#

lsh

2024-06-22 a64aaeecc264176a60c6bb0e4e348c63f929d459

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

@@ -45,6 +45,7 @@
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import springfox.documentation.spring.web.json.Json;

import java.util.*;
import java.util.concurrent.TimeUnit;
@@ -4414,11 +4415,14 @@
    }

    /**
     *  Jar任务创建
     *  Jar任务创建  //完成
     */
    public synchronized void jarGenerateWrkMastSta() {
    public synchronized void jarMastGenerate() {
        for (JarSlave jarSlave : slaveProperties.getJar()) {
            try{
                if (wrkMastExecuteService.getWrkMastByJarIdCount(jarSlave.getId())!=0){
                    continue;
                }
                for(JarSlave.StaStn staStn : jarSlave.getJarInSta()){
                    // 获取硫化罐入库站信息
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, staStn.getDevpPlcId());
@@ -4430,22 +4434,34 @@
                    }
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo()!=0){
                        try{
                            if (basJarMastService.selectJarMastOperation(jarSlave.getId(),1)!=0){
                            if (basJarMastService.selectJarMastOperation(jarSlave.getId(),2)!=0){
                                break;
                            }
                            if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),1)!=0){
                            if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),3)!=0){
//                            log.error("{}号小车",jarSlave.getJarOtherId());
                                break;
                            }
                            if (wrkMastExecuteService.getWrkMastByJarIdCount(jarSlave.getId())!=0){
                            if (basJarMastService.getJarMastByJarIdCount(jarSlave.getId())>=14){
                                break;
                            }
                            if (basJarMastService.getJarMastByJarIdCount(jarSlave.getId())>=7){
                            if (basJarMastService.selectJarMastOperation(jarSlave.getId(),0,9)>=7){
                                break;
                            }
                            BasJarMast jarMastByJarIdMax = basJarMastService.getJarMastByJarIdMax(jarSlave.getId());
                            if (!Objects.equals
                                    (
                                    basJarMastService.selectJarMastOperation(jarSlave.getId(), 0, 4)
                                    ,
                                    basJarMastService.selectJarMastOperation(jarSlave.getId(), 0, 9)
                                    )
                            ){
                                break;
                            }
                            BasJarMast jarMastByJarIdMax = basJarMastService.getJarMastByJarIdMax(jarSlave.getId(),0,4);
                            int jarLocDigit = 0;
                            if (Cools.isEmpty(jarMastByJarIdMax)){
                                if (basJarMastService.selectJarMastOperation(jarSlave.getId(),0,4)!=0){
                                    break;
                                }
                                jarLocDigit = 1;
                            } else if (jarMastByJarIdMax.getJarLocDigit()<7){
                                jarLocDigit = jarMastByJarIdMax.getJarLocDigit()+1;
@@ -4464,7 +4480,7 @@
                            if (!Cools.isEmpty(wrkMastExecute)){
                                continue;
                            }
                            if (jarGenerateWrkMastStaExecute(jarSlave,wrkMast,jarLocDigit,staStn.getStaNo())){
                            if (jarMastGenerateExecute(jarSlave,wrkMast,jarLocDigit,staStn.getStaNo())){
                                return;
                            }
                        }catch (Exception e){
@@ -4480,11 +4496,11 @@
    }

    /**
     *  Jar任务创建  执行
     *  Jar任务创建===》执行  //完成
     */
    public synchronized boolean jarGenerateWrkMastStaExecute(JarSlave jarSlave,WrkMast wrkMast,Integer jarLocDigit,Integer staNo) {
    public synchronized boolean jarMastGenerateExecute(JarSlave jarSlave,WrkMast wrkMast,Integer jarLocDigit,Integer staNo) {
        try{
            // 获取堆垛机信息
            // 获取硫化罐信息
            JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
            JarProtocol jarProtocol = jarThread.getJarProtocol();
            if (jarProtocol == null) {
@@ -4499,9 +4515,9 @@
            if (jarOtherProtocol == null) {
                return false;
            }
            if (jarOtherProtocol.modeType != JarModeType.AUTO){
                return false;
            }
//            if (jarOtherProtocol.modeType != JarModeType.AUTO){
//                return false;
//            }

            BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
            if (Cools.isEmpty(basJar)){
@@ -4514,7 +4530,8 @@
            }

            //自动、空闲、右门关闭、   Other左门关闭
            if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0 && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0
            if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0
                    && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0
                    && !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.leftDoorOpen==0  && jarOtherProtocol.leftDoorClose==0){
                if (jarProtocol.statusType == JarStatusType.IDLE || jarProtocol.statusType == JarStatusType.MOVING){
                    BasJarMast basJarMast = new BasJarMast(basJar, wrkMast, jarLocDigit);
@@ -4531,9 +4548,9 @@
    }

    /**
     *  Jar任务创建  执行
     *  Jar任务完成   //未完成
     */
    public synchronized boolean jarGenerateWrkMastStaExecuteOne(JarSlave jarSlave) {
    public synchronized boolean jarMastGenerateComplete(JarSlave jarSlave) {
        try{
            // 获取堆垛机信息
            JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
@@ -4558,7 +4575,6 @@
            if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0 && !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.jarErr==0){

            }

        } catch (Exception e){
//            log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2);
        }
@@ -4566,86 +4582,116 @@
    }

    /**
     *  Jar任务创建  执行
     *  JarWrkMastExecute任务创建   //未完成
     *  开门、入硫化罐
     */
    public synchronized boolean jarGenerateWrkMastStaExecuteTwo(JarSlave jarSlave) {
    public synchronized void jarWrkMastExecuteGenerate() {
        for (JarSlave jarSlave : slaveProperties.getJar()) {
            try{
                if (wrkMastExecuteService.getWrkMastByJarIdCount(jarSlave.getId())!=0){
                    continue;
                }
                List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
                    add(0);
                    add(2);
                }});
                for (BasJarMast basJarMast : basJarMastList){
                    // 获取硫化罐信息
                    JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
                    JarProtocol jarProtocol = jarThread.getJarProtocol();
                    if (jarProtocol == null) {
                        break;
                    }
                    if (jarProtocol.modeType != JarModeType.AUTO){
                        break;
                    }

                    JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
                    JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
                    if (jarOtherProtocol == null) {
                        break;
                    }
//                    if (jarOtherProtocol.modeType != JarModeType.AUTO){
//                        continue;
//                    }

                    BasJar basJar = basJarMapper.selectById(jarProtocol.getJarNo());
                    if (Cools.isEmpty(basJar)){
                        log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
                        break;
                    }

                    //门作业  无
                    //自动、空闲、右门关闭、   Other左门关闭
                    if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0
                            && jarProtocol.leftDoorOpen==0  && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0  && jarProtocol.rightDoorClose==0
                            && !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.leftDoorOpen==0  && jarOtherProtocol.leftDoorClose==0){
                        if (jarProtocol.statusType == JarStatusType.IDLE && !jarProtocol.isLeftDoor() && basJarMast.getStatus()==0){
                            //生成开门任务 OpenTheDoor
                            if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvId(),1,1})){
                                log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
                            }
                            return;
                        } else if (jarProtocol.statusType == JarStatusType.MOVING && jarProtocol.isLeftDoor()){
                            //生成入硫化罐任务
                            if (!jarWrkMastExecuteGenerateExecute(basJar,basJarMast,new int[]{basJar.getEnterSteNo(),basJar.getEnterRgvId(),5,1})){
                                log.error("JarWrkMastExecute任务创建===>执行异常===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
                            }
                            return;
                        } else if (jarProtocol.statusType == JarStatusType.IDLE && jarProtocol.isLeftDoor()){
                            log.error("JarWrkMastExecute任务创建===>执行异常===》硫化罐空闲但是门未关===》异常数据：BasJar:"+ JSON.toJSONString(basJar)+";BasJarMast:"+JSON.toJSONString(basJarMast));
                        }
                    }
                    break;
                }
            } catch (Exception e){
                log.error("{}号硫化罐JarWrkMastExecute任务创建异常,异常原因={}",jarSlave.getId(),e.getMessage());
            }
        }
    }

