#

cpT

7 天以前 633d680fdaba504255a12f190a8284c0a9e12de6

 src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java

@@ -20,6 +20,7 @@
import com.zy.core.model.StationObjModel;
import com.zy.core.model.Task;
import com.zy.core.model.command.DualCrnCommand;
import com.zy.core.model.param.SendDualCrnCommandParam;
import com.zy.core.model.protocol.DualCrnProtocol;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.network.DeviceConnectPool;
@@ -31,10 +32,8 @@
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.Date;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.*;

import com.zy.asrs.entity.BasDualCrnpErrLog;
import com.zy.asrs.service.BasDualCrnpErrLogService;

@@ -85,14 +84,13 @@
                    }

                    if (step == 2) {
                        List<DualCrnCommand> commandList = (List<DualCrnCommand>) task.getData();
                        DualCrnCommand command = commandList.get(0);
                        List<SendDualCrnCommandParam> commandList = (List<SendDualCrnCommandParam>) task.getData();
                        for (SendDualCrnCommandParam sendDualCrnCommandParam : commandList) {
                            DualCrnCommand dualCrnCommand = sendDualCrnCommandParam.getCommands().get(0);
                            redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_IDX.key + dualCrnCommand.getTaskNo(), sendDualCrnCommandParam.getCommandIdx(), 60 * 60 * 24);
                        }

                        HashMap<String, Object> map = new HashMap<>();
                        map.put("commands", commandList);
                        map.put("idx", 1);
                        redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + command.getTaskNo(), JSON.toJSONString(map, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
                        sendCommand(command);
                        redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + crnProtocol.getCrnNo(), JSON.toJSONString(commandList, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
                    } else if (step == 3) {
                        sendCommand((DualCrnCommand) task.getData());
                    }
@@ -116,99 +114,19 @@
                        continue;
                    }

                    if (crnProtocol.getLoaded() == 1 && crnProtocol.getLoadedTwo() == 1) {
                        Object wait = redisUtil.get(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
                        if (wait != null) {
                            redisUtil.del(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
                        }
                    if (!((crnProtocol.getStatusType().equals(DualCrnStatusType.IDLE) || crnProtocol.getStatusType().equals(DualCrnStatusType.FETCH_COMPLETE))
                            && (crnProtocol.getStatusTypeTwo().equals(DualCrnStatusType.IDLE) || crnProtocol.getStatusTypeTwo().equals(DualCrnStatusType.FETCH_COMPLETE)))
                    ) {
                        continue;
                    }

                    if(crnProtocol.getTaskNo() > 0 && crnProtocol.getStatus().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
                        Integer taskNo = crnProtocol.getTaskNo();
                        Object commandObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + taskNo);
                        if (commandObj == null) {
                            News.error("双工位堆垛机，工位1空闲等待下发命令，但未找到命令。堆垛机号={}，工作号={}", crnProtocol.getCrnNo(), taskNo);
                            continue;
                        }

                        JSONObject commandMap = JSON.parseObject(commandObj.toString());
                        Integer idx = commandMap.getInteger("idx");
                        List<DualCrnCommand> commandList = commandMap.getJSONArray("commands").toJavaList(DualCrnCommand.class);
                        if (idx >= commandList.size()) {
                            continue;
                        }
                        DualCrnCommand dualCommand = commandList.get(idx);

                        if (dualCommand.getTaskMode() == DualCrnTaskModeType.PUT.id.shortValue()) {
                            //等待下一个任务
                            Object wait = redisUtil.get(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
                            if (wait != null) {
                                continue;
                            }

                            Object outTaskStationInfoObj = redisUtil.get(RedisKeyType.DUAL_CRN_OUT_TASK_STATION_INFO.key + taskNo);
                            if (outTaskStationInfoObj != null) {
                                //检测出口站是否可执行放货动作
                                StationObjModel stationObjModel = JSON.parseObject(outTaskStationInfoObj.toString(), StationObjModel.class);
                                StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
                                if (stationThread == null) {
                                    continue;
                                }

                                Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
                                StationProtocol stationProtocol = statusMap.get(stationObjModel.getStationId());
                                if (stationProtocol == null) {
                                    continue;
                                }

                                if (!stationProtocol.isAutoing()) {
                                    continue;
                                }

                                if (stationProtocol.isLoading()) {
                                    continue;
                                }

                                if (stationProtocol.getTaskNo() > 0) {
                                    continue;
                                }
                            }
                        }

