package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.baomidou.mybatisplus.mapper.Wrapper;
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import com.core.common.*;
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import com.core.exception.CoolException;
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import com.zy.asrs.controller.TaskWrkController;
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import com.zy.asrs.domain.enums.LedErrorAreaType;
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import com.zy.asrs.domain.enums.TaskStatusType;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.mapper.*;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.*;
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import com.zy.common.model.LocTypeDto;
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import com.zy.common.model.MatDto;
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import com.zy.common.model.SearchLocParam;
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import com.zy.common.model.StartupDto;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.CollectionUtils;
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import com.zy.common.utils.HttpHandler;
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import com.zy.common.utils.News;
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import com.zy.core.CrnThread;
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import com.zy.core.DevpThread;
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import com.zy.core.cache.*;
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import com.zy.core.enums.*;
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import com.zy.core.model.*;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.command.LedCommand;
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import com.zy.core.model.protocol.*;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.BarcodeThread;
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import com.zy.core.thread.LedThread;
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import com.zy.core.thread.RgvThread;
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import com.zy.core.thread.SiemensDevpThread;
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import com.zy.system.entity.license.LicenseVerify;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.transaction.interceptor.TransactionAspectSupport;
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import java.util.*;
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import java.util.concurrent.ConcurrentHashMap;
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import java.util.concurrent.TimeUnit;
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import java.util.stream.Collectors;
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/**
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* 立体仓库WCS系统主流程业务
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* Created by vincent on 2020/8/6
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*/
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@Slf4j
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@Service("mainService")
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@Transactional
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public class MainServiceImpl {
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public static final long COMMAND_TIMEOUT = 5 * 1000;
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@Autowired
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private CommonService commonService;
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastMapper wrkMastMapper;
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@Autowired
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private WrkDetlService wrkDetlService;
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@Autowired
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private BasDevpOptService basDevpOptService;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private LocDetlService locDetlService;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasDevpPositionService basDevpPositionService;
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@Autowired
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private TaskWrkService taskWrkService;
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@Value("${wms.url}")
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private String wmsUrl;
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@Value("${inventory.number}")
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private Integer inventoryNumber;
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public Integer wrkNo = 10002;
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@Value("${wms.rgvOpen}")
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private boolean rgvOpen;
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@Value("${constant-parameters.trackEntireLength}")
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private Long trackEntireLength;
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@Value("${constant-parameters.trackBenchmark}")
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private Long trackBenchmark;
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@Value("${constant-parameters.trackProportion}")
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private Long trackProportion;
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@Value("${constant-parameters.avoidDistance}")
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private Long avoidDistance;
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@Autowired
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private TaskWrkLogServiceImpl taskWrkLogService;
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public Long currentTimeMilliConnectCrnAuto= 0L;
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/*
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* 验证许可证是否有效
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* */
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public synchronized boolean licenseVerify() {
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try{
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// if (true) {
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// return true;
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// }
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return new LicenseVerify().verify();
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} catch (Exception e){
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log.info("许可证验证失败！！异常：{}",e.getMessage());
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}
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return false;
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}
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/**
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* 组托
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* 入库站，根据条码扫描生成入库工作档，工作状态 2
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*/
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public synchronized void generateStoreWrkFile() {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
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if (barcodeThread == null) {
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continue;
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}
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// 获取入库站信息
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// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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String barcode = barcodeThread.getBarcode();
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if (!Cools.isEmpty(barcode)) {
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// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
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if ("00000000".endsWith(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
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continue;
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}
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} else {
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continue;
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}
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// 尺寸检测异常
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boolean back = false;
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String errMsg = "异常：";
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if (staProtocol.isFrontErr()) {
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errMsg = errMsg+"前超限；";
