#

zjj

2024-07-19 5d0f7a5aa4ee994782f3f3bcc66e23653a6ac40a

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -29,13 +29,11 @@
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.ExtProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.LedThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.core.thread.SiemensRgvThread;
import com.zy.core.thread.*;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -87,7 +85,6 @@
                for (RgvSlave rgv : slaveProperties.getRgv()) {
                    if (!rgv.getDemo()){
                        continue;

                    }
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
@@ -299,7 +296,12 @@
                if (rgvComplete){
                    rgvThread.setPakMk(true);
                }

                List<WrkMastSta> wrkMastStas = wrkMastStaMapper.selectList(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", rgvProtocol.getTaskNo1()));
                if (!Cools.isEmpty(wrkMastStas) || wrkMastStas.size()<=0){
                    WrkMastSta wrkMastSta = wrkMastStas.get(0);
                    wrkMastSta.setWrkSts(3);
                    wrkMastStaMapper.updateById(wrkMastSta);
                }
            }

        }
@@ -361,6 +363,188 @@
        }
    }

    public synchronized void ExtTaskAndPut() throws InterruptedException {
        for (ExtSlave extSlave : slaveProperties.getExt()) {
//            if (!rgv.getDemo()) {
//                continue;
//            }
            MelsecExtThread extThread = (MelsecExtThread) SlaveConnection.get(SlaveType.Ext, extSlave.getId());
            ExtProtocol extProtocol = extThread.getExtProtocol();
            if (extProtocol == null) {
                continue;
            }
//            else {
//                extProtocol = extProtocol.clone();
//            }
            if (extProtocol.isTake()){//允许取

            }else if (extProtocol.isPut()){//允许放

            }

        }
    }

    public synchronized void DevpTaskAndPut() throws InterruptedException {
        try {
            for (DevpSlave devp : slaveProperties.getDevp()) {
                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
//                    System.out.println(JSON.toJSONString(staProtocol));
                    if (staProtocol.isAutoing()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,1);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }else if (staProtocol.isLoading()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,3);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }else if (staProtocol.isInEnable()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,5);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }else if (staProtocol.isOutEnable()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,7);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }
                    if (staProtocol.isEmptyMk()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),1,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }
                    if (staProtocol.isFullPlt()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),3,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }
                    if (staProtocol.isCar()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),5,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }
                    if (staProtocol.isLow()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),7,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
                            wrkMastStaMapper.insert(wrkMastSta);
                        }
                    }
                }
            }
        } catch (Exception e) {
            log.error("生成小车搬运任务  ===>> 失败", e);
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }

    /**
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastFullSta() {
        try{
            SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, 1);
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                log.error("RGV不在线");
                return;
            }
            // 只有当RGV空闲、自动,工位一无物//rgv可用
            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1()==0
                    && rgvProtocol.getTaskNo1() == 0
                    && rgvThread.isPakMk()
            ) {
                Integer selectCount = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts", 3).ne("wrk_sts", 0));
                if (selectCount>0){
                    log.error("存在执行RGV中任务，但是小车状态空闲！！！");
                    return;
                }

                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectList(new EntityWrapper<WrkMastSta>().eq("wrk_sts",0));
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                        continue;
                    }
                    boolean sign = rgvTakeFullAll(1, wrkMastSta); //命令下发
                    if (sign){
                        wrkMastSta.setWrkSts(1);
                        wrkMastStaMapper.updateById(wrkMastSta);
                    } else {
                        log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                    }
                    break;
                }
            }
        }catch (Exception e){
            log.error("3875行执行小车搬运任务下发失败");
            log.error("3875行"+e);
        }
    }
    /*
     * 小车取货至工位任务
     * */
    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().intValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 0);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }



}