package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.Cools;
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import com.zy.asrs.entity.BasCircularShuttle;
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import com.zy.asrs.entity.BasDevpPosition;
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import com.zy.asrs.entity.BasRgv;
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import com.zy.asrs.entity.BasSte;
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import com.zy.asrs.service.BasCircularShuttleService;
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import com.zy.asrs.service.BasDevpPositionService;
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import com.zy.asrs.service.BasDevpService;
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import com.zy.asrs.utils.Utils;
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import com.zy.core.DevpThread;
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import com.zy.core.News;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.DevpSlave;
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import com.zy.core.model.RgvSlave;
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import com.zy.core.model.SteSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.SteCommand;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.model.protocol.StaProtocol;
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import com.zy.core.model.protocol.SteProtocol;
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import com.zy.core.properties.SlaveProperties;
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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.core.thread.SteThread;
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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 java.util.Date;
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import java.util.List;
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import java.util.Map;
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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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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private BasRgvServiceImpl basRgvService;
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@Autowired
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private BasDevpPositionService basDevpPositionService;
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@Autowired
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private BasCircularShuttleService basCircularShuttleService;
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/**
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* 站点任务检测 下发小车取放任务
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*/
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public synchronized void updateStePosition() {
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try{
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List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("ste_id", true));
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for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getSteNo());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.SOS1001) ){
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} else {
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break;
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}
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}
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} catch (Exception e){
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}
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}
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/**
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* 站点任务检测 下发小车取放任务
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*/
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public synchronized void DevpTaskNoRun() {
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历空板入库口
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for (DevpSlave.Sta sta : devp.getInSta()) {
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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(sta.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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}
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}
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}
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public synchronized void loopSteCharge() {
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for (RgvSlave rgv : slaveProperties.getRgv()) {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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BasRgv basRgv = basRgvService.selectById(rgv.getId());
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if (Cools.isEmpty(rgvProtocol, basRgv)) { continue; }
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try {
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// 在线 空闲 无作业标记 不在充电
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if (rgvProtocol.getMode() == 0
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|| !rgvProtocol.statusType.equals(RgvStatusType.IDLE)
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|| basRgv.getPakMk().equals("Y")
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// || steProtocol.getChargeStatus() == 1
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) {
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continue;
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}
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} catch (Exception e) {
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News.error("fail", e);
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}
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}
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}
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}
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