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back = true;
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}
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if (staProtocol.isBackErr()) {
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errMsg = errMsg+"后超限";
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back = true;
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}
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if (staProtocol.isHighErr()) {
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errMsg = errMsg+"高超限";
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back = true;
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}
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if (staProtocol.isLeftErr()) {
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errMsg = errMsg+"左超限";
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back = true;
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}
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if (staProtocol.isRightErr()) {
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errMsg = errMsg+"右超限";
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back = true;
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}
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if (staProtocol.isWeightErr()) {
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errMsg = errMsg+"超重";
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back = true;
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}
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if (staProtocol.isBarcodeErr()) {
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errMsg = errMsg+"扫码失败";
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back = true;
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}
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// 退回
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if (back) {
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barcodeThread.setBarcode("");
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// 获取工作号
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int workNo = commonService.getWorkNo(3);
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staProtocol.setWorkNo(workNo);
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staProtocol.setStaNo(inSta.getBackSta().shortValue());
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devpThread.setPakMk(staProtocol.getSiteId(), false,201);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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// led 异常显示
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LedErrorThreadUtil.ledErrorThread(errMsg,inSta.getLed(), LedErrorAreaType.FOUR_BARCODE.getDesc());
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continue;
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}
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// 入出库模式判断
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// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
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// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
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// continue;
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// }
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// 判断是否满足入库条件
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if (staProtocol.isAutoing()
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&& staProtocol.isLoading()
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&& staProtocol.isInEnable()
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&& !staProtocol.isEmptyMk()
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&& staProtocol.getWorkNo() == 0
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&& staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {
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// if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
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// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
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// //条码为空或者不符合，退库到172站点
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// staProtocol.setWorkNo((short)32222);
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// staProtocol.setStaNo((short)172);
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// devpThread.setPakMk(staProtocol.getSiteId(), false);
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// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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// if (!result) {
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// throw new CoolException("更新plc站点信息失败");
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// }
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// continue;
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// }
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// 判断重复工作档
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WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
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if (wrkMast != null) {
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// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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barcodeThread.setBarcode("");
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staProtocol.setWorkNo(wrkMast.getWrkNo());
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staProtocol.setStaNo(wrkMast.getStaNoSou$().shortValue());
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devpThread.setPakMk(staProtocol.getSiteId(), false,238);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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if (!result) {
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LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+inSta.getStaNo(),inSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
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throw new CoolException("更新plc站点信息失败");
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}
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return;
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}
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// // 获取入库通知档
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// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
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// if (waitPakins.isEmpty()) {
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// log.error("无此入库条码数据。条码号={}", barcode);
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// continue;
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// }
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try {
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LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
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SearchLocParam param = new SearchLocParam();
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param.setBarcode(barcode);
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param.setIoType(1);
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param.setSourceStaNo(inSta.getStaNo());
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param.setLocType1(locTypeDto.getLocType1());
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String response = new HttpHandler.Builder()
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.setUri(wmsUrl)
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.setPath("/rpc/pakin/loc/v1")
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.setJson(JSON.toJSONString(param))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code").equals(200)) {
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StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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barcodeThread.setBarcode("");
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staProtocol.setWorkNo(dto.getWorkNo());
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// if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) {
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// staProtocol.setStaNo(607);//607
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// } else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站
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// staProtocol.setStaNo(dto.getRgvSstaNo().shortValue());
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staProtocol.setStaNo(wrkMast.getStaNoSou$().shortValue());
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// }
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devpThread.setPakMk(staProtocol.getSiteId(), false,283);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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if (!result) {