                        idx++;
                        commandMap.put("idx", idx);
                        sendCommand(dualCommand);
                        redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + taskNo, commandMap.toJSONString(), 60 * 60 * 24);
                    Object commandListObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + crnProtocol.getCrnNo());
                    if (commandListObj == null) {
                        continue;
                    }

                    if(crnProtocol.getTaskNoTwo() > 0 && crnProtocol.getStatusTwo() == DualCrnStatusType.IDLE.id) {
                        Integer taskNo = crnProtocol.getTaskNoTwo();
                        Object commandObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + taskNo);
                        if (commandObj == null) {
                            News.error("双工位堆垛机，工位2空闲等待下发命令，但未找到命令。堆垛机号={}，工作号={}", crnProtocol.getCrnNo(), taskNo);
                            continue;
                        }

                        JSONObject commandMap = JSON.parseObject(commandObj.toString());
                        Integer idx = commandMap.getInteger("idx");
                        List<DualCrnCommand> commandList = commandMap.getJSONArray("commands").toJavaList(DualCrnCommand.class);
                        if (idx >= commandList.size()) {
                            continue;
                        }
                        DualCrnCommand dualCommand = commandList.get(idx);

                        if (dualCommand.getTaskMode() == DualCrnTaskModeType.PUT.id.shortValue()) {
                            //等待下一个任务
                            Object wait = redisUtil.get(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
                            if (wait != null) {
                                continue;
                            }
                        }

                        idx++;
                        commandMap.put("idx", idx);
                        sendCommand(dualCommand);
                        redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + taskNo, commandMap.toJSONString(), 60 * 60 * 24);
                    List<SendDualCrnCommandParam> commandList = JSON.parseArray(commandListObj.toString(), SendDualCrnCommandParam.class);
                    for (SendDualCrnCommandParam commandParam : commandList) {
                        processStation(commandParam);
                    }

                    Thread.sleep(100);
@@ -218,6 +136,90 @@
            }
        });
        commandThread.start();
    }

    private void processStation(SendDualCrnCommandParam commandParam) {
        Integer station = commandParam.getStation();
        List<DualCrnCommand> commandList = commandParam.getCommands();
        DualCrnCommand firstCommand = commandList.get(0);
        Object idxObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_IDX.key + firstCommand.getTaskNo());
        if(idxObj == null) {
            return;
        }
        Integer idx = (Integer) idxObj;
        if (idx >= commandList.size()) {
            return;
        }
        DualCrnCommand dualCommand = commandList.get(idx);

        boolean send = false;
        if (station == 1) {
            if (crnProtocol.getStatus().equals(DualCrnStatusType.FETCH_COMPLETE.id)
                    || crnProtocol.getStatus().equals(DualCrnStatusType.IDLE.id)
            ) {
                send = true;
            }
        }else {
            if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.FETCH_COMPLETE.id)
                    || crnProtocol.getStatusTwo().equals(DualCrnStatusType.IDLE.id)
            ) {
                send = true;
            }
        }

        if (idx == 0) {
            if(send) {
                idx++;
                redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_IDX.key + firstCommand.getTaskNo(), idx, 60 * 60 * 24);
                sendCommand(dualCommand);
                redisUtil.set(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo(), "lock", 5);
            }
            return;
        }else {
            if (dualCommand.getTaskMode() == DualCrnTaskModeType.PUT.id.shortValue()) {
                //等待下一个任务
                Object wait = redisUtil.get(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
                if (wait != null) {
                    return;
                }

                Integer taskNo = dualCommand.getTaskNo();
                Object outTaskStationInfoObj = redisUtil.get(RedisKeyType.DUAL_CRN_OUT_TASK_STATION_INFO.key + taskNo);
                if (outTaskStationInfoObj != null) {
                    //检测出口站是否可执行放货动作
                    StationObjModel stationObjModel = JSON.parseObject(outTaskStationInfoObj.toString(), StationObjModel.class);
                    StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
                    if (stationThread == null) {
                        return;
                    }

                    Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
                    StationProtocol stationProtocol = statusMap.get(stationObjModel.getStationId());
                    if (stationProtocol == null) {
                        return;
                    }

                    if (!stationProtocol.isAutoing()) {
                        return;
                    }

                    if (stationProtocol.isLoading()) {
                        return;
                    }

                    if (stationProtocol.getTaskNo() > 0) {
                        return;
                    }
                }
            }

            if(send) {
                idx++;
                redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_IDX.key + firstCommand.getTaskNo(), idx, 60 * 60 * 24);
                sendCommand(dualCommand);
            }
            return;
        }
    }

    /**
@@ -492,7 +494,7 @@
    }

    @Override
    public synchronized CommandResponse sendCommand(DualCrnCommand command) {
    public CommandResponse sendCommand(DualCrnCommand command) {
        this.crnProtocol.setLastCommandTime(System.currentTimeMillis());
        CommandResponse response = null;
        try {