存无数据--库位号{}", wrkMast.getLocNo()); continue; } if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) { log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts()); continue; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { continue; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } // 双深库位且浅库位有货，则需先对浅库位进行库位移转 if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) { String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo()); LocMast shallowLoc = locMastService.selectById(shallowLocNo); // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！ if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null == waitWrkMast) { log.error("{}库位异常，未检索到相应工作档！", shallowLocNo); } else { waitWrkMast.setIoPri(15D); waitWrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(waitWrkMast) == 0) { log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo()); } continue; } } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { // 此标记避免多次执行移库任务 if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) { wrkMast.setUpdMk("Y"); wrkMast.setIoPri(14D); wrkMastMapper.updateById(wrkMast); // 生成工作档,将浅库位移转到新的库位中 moveLocForDeepLoc(slave, shallowLoc); // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行) // moveLocForDeepLocPakin(slave, shallowLoc, wrkMast); } continue; } else if (shallowLoc.getLocSts().equals("Q")){ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null != waitWrkMast && waitWrkMast.getWrkSts()==4) { continue; } } } // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排 crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列 crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层 crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层\ crnCommand.setBarcode(wrkMast.getBarcode());//托盘码 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // long startTime = System.currentTimeMillis(); // while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) { // // if (true) { // break; // } // // try{ // Thread.sleep(500); // }catch(Exception ignore){} // } // 修改工作档状态 2.设备上走 => 3.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(3L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } /** * 出库 ===>> 库位到堆垛机站 * 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库 */ public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){ for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) { // 获取工作状态为11（生成出库ID）的出库工作档 // WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo()); List wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo()); for (WrkMast wrkMast : wrkMasts){ if (wrkMast == null) { continue; } // 工作档状态判断 if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){ log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType()); continue; } // 获取源库位信息 LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) { log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts()); continue; } // 获取堆垛机出库站信息 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { break; // continue; } else { staProtocol = staProtocol.clone(); } // // 入出库模式判断 // if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); break; // continue; } //查询在库信息 LocMast locMast =locMastService.selectOne(new EntityWrapper() .eq("loc_sts","R") .eq("loc_no",wrkMast.getSourceLocNo())); if(Cools.isEmpty(locMast)){ log.error("出库 ===>> 库位中没有这笔资料",wrkMast.getSourceLocNo()); 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()) { //测试库位出库必须要按启动按钮才能出库 if((wrkMast.getStaNo()==206 || wrkMast.getStaNo()==1000)&& locMast.getCtnKind()==0){ log.error("出库 ===>> 等待启动出库按钮",wrkMast); continue; } // 命令下发区 -------------------------------------------------------------------------- // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // continue; break; } // 双深库位且浅库位有货，则需先对浅库位进行库位移转 if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) { String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo()); LocMast shallowLoc = locMastService.selectById(shallowLocNo); // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！ if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null == waitWrkMast) { log.error("{}库位异常，未检索到相应工作档！", shallowLocNo); } else { if(waitWrkMast.getWrkSts() == 11) { waitWrkMast.setIoPri(15D); waitWrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(waitWrkMast) == 0) { log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo()); } continue; } else { } } } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); // 此标记避免多次执行移库任务 if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk()) || Cools.isEmpty(waitWrkMast)) { wrkMast.setUpdMk("Y"); wrkMastMapper.updateById(wrkMast); // 生成工作档,将浅库位移转到新的库位中 moveLocForDeepLoc(slave, shallowLoc); } log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo()); continue; } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")){ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null != waitWrkMast && waitWrkMast.getWrkSts()==4) { continue; } } } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { break; // return; } // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层 crnCommand.setBarcode(wrkMast.getBarcode()); if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(12L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } break; } } } } } // /** // * 出库 ===>> 库位到堆垛机站 // */ // public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){ // for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) { // // 获取工作状态为11（生成出库ID）的出库工作档 // WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo()); // if (wrkMast == null) { // continue; // } // // 工作档状态判断 // if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){ // log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType()); // continue; // } // // 获取源库位信息 // LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); // if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) { // log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts()); // continue; // } // // 获取堆垛机出库站信息 // SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); // StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); // if (staProtocol == null) { // continue; // } else { // staProtocol = staProtocol.clone(); // } // //// // 入出库模式判断 //// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; } // // // // 查询站点详细信息 // BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); // if (staDetl == null) { // log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); // continue; // } // // 判断堆垛机出库站状态 // if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y") // && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) { // // 命令下发区 -------------------------------------------------------------------------- // // // 堆垛机控制过滤 // if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // continue; // } // // // 双深库位且浅库位有货，则需先对浅库位进行库位移转 // if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) { // String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo()); // LocMast shallowLoc = locMastService.selectById(shallowLocNo); // // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！ // if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) { // WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); // if (null == waitWrkMast) { // log.error("{}库位异常，未检索到相应工作档！", shallowLocNo); // } else { // if(waitWrkMast.getWrkSts() == 11) { // waitWrkMast.setIoPri(15D); // waitWrkMast.setModiTime(new Date()); // if (wrkMastMapper.updateById(waitWrkMast) == 0) { // log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo()); // } // continue; // } else { // // } // } // } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { // // 此标记避免多次执行移库任务 // if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) { // wrkMast.setUpdMk("Y"); // wrkMastMapper.updateById(wrkMast); // // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行) // moveLocForDeepLoc(slave, shallowLoc); // } // log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo()); // continue; // } // } // // // 已经存在吊车执行任务时，则过滤 // if (wrkMastMapper.selectWorking(slave.getId()) != null) { // return; // } // // // 1.堆垛机开始移动 // CrnCommand crnCommand = new CrnCommand(); // crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 // crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 // crnCommand.setAckFinish((short) 0); // 任务完成确认位 // crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 // crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排 // crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 // crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 // crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排 // crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列 // crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层 // if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { // log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); // } else { // // 修改工作档状态 11.生成出库ID => 12.吊车出库中 // Date now = new Date(); // wrkMast.setWrkSts(12L); // wrkMast.setCrnStrTime(now); // wrkMast.setModiTime(now); // if (wrkMastMapper.updateById(wrkMast) == 0) { // log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); // } // } // } // } // } /** * 库位移转 */ public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){ // 获取工作档信息 WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId()); if (null == wrkMast) { return; } // 获取源库位信息 LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); if (null == sourceSta) { log.