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LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+inSta.getStaNo(),inSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
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throw new CoolException("更新plc站点信息失败");
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}
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} else {
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// 获取工作号
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int workNo = commonService.getWorkNo(3);
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staProtocol.setWorkNo(workNo);
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staProtocol.setStaNo(inSta.getBackSta().shortValue());
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devpThread.setPakMk(staProtocol.getSiteId(), false,201);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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// led 异常显示
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LedErrorThreadUtil.ledErrorThread("入库请求失败"+jsonObject.getInteger("code"),inSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
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log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
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}
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} catch (Exception e) {
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e.printStackTrace();
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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}
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}
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}
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}
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}
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/**
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* 空栈板初始化入库,叉车入库站放货
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*/
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public synchronized void storeEmptyPlt() {
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// if (devp.getId()==1) continue;
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// 遍历空板入库口
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for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
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// 获取空板入库站信息
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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// 站点条件判断
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if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
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&& staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 9000 && staProtocol.getWorkNo() <= 9999) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
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try {
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LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
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SearchLocParam param = new SearchLocParam();
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param.setIoType(10);
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param.setSourceStaNo(emptyInSta.getStaNo());
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param.setLocType1(locTypeDto.getLocType1());
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String response = new HttpHandler.Builder()
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.setUri(wmsUrl)
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.setPath("/rpc/pakin/loc/v1")
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.setJson(JSON.toJSONString(param))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code").equals(200)) {
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StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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// 更新站点信息 且 下发plc命令
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staProtocol.setWorkNo(dto.getWorkNo());
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staProtocol.setStaNo(dto.getStaNoSou$(dto.getStaNo(),staProtocol.getSiteId()).shortValue());
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devpThread.setPakMk(staProtocol.getSiteId(), false,4087);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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if (!result) {
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LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+emptyInSta.getStaNo(),emptyInSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
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throw new CoolException("更新plc站点信息失败");
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}
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} else {
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log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
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}
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} catch (Exception e) {
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e.printStackTrace();
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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}
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}
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}
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}
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}
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/**
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* 拣料、并板、盘点再入库
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*/
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public synchronized void stnToCrnStnPick() {
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历拣料入库口
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for (DevpSlave.Sta pickSta : devp.getPickSta()) {
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// // 获取条码扫描仪信息
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// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
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// if (barcodeThread == null) {
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// continue;
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// }
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// String barcode = barcodeThread.getBarcode();
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// if(!Cools.isEmpty(barcode)) {
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// log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
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// if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
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// continue;
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// }
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// } else {
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// continue;
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// }
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// 获取拣料入库站信息
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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// // 入出库模式判断
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// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
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if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
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// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
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WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"7");
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if (wrkMast == null) {
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// 无拣料数据
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continue;
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}
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if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
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|| Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
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continue;
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}
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// 获取库位号
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try {
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SearchLocParam param = new SearchLocParam();
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param.setBarcode(wrkMast.getBarcode());
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param.setIoType(wrkMast.getIoType());
