# Agent数据分析V3.0.1.7

Junjie

3 天以前 63b01db83d9aad8a15276b4236a9a22e4aeef065

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

@@ -1,7 +1,7 @@
package com.zy.core.thread.impl;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasCrnp;
@@ -24,7 +24,9 @@
import com.zy.core.network.DeviceConnectPool;
import com.zy.core.network.ZyCrnConnectDriver;
import com.zy.core.network.entity.ZyCrnStatusEntity;
import com.zy.core.service.WrkCommandRollbackService;
import com.zy.core.thread.CrnThread;
import com.zy.core.task.DeviceAsyncLogPublisher;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

@@ -45,10 +47,12 @@
    private ZyCrnConnectDriver zyCrnConnectDriver;
    private CrnProtocol crnProtocol;
    private int deviceLogCollectTime = 200;
    private final DeviceAsyncLogPublisher deviceAsyncLogPublisher;

    public ZySiemensCrnThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
        this.deviceConfig = deviceConfig;
        this.redisUtil = redisUtil;
        this.deviceAsyncLogPublisher = SpringUtils.getBean(DeviceAsyncLogPublisher.class);
    }

    @Override
@@ -124,7 +128,7 @@

        }
        if (basCrnpService != null) {
            BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", deviceConfig.getDeviceNo()));
            BasCrnp basCrnp = basCrnpService.getOne(new QueryWrapper<BasCrnp>().eq("crn_no", deviceConfig.getDeviceNo()));
            if(basCrnp == null) {
                basCrnp = new BasCrnp();
                basCrnp.setCrnNo(deviceConfig.getDeviceNo());
@@ -134,7 +138,7 @@
                basCrnp.setMaxInTask(5);
                basCrnp.setMaxOutTask(5);
                basCrnp.setCreateTime(new Date());
                basCrnpService.insert(basCrnp);
                basCrnpService.save(basCrnp);
            }
        }
    }
@@ -167,6 +171,7 @@
        crnProtocol.setWalkPos(crnStatus.getWalkPos());
        crnProtocol.setLoaded(crnStatus.getLoaded());
        crnProtocol.setAlarm(crnStatus.getAlarm());
        crnProtocol.setLaserValue(crnStatus.getLaserValue());
        crnProtocol.setTemp1(crnStatus.getTemp1());
        crnProtocol.setTemp2(crnStatus.getTemp2());
        crnProtocol.setTemp3(crnStatus.getTemp3());
@@ -198,7 +203,7 @@
            deviceDataLog.setDeviceNo(crnProtocol.getCrnNo());
            deviceDataLog.setCreateTime(new Date());

            redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
            deviceAsyncLogPublisher.publishLatest(deviceDataLog);
            //更新采集时间
            crnProtocol.setDeviceDataLog(System.currentTimeMillis());
        }
@@ -219,7 +224,7 @@
                        log.setStatus(1);
                        log.setCreateTime(new Date());
                        log.setSystemStatus(JSON.toJSONString(crnProtocol));
                        errLogService.insert(log);
                        errLogService.save(log);
                        if (log.getId() != null) {
                            redisUtil.set(errFlagKey, log.getId(), 60 * 60 * 24);
                        }
@@ -254,14 +259,15 @@

    @Override
    public CrnCommand getPickAndPutCommand(String sourceLocNo, String targetLocNo, Integer taskNo, Integer crnNo) {
        BasCrnp basCrnp = getBasCrnp(crnNo);
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE.id); // 任务模式:  库位移转
        crnCommand.setSourcePosX(Utils.getRow(sourceLocNo));     // 源库位排
        crnCommand.setSourcePosX(resolveCommandRow(sourceLocNo, basCrnp));     // 源库位排
        crnCommand.setSourcePosY(Utils.getBay(sourceLocNo));     // 源库位列
        crnCommand.setSourcePosZ(Utils.getLev(sourceLocNo));     // 源库位层
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosX(resolveCommandRow(targetLocNo, basCrnp));     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand(1);     // 任务确认
@@ -270,28 +276,46 @@