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo()); return; } // 源库位 库位状态判断 if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) { return; } // 获取目标库位信息 LocMast sta = locMastService.selectById(wrkMast.getLocNo()); if (null == sta) { log.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo()); return; } // 获取堆垛机信息 并 判断是否可入出 BasCrnp basCrnp = basCrnpService.selectById(slave.getId()); if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) { return; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { return; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { return; } //测试库位出库必须要按启动按钮才能出库 if(sourceSta.getLocType1()==1 && sourceSta.getCtnKind()==0){ log.error("出库 ===>> 等待启动按钮",wrkMast); return; } // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排 crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列 crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层 crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层 if(!sta.getLocNo().equals("0102501")){ crnCommand.setBarcode(wrkMast.getBarcode());//托盘码 }else { crnCommand.setFireStaut((short) 1); } if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); wrkMast.setWrkSts(12L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("【库位移转】 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } /** * 执行对工作档的完成操作 */ @Async 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) { if(crnProtocol.getTaskNo()==9999){ // 堆垛机复位 crnThread.setResetFlag(true); }else { // 获取入库待确认工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue()); if (wrkMast == null) { log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo()); continue; } // 入库 + 库位转移 ==> 4.入库完成 if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) { wrkMast.setWrkSts(4L); } else { continue; } Date now = new Date(); wrkMast.setCrnEndTime(now); wrkMast.setModiTime(now); // 修改成功后复位堆垛机 if (wrkMastMapper.updateById(wrkMast) > 0) { // 堆垛机复位 crnThread.setResetFlag(true); } } } } } /** * 堆垛机异常信息记录 */ @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 SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // // 入出库模式判断 // if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; } // 站点条件判断 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999 || staProtocol.getWorkNo() == 9990 || 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(); } // // 检索库位 // LocTypeDto locTypeDto = new LocTypeDto(staProtocol); // StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null, locTypeDto, 0); // // 工作号 // int workNo = startupDto.getWorkNo(); // // try { // // 插入工作主档 // WrkMast wrkMast = new WrkMast(); // wrkMast.setWrkNo(workNo); // wrkMast.setIoTime(new Date()); // wrkMast.setWrkSts(2L); // 工作状态：2.设备上走 // wrkMast.setIoType(10); // 入出库状态：10.空板入库 // wrkMast.setIoPri(10D); // 优先级：10 // wrkMast.setCrnNo(startupDto.getCrnNo()); // wrkMast.setSourceStaNo(startupDto.getSourceStaNo()); // wrkMast.setStaNo(startupDto.getStaNo()); // wrkMast.setLocNo(startupDto.getLocNo()); // wrkMast.setFullPlt("N"); // 满板 // wrkMast.setPicking("N"); // 拣料 // wrkMast.setExitMk("N"); // 退出 // wrkMast.setEmptyMk("Y"); // 空板 // wrkMast.setLinkMis("N"); //// wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型 // // 操作人员数据 // wrkMast.setAppeTime(new Date()); // wrkMast.setModiTime(new Date()); // Integer insert = wrkMastMapper.insert(wrkMast); // if (insert == 0) { // throw new CoolException("保存工作档失败"); // } // // 更新目标库位状态 // LocMast locMast = locMastService.selectById(startupDto.getLocNo()); // locMast.setLocSts("S"); // S.入库预约 // locMast.setModiTime(new Date()); // if (!locMastService.updateById(locMast)){ // throw new CoolException("改变库位状态失败"); // } // // 命令下发区 -------------------------------------------------------------------------- // // // 更新站点信息 且 下发plc命令 // staProtocol.setWorkNo((short) workNo); // staProtocol.setStaNo(startupDto.