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param.setSourceStaNo(pickSta.getStaNo()); //作业站点
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param.setLocType1((short)1);
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String response = "";
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log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
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try {
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response = new HttpHandler.Builder()
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.setUri(wmsUrl)
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.setPath("/rpc/pakin2/loc/v1")
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.setJson(JSON.toJSONString(param))
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.setTimeout(15, TimeUnit.SECONDS)
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.build()
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.doPost();
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} catch(Exception e){
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log.error("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
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log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
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e.printStackTrace();
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continue;
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}
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log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
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log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
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if(response.equals("")) {
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continue;
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}
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JSONObject jsonObject = JSON.parseObject(response);
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// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
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Integer code = jsonObject.getInteger("code");
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if (code == 200) {
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StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
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log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
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} else {
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log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
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try {
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// 更新站点信息 且 下发plc命令
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staProtocol.setWorkNo(wrkMast.getWrkNo());
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staProtocol.setStaNo(dto.getStaNo().shortValue());
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devpThread.setPakMk(staProtocol.getSiteId(), false,1096);
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// ledThread.errorReset();
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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if (!result) {
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log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
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}
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log.info("任务号"+wrkMast.getWrkNo()+"盘点/拣料再入库任务下发成功===>>" + staProtocol);
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} catch (Exception e) {
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log.error("盘点再入库失败===>>" + e);
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e.printStackTrace();
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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}
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}
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} else {
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log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
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}
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} catch (Exception e) {
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log.error("stnToCrnStnPick2===>>fail", e);
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e.printStackTrace();
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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}
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}
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}
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}
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}
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/**
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* 堆垛机站出库到出库站
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*/
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public synchronized void crnStnToOutStn() {
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for (CrnSlave crnSlave : slaveProperties.getCrn()) {
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// 遍历堆垛机出库站
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for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
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// 获取堆垛机出库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
|
// 查询工作档
|
WrkMast wrkMast = wrkMastMapper.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());
|
staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
|
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() {
|
try{
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
|
if (basCrnp == null) {
|
log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
|
continue;
|
}
|
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE
|
&& crnProtocol.getTaskNo() == 0
|
&& crnProtocol.getModeType() == CrnModeType.AUTO
|
&& crnProtocol.getLoaded() == 0
|
&& crnProtocol.getForkPos() == 0) {
|
// 如果最近一次是入库模式
|
if (crnProtocol.getLastIo().equals("I")) {
|
if (basCrnp.getInEnable().equals("Y")) {
|
this.crnStnToLoc1(crn, crnProtocol); // 入库
|
crnProtocol.setLastIo("O");
|
} else if (basCrnp.getOutEnable().equals("Y")) {
|
this.locToCrnStn1(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.locToCrnStn1(crn, crnProtocol); // 出库
|
crnProtocol.setLastIo("I");
|
} else if (basCrnp.getInEnable().equals("Y")) {
|
this.crnStnToLoc1(crn, crnProtocol); // 入库
|
crnProtocol.setLastIo("O");
|
}
|
}
|
}
|
// 库位移转
|
this.locToLoc(crn, crnProtocol);
|
// this.crnRebackHp(crnProtocol, crnThread);
|
|
}
|
}catch (Exception e){
|
log.error("堆垛机出入库下发报错"+e);
|
}
|
}
|
|
/**
|
* 库位移转
|
*/
|
public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
|
// 获取工作档信息
|
WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
|
if (null == wrkMast) {
|
return;
|
}
|
// 获取源库位信息
|
LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (null == sourceSta) {
|
log.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
|
return;
|
}
|
// 源库位 库位状态判断
|
if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) {
|
return;
|
}
|
// 获取目标库位信息
|
LocMast sta = locMastService.selectById(wrkMast.getLocNo());
|
if (null == sta) {
|
log.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
|
return;
|
}
|
// 获取堆垛机信息 并 判断是否可入出
|
BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
|
if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
|
return;
|
}
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
return;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
return;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(12L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("【库位移转】 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
|
}
|
|
/**
|
* 入库 ===>> 堆垛机站到库位
|
* 2022-12-03 TQS修改，先遍历查询同台堆垛机工作档所有站点入库任务LIST，根据工作档任务排序优先级高于 根据堆垛机入库站点排序
|
*/
|
public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
|
List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
|
for(WrkMast wrkMast : wrkMasts){
|
if (wrkMast == null) {
|
continue;
|
}
|
|
CrnSlave.CrnStn crnStn = null;
|
for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
|
if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
|
crnStn = crnStn1;
|
break;
|
}
|
}
|
if(Cools.isEmpty(crnStn)){
|
continue;
|
}
|
|
boolean flag = false;
|
// 获取堆垛机入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
continue;
|
}
|
// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
|
// && staDetl.getCanining() != null && staDetl.getCanining().equals("Y") && staDetl.getWrkNo().equals(wrkMast.getWrkNo())) {
|
// flag = true;
|
// }
|
if (staProtocol.isAutoing() && staProtocol.getWorkNo() > 0
|