    /**
     *  JarWrkMastExecute任务创建===>执行   //未完成
     */
    public synchronized boolean jarWrkMastExecuteGenerateExecute(BasJar basJar,BasJarMast basJarMast,int[] digit) {
        try{
            // 获取堆垛机信息
            JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
            JarProtocol jarProtocol = jarThread.getJarProtocol();
            if (jarProtocol == null) {
                return false;
            }
            if (jarProtocol.modeType != JarModeType.AUTO){
                return false;
            }

            JarThread jarOtherThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getJarOtherId());
            JarProtocol jarOtherProtocol = jarOtherThread.getJarProtocol();
            if (jarOtherProtocol == null) {
                return false;
            }
            if (jarOtherProtocol.modeType != JarModeType.AUTO){
                return false;
            }

            //自动、空闲、右门关闭、
            if (jarProtocol.isAutoing() && !jarProtocol.isRightDoor() && jarProtocol.jarErr==0 && !jarOtherProtocol.isLeftDoor() && jarOtherProtocol.jarErr==0){

            }

        } catch (Exception e){
//            log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2);
            WrkMastExecute wrkMastExecute = new WrkMastExecute(basJarMast);
            wrkMastExecute.setJarId(digit[3]==2? basJar.getBurial():basJar.getJarNo());
            wrkMastExecute.setSteId(digit[0]);//穿梭板ID
            wrkMastExecute.setRgvId(digit[1]);//RGV ID
            wrkMastExecute.setIoType(digit[2]);//任务类型 0: 未知  1: 开进料门  2: 关进料门  3: 开出料门  4: 关出料门  5: 入硫化罐  6: 入冷却槽  7: 穿梭车进冷却槽  8: 穿梭车离开冷却槽  9: 出冷却槽
            wrkMastExecute.setType(digit[3]);//设备  0: 未知  1: 硫化罐  2: 冷却槽  3: 硫化罐==>冷却槽
            return wrkMastExecuteService.insert(wrkMastExecute);
        }catch (Exception e){
            log.error("JarWrkMastExecute任务创建===>执行异常===》异常原因："+e.getMessage());
        }
        return false;
    }

    /**
     *  Jar任务执行
     */
    public synchronized void jarExecuteWrkMastSta() {
        try{

        }catch (Exception e){
            log.error("小车复位线程报错！"+e);
        }
    }

    /**
     *  Jar完成
     */
    public synchronized void jarCompleteWrkMastSta() {
        try{

        }catch (Exception e){
            log.error("小车复位线程报错！"+e);
        }
    }

    /*
     * 小车取空板至工位任务  满取
     * 开门任务创建
     * */
    public synchronized boolean jarRgvTake1(Integer rgvId,WrkMastSta wrkMastSta){
    public synchronized boolean jarWrkMastExecuteGenerate2(){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
            rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
            rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_5); // 工位2任务模式:  满取
            rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue());   //工位2起点
            rgvCommand.setCommand((short) 2);   //工位2任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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;
            log.error("{}号硫化罐OpenTheDoorGenerate==》JarWrkMastExecute任务创建异常,异常原因={}",null,e.getMessage());
        }
        return false;
    }

    /**
     *  JarWrkMastExecute任务完成   //未完成
     */
    public synchronized void jarWrkMastExecuteGenerateComplete() {
        try{

        }catch (Exception e){
            log.error("小车复位线程报错！"+e);
        }
    }


    /*
     * Rgv  移动
     * */