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"); // } // } 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()); // 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 -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme()))); } commands.add(ledCommand); } Set workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet()); // 获取LED线程 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId()); // 相同工作号集合则过滤 if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) { continue; } // 命令下发 ------------------------------------------------------------------------------- if (!commands.isEmpty()) { if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) { log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); continue; } else { ledThread.setLedMk(false); } } try { // 修改主档led标记 for (WrkMast wrkMast : wrkMasts) { wrkMast.setOveMk("Y"); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException("更新工作档失败"); } } // 更新线程当前工作号集合 ledThread.setWorkNos(workNos); } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } /** * 其他 ===>> LED显示器复位，显示默认信息 */ @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; // } else { // staProtocol = staProtocol.clone(); // } // 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()); // } // } // } 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.getId()); // led显示默认内容 if (reset && !ledThread.isLedMk()) { ledThread.setLedMk(true); if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) { log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); } else { } } } } /** * 因双深库位阻塞，对浅库位进行移转（入库版) * tip：同步 */ @Transactional public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast){ LocMast loc = locMastService.selectById(pakinWrkMast.getLocNo()); // 获取工作号 int workNo = commonService.getWorkNo(0); Date now = new Date(); // 保存工作档 WrkMast wrkMast = new WrkMast(); wrkMast.setWrkNo(workNo); wrkMast.setIoTime(now); wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID wrkMast.setIoType(11); // 入出库状态： 11.库格移载 wrkMast.setIoPri(15D); wrkMast.setCrnNo(crn.getId()); wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位 wrkMast.setLocNo(loc.getLocNo()); // 目标库位 wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板 wrkMast.setPicking("N"); // 拣料 wrkMast.setExitMk("N"); // 退出 wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D")?"Y":"N"); // 空板 wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码 wrkMast.setLinkMis("N"); wrkMast.setCtnNo("Y"); // 入库阻塞库位移转标记 wrkMast.setAppeTime(now); wrkMast.setModiTime(now); int res = wrkMastMapper.insert(wrkMast); if (res == 0) { throw new CoolException("保存工作档失败"); } // 工作档明细保存 if (shallowLoc.getLocSts().equals("F")) { List locDetls = locDetlService.selectList(new EntityWrapper().eq("loc_no", shallowLoc.getLocNo())); for (LocDetl locDetl : locDetls) { WrkDetl wrkDetl = new WrkDetl(); wrkDetl.setWrkNo(workNo); wrkDetl.setIoTime(now); wrkDetl.setAnfme(locDetl.getAnfme()); VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制 wrkDetl.setAppeTime(now); wrkDetl.setModiTime(now); if (!wrkDetlService.insert(wrkDetl)) { throw new CoolException("保存工作档明细失败"); } } } // 修改源库位状态 if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) { shallowLoc.setLocSts("S"); // S.入库预约，入库阻塞库位移转 shallowLoc.setModiTime(now); if (!locMastService.updateById(shallowLoc)){ throw new CoolException("更新源库位状态失败"); } } else { throw new CoolException("源库位出库失败"); } // // 修改目标库位状态 // if (loc.getLocSts().equals("O")) { // loc.setLocSts("S"); // S.入库预约 // loc.setModiTime(new Date()); // if (!locMastService.updateById(loc)) { // throw new CoolException("更新目标库位状态失败"); // } // } else { // throw new CoolException("移转失败"); // } wrkMast.setLocNo(shallowLoc.getLocNo()); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException("修改阻塞入库任务失败"); } } /** * 因双深库位阻塞，对浅库位进行移转（立即执行版) * tip：同步 */ private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){ try { List rows = locMastService.queryDistinctRow(crn.getId()); LocMast loc = null; for (Integer row : rows) { if (Utils.isDeepLoc(slaveProperties, row)) { loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1()); if (loc != null) { if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) { String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo()); LocMast shallowLoc1 = locMastService.selectById(shallowLocNo); if (!shallowLoc1.getLocSts().equals("O")) { loc = null; } } } if (null != loc) { break; } } } if (null == loc) { for (Integer row : rows) { if (Utils.isShallowLoc(slaveProperties, row)) { loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1()); if (null != loc) {//对应深库位非在库状态,不能移库 String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo()); LocMast deepLoc1 = locMastService.selectById(deepLoc); if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) { loc = null; } } if (null != loc) { break; } } } } if (null == loc) { log.error("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo()); throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo()); } // 获取工作号 int workNo = commonService.getWorkNo(0); // 保存工作档 WrkMast wrkMast = new WrkMast(); wrkMast.setWrkNo(workNo); wrkMast.setIoTime(new Date()); wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID wrkMast.setIoType(11); // 入出库状态： 11.