&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y") && staDetl.getWrkNo().equals(wrkMast.getWrkNo())) {
|
flag = true;
|
}
|
if (!flag) {
|
continue;
|
}
|
|
// 获取库位信息
|
LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
|
if (locMast == null) {
|
log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
|
continue;
|
}
|
if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
|
log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
|
continue;
|
}
|
|
// 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()) && crnProtocol.getCrnNo()!=3) {
|
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);
|
|
if (moveLocForDeepLoc(slave, shallowLoc)){
|
wrkMast.setUpdMk("Y");
|
wrkMast.setIoPri(14D);
|
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)
|
// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
|
}
|
continue;
|
} else if (shallowLoc.getLocSts().equals("Q")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
|
continue;
|
}
|
}
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 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
|
* 2022-12-03 TQS修改，先遍历查询工作档所有站点出库任务LIST，根据工作档任务排序优先级高于 根据堆垛机入库站点排序
|
*/
|
public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol) {
|
List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
|
Double pri = 0.0;
|
for (WrkMast wrkMast : wrkMasts) {
|
if (wrkMast.getIoType() != 110){
|
if (wrkMast.getIoPri()>=pri){
|
pri = wrkMast.getIoPri();
|
} else {
|
continue;
|
}
|
}
|
if (wrkMast == null) {
|
continue;
|
}
|
|
CrnSlave.CrnStn crnStn = null;
|
for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
|
if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
|
crnStn = crnStn1;
|
break;
|
}
|
}
|
if(Cools.isEmpty(crnStn)){
|
continue;
|
}
|
|
// 工作档状态判断
|
if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
|
log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
|
continue;
|
}
|
// 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; }
|
if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
|
continue;
|
}
|
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
break;
|
// continue;
|
}
|
// 判断堆垛机出库站状态
|
if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
|
&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
// continue;
|
break;
|
}
|
|
// 双深库位且浅库位有货，则需先对浅库位进行库位移转
|
if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo()) && crnProtocol.getCrnNo()!=3) {
|
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) {
|
if (waitWrkMast.getIoPri() + 10D < 9999D) {
|
waitWrkMast.setIoPri(waitWrkMast.getIoPri()+10D);
|
} else {
|
waitWrkMast.setIoPri(9999D);
|
}
|
waitWrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(waitWrkMast) == 0) {
|
log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
|
}
|
continue;
|
} else {
|
|
}
|
}
|
} else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
|
// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
// 此标记避免多次执行移库任务
|
// if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
|
// || Cools.isEmpty(waitWrkMast)) {
|
if (Cools.isEmpty(waitWrkMast)) {
|
// wrkMast.setUpdMk("Y");
|
// wrkMastMapper.updateById(wrkMast);
|
// // 生成工作档,将浅库位移转到新的库位中
|
// moveLocForDeepLoc(slave, shallowLoc);
|
|
if (moveLocForDeepLoc(slave, shallowLoc)){
|
wrkMast.setUpdMk("Y");
|
// wrkMast.setIoPri(14D);
|
wrkMastMapper.updateById(wrkMast);
|
}
|
}
|
log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
|
continue;
|
} else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
|
continue;
|
}
|
} else if (!shallowLoc.getLocSts().equals("O") ){
|
log.error("{}任务出库失败，浅库位堵塞！浅库位号:{},浅库位状态:{}", wrkMast.getWrkNo(), shallowLocNo,shallowLoc.getLocSts());
|
continue;
|
}
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
break;
|
// return;
|
}
|
|
// 1.堆垛机开始移动
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(12L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
break;
|
}
|
}
|
}
|
|
}
|
|
/**
|
* 因双深库位阻塞，对浅库位进行移转（立即执行版)
|
* tip：同步
|
*/
|
private synchronized boolean moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
|
try {
|
List<Integer> 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());
|
return false;
|
// throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
|
} else {
|
// 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) {
|
log.error("双深库位 --- 浅库位阻塞异常！ ====>保存工作档失败");
|
return true;
|
// throw new CoolException("保存工作档失败");
|
}
|
// 工作档明细保存
|
if (shallowLoc.getLocSts().equals("F")) {
|
List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().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)) {
|
log.error("双深库位 --- 浅库位阻塞异常！ ====>保存工作档明细失败");
|
return true;
|
// 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)) {
|
log.error("双深库位 --- 浅库位阻塞异常！ ====>更新源库位状态失败");
|
return true;
|
// throw new CoolException("更新源库位状态失败");
|
}
|
} else {
|
log.error("双深库位 --- 浅库位阻塞异常！ ====>源库位出库失败");
|
return true;
|
// 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)) {
|
log.error("双深库位 --- 浅库位阻塞异常！ ====>更新目标库位状态失败");
|
return true;
|
// throw new CoolException("更新目标库位状态失败");
|
}
|
} else {
|
log.error("双深库位 --- 浅库位阻塞异常！ ====>移转失败");
|
return true;
|
// 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);
|
return true;
|
// e.printStackTrace();
|
// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
return true;
|
}
|
|
/**
|
* 执行对工作档的完成操作
|
*/
|
public synchronized 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() == 32222 || crnProtocol.getTaskNo() == 999) {
|
// 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);
|
}
|
}
|
|
}
|
}
|
}
|
|
|
/**
|
* 出库 ===>> 工作档信息写入led显示器
|
*/
|
public synchronized void ledExecute() {
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
List<LedCommand> commands = new ArrayList<>();
|
// 工作档集合
|
List<WrkMast> 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) {
|
if(staProtocol.getWorkNo() > 9999){ //异常退出
|
String err = basDevpOptService.getErr(staProtocol.getWorkNo());
|
MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, err));
|
}
|
continue;
|
}
|
wrkMasts.add(wrkMast);
|
// 组装命令
|
LedCommand ledCommand = new LedCommand();
|
ledCommand.setWorkNo(wrkMast.getWrkNo());
|
ledCommand.setIoType(wrkMast.getIoType());
|
// 出库模式
|
switch (wrkMast.getIoType()) {
|
case 1:
|
ledCommand.setTitle("全板入库");
|
break;
|
case 10:
|
ledCommand.setTitle("空板入库");
|
break;
|
case 12:
|
ledCommand.setTitle("物料衔接");
|
break;
|
case 57:
|
ledCommand.setTitle("盘点再入库");
|
break;
|
case 53:
|
ledCommand.setTitle("拣料再入库");
|
break;
|
case 101:
|
ledCommand.setTitle("全板出库");
|
break;
|
case 103:
|
ledCommand.setTitle("拣料出库");
|
break;
|
case 104:
|
ledCommand.setTitle("并板出库");
|
break;
|
case 107:
|
ledCommand.setTitle("盘点出库");
|
break;
|
case 110:
|
ledCommand.setTitle("空板出库");
|
ledCommand.setEmptyMk(true);
|
break;
|
default:
|
News.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());
|
ledCommand.setBarcode(wrkMast.getBarcode());
|
if(wrkMast.getIoType() == 12){
|
List<WrkDetl> wrkDetls = wrkDetlService.findByBarcode(wrkMast.getBarcode());
|
wrkDetls.forEach(wrkDetl -> {
|
Double total = 0.0;
|
EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
|
LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
|
if (Cools.isEmpty(locDetl)) {
|
total = wrkDetl.getAnfme();
|
} else {
|
total = locDetl.getAnfme();
|
}
|
ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
|
});
|
}
|
if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
|
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
|
|
wrkDetls.forEach(wrkDetl -> {
|
Double total = 0.0;
|
EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
|
LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
|
if (Cools.isEmpty(locDetl)) {
|
total = wrkDetl.getAnfme();
|
} else {
|
total = locDetl.getAnfme();
|
}
|
if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
|
ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
|
}
|
if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
|
ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
|
}
|
if (wrkMast.getIoType() == 107) {
|
ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
|
}
|
});
|
}
|
commands.add(ledCommand);
|
}
|
Set<Integer> 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))) {
|
News.error("{}号LED显示内容命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
continue;
|
}
|
}
|
|
try {
|
// 修改主档led标记
|
for (WrkMast wrkMast : wrkMasts) {
|
wrkMast.setOveMk("Y");
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
throw new CoolException("更新工作档失败");
|
}
|
}
|
|
// 更新线程当前工作号集合
|
ledThread.setWorkNos(workNos);
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
}
|
|
/**
|
* 其他 ===>> LED显示器复位，显示默认信息
|
*/
|
public synchronized void ledReset() {
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
boolean reset = true;
|
for (Integer staNo : led.getStaArr()) {
|
// System.out.println("staArr = " + staNo);
|