    @Override
    public CrnCommand getMoveCommand(String targetLocNo, Integer taskNo, Integer crnNo) {
        Integer targetRow = resolveCommandRow(targetLocNo, crnNo);
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setAckFinish(0);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE.id); // 任务模式:  堆垛机移动
        crnCommand.setSourcePosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setSourcePosX(targetRow);     // 目标库位排
        crnCommand.setSourcePosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setSourcePosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setDestinationPosX(Utils.getRow(targetLocNo));     // 目标库位排
        crnCommand.setDestinationPosX(targetRow);     // 目标库位排
        crnCommand.setDestinationPosY(Utils.getBay(targetLocNo));     // 目标库位列
        crnCommand.setDestinationPosZ(Utils.getLev(targetLocNo));     // 目标库位层
        crnCommand.setCommand(1);     // 任务确认
        return crnCommand;
    }

    private Integer resolveCommandRow(String locNo, Integer crnNo) {
        return resolveCommandRow(locNo, getBasCrnp(crnNo));
    }

    private Integer resolveCommandRow(String locNo, BasCrnp basCrnp) {
        Integer locationRow = Utils.getRow(locNo);
        if (basCrnp == null) {
            return locationRow;
        }
        return basCrnp.getCommandRow(locationRow);
    }

    private BasCrnp getBasCrnp(Integer crnNo) {
        BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class);
        return basCrnpService.getById(crnNo);
    }

    @Override
    public CrnCommand getResetCommand(Integer crnNo) {
    public CrnCommand getResetCommand(Integer taskNo, Integer crnNo) {
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(0); // 工作号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setAckFinish(1);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.NONE.id); // 任务模式
        crnCommand.setTaskMode(CrnTaskModeType.RESET.id); // 任务模式
        crnCommand.setSourcePosX(0);     // 源库位排
        crnCommand.setSourcePosY(0);     // 源库位列
        crnCommand.setSourcePosZ(0);     // 源库位层
@@ -310,27 +334,35 @@
            response = zyCrnConnectDriver.sendCommand(command);
            return response;
        } finally {
            String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
            String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());
            BasCrnpOptService bean = SpringUtils.getBean(BasCrnpOptService.class);
            ZyCrnStatusEntity statusEntity = zyCrnConnectDriver.getStatus();
            BasCrnpOpt basCrnpOpt = new BasCrnpOpt(
                    command.getTaskNo().intValue(),
                    command.getCrnNo(),
                    new Date(),
                    String.valueOf(command.getTaskMode()),
                    sourceLocNo,
                    targetLocNo,
                    null,
                    null,
                    null,
                    JSON.toJSONString(command),
                    JSON.toJSONString(statusEntity),
                    1,
                    JSON.toJSONString(response)
            );
            if (bean != null) {
                bean.insert(basCrnpOpt);
            if (command != null) {
                String sourceLocNo = Utils.getLocNo(command.getSourcePosX(), command.getSourcePosY(), command.getSourcePosZ());
                String targetLocNo = Utils.getLocNo(command.getDestinationPosX(), command.getDestinationPosY(), command.getDestinationPosZ());
                BasCrnpOptService bean = SpringUtils.getBean(BasCrnpOptService.class);
                ZyCrnStatusEntity statusEntity = zyCrnConnectDriver.getStatus();
                BasCrnpOpt basCrnpOpt = new BasCrnpOpt(
                        command.getTaskNo(),
                        command.getCrnNo(),
                        new Date(),
                        String.valueOf(command.getTaskMode()),
                        sourceLocNo,
                        targetLocNo,
                        null,
                        null,
                        null,
                        JSON.toJSONString(command),
                        JSON.toJSONString(statusEntity),
                        1,
                        JSON.toJSONString(response)
                );
                bean.save(basCrnpOpt);
                try {
                    WrkCommandRollbackService rollbackService = SpringUtils.getBean(WrkCommandRollbackService.class);
                    if (rollbackService != null) {
                        rollbackService.handleSingleCrnSendResult(command, response, "单工位堆垛机");
                    }
                } catch (Exception e) {
                    log.error("处理单工位命令下发结果失败, wrkNo={}", command.getTaskNo(), e);
                }
            }
        }
    }