库格移载 wrkMast.setIoPri(13D); wrkMast.setCrnNo(crn.getId()); wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位 wrkMast.setLocNo(loc.getLocNo()); // 目标库位 wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板 wrkMast.setPicking("N"); // 拣料 wrkMast.setExitMk("N"); // 退出 wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板 wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码 wrkMast.setLinkMis("N"); wrkMast.setAppeTime(new Date()); wrkMast.setModiTime(new Date()); int res = wrkMastMapper.insert(wrkMast); if (res == 0) { throw new CoolException("保存工作档失败"); } // 工作档明细保存 if (shallowLoc.getLocSts().equals("F")) { List locDetls = locDetlService.selectList(new EntityWrapper().eq("loc_no", shallowLoc.getLocNo())); for (LocDetl locDetl : locDetls) { WrkDetl wrkDetl = new WrkDetl(); wrkDetl.setWrkNo(workNo); wrkDetl.setIoTime(new Date()); wrkDetl.setAnfme(locDetl.getAnfme()); VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制 wrkDetl.setAppeTime(new Date()); wrkDetl.setModiTime(new Date()); if (!wrkDetlService.insert(wrkDetl)) { throw new CoolException("保存工作档明细失败"); } } } // 修改源库位状态 if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) { shallowLoc.setLocSts("R"); // R.出库预约 shallowLoc.setModiTime(new Date()); if (!locMastService.updateById(shallowLoc)) { throw new CoolException("更新源库位状态失败"); } } else { throw new CoolException("源库位出库失败"); } // 修改目标库位状态 if (loc.getLocSts().equals("O")) { loc.setLocSts("S"); // S.入库预约 loc.setModiTime(new Date()); if (!locMastService.updateById(loc)) { throw new CoolException("更新目标库位状态失败"); } } else { throw new CoolException("移转失败"); } } catch (Exception e) { log.error("双深库位阻塞，对浅库位进行移转失败", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 堆垛机演示 ===>> 库位移转 */ public synchronized void crnDemoOfLocMove1(){ try { for (CrnSlave crn : slaveProperties.getCrn()) { if (!crn.getDemo()) { continue; } // 必须为演示状态 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { // 获取移库工作档信息 WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId()); if (null != wrkMast) { continue; } LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId()); LocMast loc = locMastService.queryDemoLoc(crn.getId()); if (null == sourceLoc || null == loc) { continue; } String sourceLocNo = sourceLoc.getLocNo(); String locNo = loc.getLocNo(); // 获取工作号 int workNo = commonService.getWorkNo(0); // 保存工作档 wrkMast = new WrkMast(); wrkMast.setWrkNo(workNo); wrkMast.setIoTime(new Date()); wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID wrkMast.setIoType(11); // 入出库状态： 11.库格移载 wrkMast.setIoPri(13D); wrkMast.setCrnNo(crn.getId()); wrkMast.setSourceLocNo(sourceLocNo); // 源库位 wrkMast.setLocNo(locNo); // 目标库位 wrkMast.setFullPlt("N"); // 满板：Y wrkMast.setPicking("N"); // 拣料 wrkMast.setExitMk("N"); // 退出 wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板 wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码 wrkMast.setLinkMis("N"); wrkMast.setAppeTime(new Date()); wrkMast.setModiTime(new Date()); int res = wrkMastMapper.insert(wrkMast); if (res == 0) { throw new CoolException("保存工作档失败"); } // 工作档明细保存 // List locDetls = locDetlService.selectList(new EntityWrapper().eq("loc_no", sourceLocNo)); // for (LocDetl locDetl : locDetls) { // WrkDetl wrkDetl = new WrkDetl(); // wrkDetl.setWrkNo(workNo); // wrkDetl.setIoTime(new Date()); // wrkDetl.setAnfme(locDetl.getAnfme()); // VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制 // wrkDetl.setAppeTime(new Date()); // wrkDetl.setModiTime(new Date()); // if (!wrkDetlService.insert(wrkDetl)) { // throw new CoolException("保存工作档明细失败"); // } // } // 修改源库位状态 if (sourceLoc.getLocSts().equals("D")) { sourceLoc.setLocSts("R"); // R.出库预约 sourceLoc.setModiTime(new Date()); if (!locMastService.updateById(sourceLoc)) { throw new CoolException("更新源库位状态失败"); } } else { throw new CoolException("源库位出库失败"); } // 修改目标库位状态 if (loc.getLocSts().equals("O")) { loc.setLocSts("S"); // S.入库预约 loc.setModiTime(new Date()); if (!locMastService.updateById(loc)) { throw new CoolException("更新目标库位状态失败"); } } else { throw new CoolException("移转失败"); } } } } catch (Exception e) { log.error("堆垛机演示 ===>> 库位移转失败", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 堆垛机命令下发后，异步修改工作档状态 */ public synchronized void crnIoWrkMast(){ for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } Date now = new Date(); // 堆垛机正在运行 if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { // 获取工作档 WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo()); if (wrkMast == null) { continue; } // 入库 if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 2) { log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo()); // 修改工作档状态 2.