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (staProtocol == null) { continue; }
|
if (staProtocol.getWorkNo() != 0 || staProtocol.isErr()) {
|
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) {
|
if (ledThread == null) {
|
continue;
|
}
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
|
News.error("{}号LED显示默认命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
}
|
// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
|
// News.error("{}号LED显示默认命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
// }
|
}
|
}
|
}
|
|
/**
|
* 堆垛机5分钟无任务则回到源点
|
*/
|
public void crnStnToOutStnSou() {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
try{
|
// 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 (System.currentTimeMillis()-currentTimeMilliConnectCrnAuto<1000*60*10){
|
continue;
|
}
|
if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.statusType == CrnStatusType.IDLE && crnProtocol.getLoaded().equals((short)0) && crnProtocol.getCrnNo()!=0 && crnProtocol.getTaskNo() == 0 ) {
|
if (crnProtocol.getBay()!=1 || crnProtocol.getLevel()!=1){
|
//获取工作档
|
List<WrkMast> wrkMasts = wrkMastMapper.selectByCrnNo(crnProtocol.getCrnNo());
|
if (!wrkMasts.isEmpty()) {
|
continue;
|
}
|
List<WrkMast> WrkMastLogList = wrkMastMapper.selectByCrnNoLog(crnProtocol.getCrnNo());
|
if (!WrkMastLogList.isEmpty()) {
|
boolean signT = false;
|
for (WrkMast wrkMast : WrkMastLogList){
|
Date completeTime = wrkMast.getModiTime();
|
if (completeTime==null){
|
continue;
|
}
|
long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(completeTime, new Date());
|
if (differenceInSeconds <= 60*2*1000) {
|
signT = true;
|
break;
|
} else {
|
signT = false;
|
break;
|
}
|
}
|
if (signT){
|
continue;
|
}
|
}
|
// 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo((short)999); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 站位移转4
|
Integer crnNo = crnProtocol.getCrnNo();
|
int row1 = crnNo * 4-1;
|
if (crnNo>2){
|
row1 = row1-2;
|
}
|
crnCommand.setSourcePosX((short) row1); // 源库位排
|
crnCommand.setSourcePosY((short) 1); // 源库位列
|
crnCommand.setSourcePosZ((short) 1); // 源库位层
|
crnCommand.setDestinationPosX((short) row1); // 目标库位排
|
crnCommand.setDestinationPosY((short) 1); // 目标库位层
|
crnCommand.setDestinationPosZ((short) 1); // 目标库位列
|
if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机自动回源点失败，堆垛机号={}", crnProtocol.getCrnNo());
|
|
if (System.currentTimeMillis()-currentTimeMilliConnectCrnAuto>1000*60*10){
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("CrnErr", crnProtocol.getCrnNo(), "堆垛机自动回源点失败");
|
} catch (Exception e2){
|
}
|
if (currentTimeMilliConnectCrnAuto == 0){
|
currentTimeMilliConnectCrnAuto = System.currentTimeMillis()-1000*60*10-1;
|
} else {
|
currentTimeMilliConnectCrnAuto = System.currentTimeMillis();
|
}
|
}
|
}
|
}
|
}
|
} catch (Exception e){
|
log.error("堆垛机10分钟无任务则回到源点失败");
|
}
|
}
|
}
|
|
|
|
/////////////////////////////////////RGV调度/////////////////////////////////////
|
|
public synchronized void taskCreate() {
|
for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
|
try {
|
for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) {
|
WrkMast wrkMast = deviceDetectionCreate(inSta);
|
if (!Cools.isEmpty(wrkMast)) {
|
TaskWrk taskWrk = new TaskWrk(wrkMast);
|
taskWrkService.insert(taskWrk);
|
}
|
}
|
} catch (Exception e){
|
|
}
|
}
|
}
|
|
public synchronized void taskCancel() {
|
try {
|
List<String> taskList = new ArrayList<>();
|
for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
|
ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
|
for (TaskProtocol taskProtocol : allTaskProtocol.values()){
|
taskList.add(taskProtocol.getTaskNo().toString());
|
}
|
}
|
Wrapper<TaskWrk> wrkWrapper = new EntityWrapper<TaskWrk>().eq("status", 5);
|
for (String taskNo : taskList){
|
wrkWrapper.ne("task_no", taskNo);
|
}
|
int count = taskWrkService.selectCount(wrkWrapper);
|
if (count>0){
|
taskWrkService.delete(wrkWrapper);
|
}
|
} catch (Exception e){
|
|
}
|
}
|
public synchronized void taskStart() {
|
for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
|
try {
|
if (rgvDetection(rgvSlave)) {
|
String taskNoNow = rgvOtherTaskWrk(rgvSlave);
|
List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
|
boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
|
if (basDevpPositions.isEmpty()) {
|
log.error("获取所有站点信息异常");
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成：获取所有站点信息异常");
|
} catch (Exception e2){
|
}
|
continue;
|
}
|
List<TaskWrk> taskWrkList = new ArrayList<>();
|
List<Integer> staList = new ArrayList<>();
|
for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) {
|
TaskWrk taskWrk = deviceDetection(inSta);
|
if (taskWrk != null) {
|
if (taskWrk.getWrkNo().toString().equals(taskNoNow)) continue;
|
taskWrkList.add(taskWrk);
|
staList.add(inSta.getStaNo());
|
}
|
}
|
|
if (taskWrkList.isEmpty() || staList.isEmpty()) continue;
|
|
boolean sign = false;
|
|
if (rgvOtherStatusEnable(rgvSlave)) {
|
//分成上下两部分任务
|
List<Integer>[] avoidRange = RouteRgvUtils.gradeRange(staList, basDevpPositions, itSmall);
|
List<Integer> rangeListSou = avoidRange[itSmall ? 0 : 1];
|
List<Integer> rangeListSouOther = avoidRange[itSmall ? 1 : 0];
|
//就近排序
|
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
|
List<Integer> rangeList = RouteRgvUtils.SortNearby(rangeListSou, rgvProtocol.RgvPos, basDevpPositions);
|
List<Integer> rangeListOther = RouteRgvUtils.SortNearby(rangeListSouOther, rgvProtocol.RgvPos, basDevpPositions);
|
|
//所属部分就进取货
|
|
//筛选范围内任务
|
//就近排序
|
//筛选在范围任务
|
Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
|
List<Integer> belongToRange = RouteRgvUtils.SortNearby(RouteRgvUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);
|
|
if (!sign && staList.size()==1){
|
if (rgvOtherIDLEOther(rgvSlave)){
|
if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
|
System.out.println("空闲就近跳过==="+rgvSlave.getId()+"===");
|
RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"空闲就近跳过");
|
|
sign=true;
|
}
|
}
|
if (sign){
|
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
|
if (rgvStn.getStaNo().equals(staList.get(0))) {
|
TaskWrk taskWrk = deviceDetection(rgvStn);
|
if (taskWrk != null) {
|
Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
|
for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
|
if (rgvSuper.getStaNo().equals(outStaNo)){
|
System.out.println("空闲就近跳过后因最远再次执行==="+rgvSlave.getId()+"===");
|
|
sign=false;
|
break;
|
}
|
}
|
} else {
|
return;
|
}
|
break;
|
}
|
}
|
}
|
}
|
|
if(!sign){
|
for (Integer staNoNow : belongToRange) {
|
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
|
if (rgvStn.getStaNo().equals(staNoNow)) {
|
TaskWrk taskWrk = deviceDetection(rgvStn);
|
if (taskWrk != null) {
|
BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
|
if (RouteRgvUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
|
System.out.println("全范围执行==="+rgvSlave.getId()+"==="+taskWrk);
|
System.out.println("全范围执行==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
|
|
sign = taskGenerate(rgvSlave, rgvStn, 0);
|
}
|
}
|
break;
|
}
|
}
|
if (sign) {
|
break;
|
}
|
}
|
}
|
if (!sign) {
|
// 筛选范围内取货任务
|
for (Integer staNoNow : belongToRange) {
|
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
|
if (rgvStn.getStaNo().equals(staNoNow)) {
|
TaskWrk taskWrk = deviceDetection(rgvStn);
|
if (taskWrk != null) {
|
Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
|
for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
|
if (rgvStnOut.getStaNo().equals(outStaNo)) {
|
System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+taskWrk);
|
System.out.println("筛选范围内取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
|
|
sign = taskGenerate(rgvSlave, rgvStn, 0);
|
break;
|
}
|
}
|
}
|
break;
|
}
|
}
|
if (sign) {
|
break;
|
}
|
}
|
}
|
|
if (!sign && staList.size()==1){
|
if (rgvOtherIDLEOther2(rgvSlave)){
|
if (!rgvOtherIDLE2(rgvSlave,staList.get(0))){
|
System.out.println("运行就近跳过==="+rgvSlave.getId()+"===");
|
RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"运行就近跳过");
|
|
sign=true;
|
}
|
}
|
if (sign){
|
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
|
if (rgvStn.getStaNo().equals(staList.get(0))) {
|
TaskWrk taskWrk = deviceDetection(rgvStn);
|
if (taskWrk != null) {
|
Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
|
for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
|
if (rgvSuper.getStaNo().equals(outStaNo)){
|
System.out.println("运行就近跳过后因最远再次执行==="+rgvSlave.getId()+"===");
|
|
sign=false;
|
break;
|
}
|
}
|
} else {
|
return;
|
}
|
break;
|
}
|
}
|
}
|
}
|
|
|
|
if (!sign && staList.size()>1) {
|
for (Integer staNoNow : rangeList) {
|
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
|
if (rgvStn.getStaNo().equals(staNoNow)) {
|
TaskWrk taskWrk = deviceDetection(rgvStn);
|
if (taskWrk != null) {
|
BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
|
if (RouteRgvUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
|
System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk);
|
System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
|
|
sign = taskGenerate(rgvSlave, rgvStn, 0);
|
}
|
}
|
break;
|
}
|
}
|
if (sign) {
|
break;
|
}
|
}
|
}else if (!sign && staList.size()==1){
|
BasDevpPosition basDevpPosition1 = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staList.get(0)));
|
if (Math.abs(basDevpPosition1.getPlcPosition()- rgvProtocol.getRgvPos())<rgvProtocol.getCarBodyJiaoMing()+rgvProtocol.getCarBodyKunPeng() + avoidDistance*2){
|
for (Integer staNoNow : rangeList) {
|
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
|
if (rgvStn.getStaNo().equals(staNoNow)) {
|
TaskWrk taskWrk = deviceDetection(rgvStn);
|
if (taskWrk != null) {
|
BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
|
if (RouteRgvUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
|
System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+taskWrk);
|
System.out.println("筛选半边范围内任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
|
|
sign = taskGenerate(rgvSlave, rgvStn, 0);
|
}
|
}
|
break;
|
}
|
}
|
if (sign) {
|
break;
|
}
|
}
|
}
|
}
|
|
|
|
if (!sign && staList.size()>1) {
|
// 半边区域内取货任务
|
for (Integer staNoNow : rangeList) {
|
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
|
if (rgvStn.getStaNo().equals(staNoNow)) {
|
TaskWrk taskWrk = deviceDetection(rgvStn);
|
if (taskWrk != null) {
|
Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
|
for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
|
if (rgvStnOut.getStaNo().equals(outStaNo)) {
|
System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+taskWrk);
|
System.out.println("筛选半边范围取货任务==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
|
|
sign = taskGenerate(rgvSlave, rgvStn, 0);
|
break;
|
}
|
}
|
}
|
break;
|
}
|
}
|
if (sign) {
|
break;
|
}
|
}
|
}
|
if (!sign && staList.size()>1) {
|
for (Integer staNoNow : rangeListOther) {
|
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
|
if (rgvStn.getStaNo().equals(staNoNow)) {
|
TaskWrk taskWrk = deviceDetection(rgvStn);
|
if (taskWrk != null) {
|
Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
|
for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
|
if (rgvSuper.getStaNo().equals(outStaNo)){
|
System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"===");
|
BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
|
if (RouteRgvUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
|
sign = taskGenerate(rgvSlave, rgvStn, 0);
|
}
|
break;
|
}
|
}
|
}
|
break;
|
}
|
if (sign) {
|
break;
|
}
|
}
|
if (sign) {
|
break;
|
}
|
}
|
|
}else if (!sign && staList.size()==1){
|
for (Integer staNoNow : rangeList) {
|
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
|
if (rgvStn.getStaNo().equals(staNoNow)) {
|
TaskWrk taskWrk = deviceDetection(rgvStn);
|
if (taskWrk != null) {
|
Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
|
for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
|
if (rgvSuper.getStaNo().equals(outStaNo)){
|
System.out.println("因最远执行半边区域内放货任务==="+rgvSlave.getId()+"===");
|
BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
|
if (RouteRgvUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
|
sign = taskGenerate(rgvSlave, rgvStn, 0);
|
}
|
break;
|
}
|
}
|
}
|
break;
|
}
|
if (sign) {
|
break;
|
}
|
}
|
if (sign) {
|
break;
|
}
|
}
|
|
}
|
RgvErrCache.updateRgvErr(rgvSlave.getId(),"未查询到可执行任务");
|
|
} else {
|
//可用区域就近取货
|
//就近排序
|
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
|
List<Integer> rangeList = RouteRgvUtils.SortNearby(staList, rgvProtocol.RgvPos, basDevpPositions);
|
// 半边区域内取货任务
|
for (Integer staNoNow : rangeList) {
|
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
|
if (rgvStn.getStaNo().equals(staNoNow)) {
|
TaskWrk taskWrk = deviceDetection(rgvStn);
|
if (taskWrk != null) {
|
Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
|
for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
|
if (rgvStnOut.getStaNo().equals(outStaNo)) {
|
sign = taskGenerate(rgvSlave, rgvStn, 0);
|
break;
|
}
|
}
|
}
|
break;
|
}
|
}
|
if (sign) {
|
break;
|
}
|
}
|
}
|
}
|
} catch (Exception e) {
|
log.error("任务生成失败===》异常信息：{}", e.getMessage());
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成失败");
|
} catch (Exception e2){
|
}
|
}
|
}
|
}
|
|
public String rgvOtherTaskWrk(RgvSlave slave) {
|
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
|
TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
|
ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
|
if (!allTaskProtocol.isEmpty()) {
|
for (TaskProtocol taskProtocol : allTaskProtocol.values()) {
|
if (taskProtocol.getTaskNo() != 0) {
|
return taskProtocol.getTaskNo().toString();
|
}
|
}
|
}
|
return "无";
|
|
}
|
|
public boolean rgvDetection(RgvSlave slave) {
|
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
|
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
|
|
if (rgvProtocol == null || rgvTaskProtocol == null) {
|
return false;
|
}
|
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
|
|| ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
|
return false;
|
}
|
if (rgvProtocol.getLoaded()==1){
|
return false;
|
}
|
RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
|
RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
|
|
if (rgvProtocolOther == null) {
|
return false;
|
}
|
if (rgvProtocolOther.statusEnable) {
|
if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
|
return false;
|
}
|
}
|
return true;
|
}
|
public boolean rgvOtherIDLEOther(RgvSlave slave) {
|
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
|
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());
|
|
if (rgvProtocol == null || rgvTaskProtocol == null) {
|
return false;
|
}
|
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
|
|| ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
|
return false;
|
}
|
|
if (rgvProtocol.getLoaded()!=0) {
|
return false;
|
}
|
return true;
|
}
|
public boolean rgvOtherIDLEOther2(RgvSlave slave) {
|
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
|
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());
|
|
if (rgvProtocol == null || rgvTaskProtocol == null) {
|
return false;
|
}
|
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO)
|
|| rgvProtocol.getRgvPos().equals(0L)
|
|| rgvTaskProtocol.getAvoid() == -1) {
|
return false;
|
}
|
|
if (rgvProtocol.getLoaded()!=0) {
|
return false;
|
}
|
return true;
|
}
|
public boolean rgvOtherIDLE(RgvSlave slave,Integer staNo) {
|
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
|
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
|
|
if (rgvProtocol == null || rgvTaskProtocol == null) {
|
return false;
|
}
|
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
|
|| ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
|
return false;
|
}
|
RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
|
|
if (rgvProtocolOther == null) {
|
return true;
|
}
|
if (rgvProtocolOther.statusEnable) {
|
BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
|
long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
|
-
|
Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
|
if (abs<100){
|
return true;
|
}
|
if (Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
|
>=
|
Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos())){
|
return false;
|
}
|
}
|
return true;
|
}
|
public boolean rgvOtherIDLE2(RgvSlave slave,Integer staNo) {
|
RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
|
RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
|
|
if (rgvProtocol == null || rgvTaskProtocol == null) {
|
return false;
|
}
|
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
|
|| ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
|
return false;
|
}
|
RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
|
|
if (rgvProtocolOther == null) {
|
return true;
|
}
|
if (rgvProtocolOther.statusEnable) {
|
BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
|
long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
|
-
|
Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
|
if (abs<100){
|
return true;
|
}
|
if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos())
|
>=
|
Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){
|
return false;
|
}
|
}
|
return true;
|
}
|
|
public WrkMast deviceDetectionCreate(RgvSlave.RgvStn inSta) {
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
|
if (staProtocol == null) {
|
return null;
|
}
|
|
// 判断是否满足取货条件
|
if (staProtocol.isAutoing()
|
// && staProtocol.isLoading()
|
// && staProtocol.isStaOk()
|
&& staProtocol.getWorkNo() != 0) {
|
WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
|
if (!Cools.isEmpty(wrkMast)){
|
if (inSta.getStaNo()==117 || inSta.getStaNo()==120 || inSta.getStaNo()==123
|
|| inSta.getStaNo()==217 || inSta.getStaNo()==220 || inSta.getStaNo()==223){
|
if (wrkMast.getIoType()>100){
|
return null;
|
}
|
}
|
TaskWrk taskWrk = taskWrkService.selectByTaskNo(staProtocol.getWorkNo());
|
if (Cools.isEmpty(taskWrk)){
|
return wrkMast;
|
}
|
}
|
}
|
return null;
|
}
|
public TaskWrk deviceDetection(RgvSlave.RgvStn inSta) {
|
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
|
if (staProtocol == null) {
|
return null;
|
}
|
// 判断是否满足取货条件
|
if (!staProtocol.isPakMkTask()) {
|
devpThread.setErrorDev(staProtocol.getSiteId(), "任务已下发等待小车取");
|
return null;
|
}
|
// 判断是否满足取货条件
|
if (staProtocol.isAutoing()
|
// && staProtocol.isLoading()
|
// && staProtocol.isStaOk()
|
&& staProtocol.getWorkNo() != 0) {
|
TaskWrk taskWrk = taskWrkService.selectByTaskNo(staProtocol.getWorkNo());
|
if (taskWrk != null) {
|
Integer stano = staProtocol.getStaNo().intValue();
|
if (staProtocol.getSiteId() == 1004 || staProtocol.getSiteId()==1020){
|
if (!staProtocol.isPakMkRun()) {
|
devpThread.setErrorDev(staProtocol.getSiteId(), "异常回退标记，需要回退");
|
return null;
|
}
|
if (!staProtocol.isLoading()) {
|
devpThread.setErrorDev(staProtocol.getSiteId(), "无物");
|
return null;
|
}
|
if (!staProtocol.isInEnable()) {
|
devpThread.setErrorDev(staProtocol.getSiteId(), "等待可入信号");
|
return null;
|
}
|
// if (!staProtocol.isStaOk()) {
|
// devpThread.setErrorDev(staProtocol.getSiteId(), "等待链条就绪");
|
// return null;
|
// }
|
// 尺寸检测异常
|
boolean back = false;
|
String errMsg = "-";
|
if (staProtocol.getGrossWt()>=600){
|
errMsg = "超重："+staProtocol.getGrossWt()+"kg";
|
back = true;
|
}
|
if (staProtocol.isFrontErr()) {
|
if (!back){
|
errMsg = "前超限";
|
} else {
|
errMsg = errMsg+"---"+"前超限";
|
}
|
back = true;
|
}
|
if (staProtocol.isBackErr()) {
|
if (!back){
|
errMsg = "后超限";
|
} else {
|
errMsg = errMsg+"---"+"后超限";
|
}
|
back = true;
|
}
|
if (staProtocol.isHighErr()) {
|
if (!back){
|
errMsg = "高超限";
|
} else {
|
errMsg = errMsg+"---"+"高超限";
|
}
|
back = true;
|
}
|
if (staProtocol.isLeftErr()) {
|
if (!back){
|
errMsg = "左超限";
|
} else {
|
errMsg = errMsg+"---"+"左超限";
|
}
|
back = true;
|
}
|
if (staProtocol.isRightErr()) {
|
if (!back){
|
errMsg = "右超限";
|
} else {
|
errMsg = errMsg+"---"+"右超限";
|
}
|
back = true;
|
}
|
// if (!back && staProtocol.isWeightErr()) {
|
// errMsg = "超重";
|
// back = true;
|
// }
|
if (staProtocol.isBarcodeErr()) {
|
if (!back){
|
errMsg = "扫码失败";
|
} else {
|
errMsg = errMsg+"---"+"扫码失败";
|
}
|
back = true;
|
}
|
// 退回
|
if (back) {
|
if (stano.equals(staProtocol.getStaNo() + 1)) {
|
return null;
|
}
|
if (!staProtocol.isPakMk()) {
|
return null;
|
}
|
System.out.println("扫码入库失败，{"+inSta.getStaNo()+"}入库站因{"+errMsg+"}异常，托盘已被退回");
|
// 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(9999);
|
int staNoInt = staProtocol.getStaNo() + 1;
|
staProtocol.setStaNo((short)staNoInt);
|
devpThread.setPakMk(staProtocol.getSiteId(), false,1899);
|
devpThread.setPakMkRun(staProtocol.getSiteId(), false);
|
devpThread.setPakMkTask(staProtocol.getSiteId(), false);
|
devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
|
try{
|
taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
|
taskWrk.setModiTime(new Date());
|
taskWrkService.updateById(taskWrk);
|
} catch (Exception e){
|
devpThread.setErrorDev(staProtocol.getSiteId(), errMsg+"异常信息保存工作档案失败！");
|
}
|
return null;
|
}
|
}
|
return taskWrk;
|
}
|
} else if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0 && !staProtocol.isLoading()){
|
if (inSta.isDirectionOther()){
|
StaProtocol staProtocolOther = devpThread.getStation().get(inSta.getStaNoOther());
|
if (staProtocolOther == null) {
|
return null;
|
}
|
// 判断是否满足取货条件
|
if (staProtocolOther.isAutoing()
|
&& staProtocolOther.getWorkNo() != 0) {
|
TaskWrk taskWrkOther = taskWrkService.selectByTaskNo(staProtocolOther.getWorkNo());
|
if (taskWrkOther != null) {
|
return taskWrkOther;
|
}
|
}
|
}
|
}
|
return null;
|
}
|
public boolean deviceDetection(RgvSlave.RgvStn inSta,Integer rgvNo) {
|
ArrayList<Integer> arrayList = new ArrayList<Integer>() {{
|
add(1009);
|
add(1011);
|
add(1012);
|
add(1014);
|
add(1016);
|
}};
|
try{
|
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
|
ArrayList<Integer> listW = new ArrayList<Integer>();
|
ArrayList<Integer> listL = new ArrayList<Integer>();
|
for (Integer staNo : arrayList){
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (staProtocol == null) {
|
RgvErrCache.updateRgvErr(rgvNo,staNo+"站点数据丢失");
|
return false;
|
}
|
// 判断是否满足取货条件
|
if (staProtocol.getWorkNo() != 0) {
|
if (!listW.contains(staProtocol.getWorkNo())) {
|
listW.add(staProtocol.getWorkNo());
|
}
|
}
|
// 判断是否满足取货条件
|
if (staProtocol.isLoading()) {
|
if (!listL.contains(staProtocol.getStaNo().intValue())) {
|
listL.add(staProtocol.getStaNo().intValue());
|
}
|
}
|
}
|
if (listW.size()>=3){
|
RgvErrCache.updateRgvErr(rgvNo,"等待1012拣选，防止堵塞");
|
return false;
|
}
|
if (listL.size()>=3){
|
RgvErrCache.updateRgvErr(rgvNo,"等待1012拣选，防止堵塞");
|
return false;
|
}
|
} catch (Exception e){
|
RgvErrCache.updateRgvErr(rgvNo,"1012检测异常："+e.getMessage());
|
return false;
|
}
|
return true;
|
}
|
|
public boolean rgvOtherStatusEnable(RgvSlave slave) {
|
RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
|
if (rgvProtocolOther == null) {
|
return true;
|
}
|
if (rgvProtocolOther.statusEnable) {
|
// if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
|
return true;
|
// }
|
}
|
return false;
|
}
|
|
|
public boolean taskGenerate(RgvSlave rgvSlave, RgvSlave.RgvStn rgvStn, Integer sign) {
|
try {
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
|
|
TaskProtocol issuedTake = new TaskProtocol();
|
TaskProtocol issuedPut = new TaskProtocol();
|
try {
|
ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
|
if (allTaskProtocol.size() > 0) {
|
return false;
|
}
|
TaskWrk taskWrk = deviceDetection(rgvStn);
|
if (taskWrk == null) {
|
return false;
|
}
|
// Integer targetPointConvert = taskWrk.getTargetPointConvert();
|
Integer targetPointConvert = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
|
if (targetPointConvert == null) {
|
return false;
|
}
|
if (targetPointConvert == 1009){
|
if (!deviceDetection(rgvStn, rgvSlave.getId())){
|
return false;
|
}
|
}
|
try{
|
devpThread.setPakMkTask(rgvStn.getStaNo(), false);
|
} catch (Exception e2){
|
RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"小车任务下发标记更新失败");
|
}
|
|
|
BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
|
BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
|
//执行
|
issuedTake.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
|
issuedTake.setTaskStatus(2);
|
issuedTake.setTargetPositionStaNo(basDevpPositionSou.getDevNo());
|
issuedTake.setTargetPositionStaNoEnd(basDevpPositionSou.getDevNo$());
|
issuedTake.setTargetPositionStaNoPlcId(basDevpPositionSou.getPlcId());
|
issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
|
issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
|
issuedTake.setIsRunning(1);
|
issuedTake.setDirection(basDevpPositionSou.getRgvSign()==1);
|
|
|
issuedPut.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
|
issuedPut.setTaskStatus(3);
|
issuedPut.setTargetPositionStaNo(basDevpPositionEnd.getDevNo());
|
issuedPut.setTargetPositionStaNoEnd(basDevpPositionEnd.getDevNo$());
|
issuedPut.setTargetPositionStaNoPlcId(basDevpPositionEnd.getPlcId());
|
issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
|
issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
|
issuedPut.setIsRunning(1);
|
issuedPut.setDirection(basDevpPositionEnd.getRgvSign()==1);
|
|
try{
|
Date now = new Date();
|
taskWrk.setStatus(TaskStatusType.OVER.id);
|
taskWrk.setModiTime(now);//更新时间
|
taskWrk.setCompleteTime(now);//完结时间
|
taskWrkService.updateById(taskWrk);
|
} catch (Exception e){
|
|
}
|
} catch (Exception e) {
|
log.error("任务生成失败issued1===》异常信息：{}", e.getMessage());
|
RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued1");
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "任务生成失败issued1");
|
} catch (Exception e2){
|
}
|
return false;
|
}
|
|
switch (sign) {
|
case 1:
|
taskProtocolCache.updateTaskProtocol(issuedTake);
|
break;
|
case 2:
|
taskProtocolCache.updateTaskProtocol(issuedPut);
|
break;
|
default:
|
taskProtocolCache.updateTaskProtocol(issuedTake);
|
taskProtocolCache.updateTaskProtocol(issuedPut);
|
break;
|
}
|
} catch (Exception e) {
|
log.error("任务生成失败issued2===》异常信息：{}", e.getMessage());
|
RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued2");
|
|
try{
|
DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
|
deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "站点任务生成失败issued2");
|
} catch (Exception e2){
|
}
|
}
|
return true;
|
}
|
}
|