设备上走 => 3.吊车入库中 wrkMast.setWrkSts(3L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo()); } // 出库、移库 if (wrkMast.getWrkSts() == 11) { log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo()); // 修改工作档状态 11.生成出库ID => 12.吊车出库中 wrkMast.setWrkSts(12L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo()); } log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo()); } } } } /** * 入出库模式切换函数 */ public void ioConvert() { try { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); WrkMast pakout = wrkMastMapper.selectWorkingPakout(); if (pakout != null) { if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { // 出库切换中 devpThread.ioMode = IoModeType.PAKOUT_BOOTING; WrkMast pakin = wrkMastMapper.selectWorkingPakin(); if (pakin == null) { // 出库模式 devpThread.ioMode = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioMode = IoModeType.PAKIN_MODE; } } } catch (Exception e) { e.printStackTrace(); } } public void outOfDevp() { List wrkMasts = wrkMastMapper.selectPick(); for (WrkMast wrkMast : wrkMasts) { if (basDevpService.selectCount(new EntityWrapper().eq("wrk_no", wrkMast.getWrkNo())) == 0) { wrkMast.setCtnNo("Y"); if (wrkMastMapper.updateById(wrkMast) == 0) { log.error("修改{}工作档失败，ctn_no", wrkMast.getWrkNo()); } } } } /** * 站到站 ===>> 堆垛机109站到108站 * 109防爆沙箱站点 出库 到 108站点 */ public void stnToStn(CrnSlave slave, CrnProtocol crnProtocol){ for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) { if(crnStn.getStaNo()!=109){ continue; } boolean flag = false; // 获取堆垛机入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable() && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) { flag = true; } StaProtocol staProtocol1 = devpThread.getStation().get(108); if (staProtocol1 == null) { continue; } else { staProtocol1 = staProtocol1.clone(); } if (!staProtocol1.isAutoing() || staProtocol1.isLoading() || staProtocol1.getWorkNo() != 0 || !staProtocol1.isOutEnable()) { flag = false; } if (!flag) { continue; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { continue; } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setTaskNo((short)9999); // 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((short)2); // 目标库位排 crnCommand.setDestinationPosY((short)19); // 目标库位列 crnCommand.setDestinationPosZ((short)1); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, 1, new Task(2, crnCommand))) { log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", 1, JSON.toJSON(crnCommand)); } else { } } } /** * 根据PLC按钮测试、完成、暂停信号，更新testMast表中status值，交由WMS系统处理 */ @Transactional public void packTest() { try { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); if(null != devpThread){ for (int i = 0; i < 48; i++){ int olsStatus = 0;//testMast表原来status数据状态 int newStatus = 0;//testMast表待修改的status数据状态 short newSingle = 0; //PLC地址待修改的新值 switch (devpThread.startSignal[i][0]){//根据信号查找testMast表中对应状态条件,olsStatus，newStatus根据实际流程调整 case 0://初始状态，入库 olsStatus = 1;//待测 newStatus = 1;//待测 newSingle = 1;//库存有资料，寄存器地址，0===>>1 break; case 2://启动复核信号 olsStatus = 1;//待测 newStatus = 2;//复核中 newSingle = 3;//测试复核，寄存器地址，2===>>3 break; case 3://测试完成 olsStatus = 4;//测试完成 newStatus = 4;//测试完成 newSingle = 4;//（NG:4\OK:41）测试完成，寄存器地址，3===>>4\41 break; case 5://NG测试信号 case 6://完成测试信号 case 22://完成测试信号 olsStatus = 4;//测试完成 newStatus = 5;//已移库 newSingle = 0;//启动移库，寄存器地址清零，5/6===>>0 break; case 7://暂停信号 olsStatus = 99;//plc给出暂停信号 newStatus = 0;//WCS收到暂停信号后，更新testMast newSingle = 8;//暂停测试，寄存器地址，7===>>8 break; case 9://紧急出库确认充电线已经拔出 olsStatus = 99;//plc给出暂停信号 newStatus = 0;//WCS收到暂停信号后，更新testMast newSingle = 8;//暂停测试，寄存器地址，9===>>8 break; case 10://解除暂停信号 olsStatus = 0;//plc给出暂停信号 newStatus = 1;//WCS收到暂停信号后，更新testMast newSingle = 0;//暂停测试，寄存器地址，10===>>0/11 break; case 12://紧急出库确认充电线已经拔出 newSingle = 11;//暂停测试，寄存器地址，12===>>11 break; case 13://入库前判断充电线是否放好 newSingle = 14;//禁用库位，寄存器地址，13===>>14 break; case 15://充电线放好 newSingle = 0;//复位，寄存器地址，12===>>0 break; default: log.info("读取通道"+(i+1)+"测试库位按钮信号:为"+devpThread.startSignal[i][0]); continue; } TestMast testMast = testMastService.selectOne(new EntityWrapper() .eq("channel",(i+1)).eq("status",olsStatus));//查找原来的状态 LocMast locMast=null; boolean sign=false; switch (devpThread.startSignal[i][0]){ case 0: if (!Cools.isEmpty(testMast)){ locMast = locMastService.selectOne(new EntityWrapper().eq("channel",(i+1))); if (!Cools.isEmpty(locMast) && locMast.getLocSts().equals("F")){ sign=true; } } break; case 3: if (!Cools.isEmpty(testMast)){ locMast = locMastService.selectOne(new EntityWrapper().eq("channel",(i+1))); if (!Cools.isEmpty(locMast) && locMast.getLocSts().equals("F")){ sign=true; if (locMast.getPackStatus()==3){//测试完成 newSingle=41; }else if (locMast.getPackStatus()==4){//测试失败 newSingle=4; }else { log.info("读取通道"+(i+1)+"测试库位按钮信号:为"+devpThread.startSignal[i][0]+"通道库位pack状态信息异常"+locMast.getPackStatus()); sign=false; } } } break; case 5: case 6: if (!Cools.isEmpty(testMast)){ locMast = locMastService.selectOne(new EntityWrapper().eq("channel",(i+1))); if (!Cools.isEmpty(locMast) && locMast.getLocSts().equals("F")){ if (devpThread.startSignal[i][0]==5 && locMast.getPackStatus()==4){ sign=true; }else if (devpThread.startSignal[i][0]==6 && locMast.getPackStatus()==3){ sign=true; }else { log.error("测试完成移库时按下完成按钮与测试结果不一致===>>[channel:{}", i+1); } }else { log.error("测试完成移库时未查询到测试档案===>>[channel:{}", i+1); } } break; case 2: if (!Cools.isEmpty(testMast)){ testMast.setStatus(newStatus); testMast.setModiTime(new Date()); if(!testMastService.update(testMast,new EntityWrapper().eq("channel",(i+1)).eq("barcode",testMast.getBarcode()))){ throw new CoolException("更新产品测试状态失败"); }else { sign=true; } }else { log.error("启动测试时未查询到测试档案===>>[channel:{}", i+1); } break; case 7: SearchLocParam param = new SearchLocParam(); param.setBarcode(i+1+""); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/mobile/test/suspend/auth") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { testMast = testMastService.selectOne(new EntityWrapper().eq("channel",(i+1))); testMast.setStatus(newStatus); testMast.setModiTime(new Date()); if(!testMastService.update(testMast,new EntityWrapper().eq("channel",(i+1)).eq("barcode",testMast.getBarcode()))){ log.error("更新产品测试状态失败"); } sign=true; } else { log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/mobile/test/suspend/auth", JSON.toJSONString(param), response); } break; case 9: case 12: locMast = locMastService.selectOne(new EntityWrapper().eq("channel",(i+1))); if (!Cools.isEmpty(locMast) && locMast.getLocSts().equals("F") || locMast.getLocSts().equals("D")){ locMast.setPackStatus(8); //8.紧急出库 if (locMastService.update(locMast,new EntityWrapper().eq("channel",(i+1)))){ log.info("库位：{}，紧急出库！",locMast.getLocNo()); } }else { log.error("库位不是在库状态，无需紧急出库！"); } sign=true; break; case 10: if (!Cools.isEmpty(testMast)){ locMast = locMastService.selectOne(new EntityWrapper().eq("channel",(i+1))); if (!Cools.isEmpty(locMast) && locMast.getLocSts().equals("F") ){ if ( locMast.getFireStatus().equals(1)){ newSingle=11; }else { testMast.setStatus(newStatus); testMast.setModiTime(new Date()); if(!testMastService.update(testMast,new EntityWrapper().eq("channel",(i+1)).eq("barcode",testMast.getBarcode()))){ throw new CoolException("更新产品测试状态失败"); }else { sign=true; } } } } sign=true; break; case 13: locMast = locMastService.selectOne(new EntityWrapper().eq("channel",(i+1))); if (locMast.getLocSts().equals("O")){ locMast.setLocSts("X"); locMastService.update(locMast,new EntityWrapper().eq("channel",(i+1))); } sign=true; break; case 15: locMast = locMastService.selectOne(new EntityWrapper().eq("channel",(i+1))); if (locMast.getLocSts().equals("X")){ locMast.setLocSts("O"); locMastService.update(locMast,new EntityWrapper().eq("channel",(i+1))); } sign=true; break; default: log.info("读取通道"+(i+1)+"测试库位按钮信号:为"+devpThread.startSignal[i][0]); continue; } if (sign){ boolean result = messageQueueOffer(i,newSingle,SlaveType.Devp, devp.getId()); if(!result){ log.error("更新测试信号失败===>>[channel:{},locNo:{},barcode:{}]", i+1, testMast.getLocNo(), testMast.getBarcode()); } else { devpThread.startSignal[i][0] = newSingle; } } try{ locMast = locMastService.selectOne(new EntityWrapper().eq("channel",(i+1))); if(devpThread.startSignal[i][1]!=locMast.getFireStatus()){ messageQueueOffer2(i+1,(short)((int)locMast.getFireStatus()),SlaveType.Devp, devp.getId()); } }catch (Exception e){ log.error("火警 ===>> 给输送线发送警报失败,通道号：", i+1); } } } } } catch (Exception e) { log.error("启动测试 ===>> 启动测试失败", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } public boolean messageQueueOffer(int i ,short newSingle,SlaveType devp,Integer id){ //复位PLC信号，借用输送站点实体类 StaProtocol staProtocol = new StaProtocol(); staProtocol.setSiteId(i*2);//寄存器地址 staProtocol.setStaNo(newSingle);//修改PLC寄存器地址值,8==>0 return MessageQueue.offer(devp, id, new Task(3, staProtocol)); } public boolean messageQueueOffer2(int i ,short newSingle,SlaveType devp,Integer id){ //复位PLC信号，借用输送站点实体类 StaProtocol staProtocol = new StaProtocol(); staProtocol.setSiteId(i);//寄存器地址 staProtocol.setStaNo(newSingle);//修改PLC寄存器地址值,8==>0 return MessageQueue.offer(devp, id, new Task(5, staProtocol)); } /** * 将火警报警信号写入到堆垛机PLC中 */ @Transactional public void fierCrn() { try { for (CrnSlave crn :slaveProperties.getCrn()) { if(crn.getId()!=1){ continue; } // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); LocMast locMast = locMastService.selectOne(new EntityWrapper().eq("fire_status", 1)); if (!Cools.isEmpty(locMast)){ //报警信号写入1 if (!MessageQueue.offer(SlaveType.Crn, 1, new Task(4, 1))) { log.error("火警 ===>> 给堆垛机发送报警信号失败"); } } else { //报警信号没有后，复位地址 if (!MessageQueue.offer(SlaveType.Crn, 1, new Task(4, 0))) { log.error("火警 ===>> 给堆垛机清零复位报警信号失败"); } } } } catch (Exception e) { log.error("火警 ===>> 给堆垛机发送警报失败", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 103站点有物下发pack码 */ @Transactional public void packDevp() { try { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { BasDevp basDevp = basDevpService.selectOne(new EntityWrapper().eq("dev_no",103)); if (Cools.isEmpty(basDevp)){ log.error("103站点查询失败-MainServiceImpl.java-2255行"); } if (basDevp.getAutoing().equals("Y") && basDevp.getWrkNo()>0 && basDevp.getLoading().equals("Y") ){ WrkDetl wrkDetl = wrkDetlService.devpPackNo(basDevp.getWrkNo()); if (Cools.isEmpty(wrkDetl)){ log.error("103站点查询失败-MainServiceImpl.java-2255行"); } MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4,wrkDetl.getMatnr())); } } } catch (Exception e) { log.error("103 ===>> 给输送线发送Pack码失败", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } /** * 根据PLC按钮测试、完成、暂停信号，更新testMast表中status值，交由WMS系统处理 */ @Transactional public void packTest1() { try { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); if(null != devpThread){ for (int i = 0; i < 48; i++){ //查询在库和预约出库 LocMast locMast=locMastService.selectztgx("F","R",i); if(!Cools.isEmpty(locMast)){ TestMast testMast=testMastService.selectOne(new EntityWrapper() .eq("loc_no",locMast.getLocNo()) .eq("user_id",locMast.getBarcode())); if(Cools.isEmpty(testMast)){ continue; } //devpThread.startSignal[i][0] //0:空,1:启动中,2:工作中,3:自动暂停,4:正常完成(OK),5:异常停止(NG),6:在线,7:离线,8:空闲 //locMast.setPackStatus // "产品状态{0:无,1:待测,2:测试中;3.测试完成;4.测试失败;5.静置中;6:静置完成;7:暂停测试;8:紧急出库;9:在线;10:离线;11:空闲;}" //testMast.setStatus //"状态 0: 待申请 1: 申请中 2: 已复核 3:测试中 4:完成 5:移库 6:火警" if(devpThread.startSignal[i][0]==1){ testMast.setStatus(1); testMast.setModiTime(new Date()); }else if(devpThread.startSignal[i][0]==2){ testMast.setStatus(3); testMast.setModiTime(new Date()); }else if(devpThread.startSignal[i][0]==3){ locMast.setPackStatus(7); testMast.setModiTime(new Date()); }else if(devpThread.startSignal[i][0]==4 && testMast.getStatus()!=4){ locMast.setPackStatus(3); testMast.setStatus(4); testMast.setModiTime(new Date()); testMastService.insertPackQualified(true,new Date()); }else if(devpThread.startSignal[i][0]==5 && testMast.getStatus()!=4){ locMast.setPackStatus(4); testMast.setStatus(4); testMast.setModiTime(new Date()); testMastService.insertPackQualified(false,new Date()); } // else if(devpThread.startSignal[i][0]==6||devpThread.startSignal[i][0]==7||devpThread.startSignal[i][0]==8){ // locMast.setPackStatus(devpThread.startSignal[i][0]+3); // } //通道启动按钮状态，1:可以启动出库或者移库，0:不能启动出库或者移库 locMast.setCtnKind(devpThread.startSignal[i][2]); if(devpThread.startSignal[i][2]==1){ if(!locMastService.update(locMast,new EntityWrapper() .eq("loc_sts","R") .eq("channel",i+1))){ log.error("修改启动按钮状态，测试库位状态失败"+locMast.getLocNo(),locMast); } }else if(!locMast.getLocSts().equals("R")){ if(!locMastService.update(locMast,new EntityWrapper() .eq("loc_sts","F") .eq("channel",i+1))){ log.error("修改测试库位状态失败"+locMast.getLocNo(),locMast); } if(!testMastService.update(testMast,new EntityWrapper() .eq("loc_no",locMast.getLocNo()) .eq("user_id",locMast.getBarcode()))) { log.error("修改测试档状态失败" + locMast.getLocNo(), locMast); } } } } //给PLC写消防信号 for (int i=0;i<48;i++){ LocMast locMast=locMastService.selectOne(new EntityWrapper().eq("channel",i+1)); TestMast testMast=testMastService.selectOne(new EntityWrapper() .eq("loc_no",locMast.getLocNo()) .eq("user_id",locMast.getBarcode())); try{ if(locMast.getFireStatus()!=devpThread.startSignal[i][1]){ messageQueueOffer2(i,(short)((int)locMast.getFireStatus()),SlaveType.Devp, devp.getId()); if(Cools.isEmpty(testMast)){ continue; } if(locMast.getFireStatus()==1){ testMast.setStatus(6);//火警 if(!testMastService.update(testMast,new EntityWrapper() .eq("loc_no",locMast.getLocNo()) .eq("user_id",locMast.getBarcode()))) { log.error("修改测试档状态失败" + locMast.getLocNo(), locMast); } } } }catch (Exception e){ log.error("火警 ===>> 给输送线发送警报失败,通道号：", i+1); } } } } } catch (Exception e) { log.error("获得测试库位状态失败", e); e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } }