#

luxiaotao1123

2020-08-10 ab9d69b6166ed7301aaad8b4ccf96319f71c168b

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

@@ -4,12 +4,10 @@
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.StaDesc;
import com.zy.asrs.entity.WaitPakin;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.WaitPakinMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.StaDescService;
import com.zy.asrs.service.WrkDetlService;
@@ -58,6 +56,8 @@
    private LocMastService locMastService;
    @Autowired
    private StaDescService staDescService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private JdbcTemplate jdbcTemplate;

@@ -270,17 +270,86 @@
                        }
                    }

                    // 更新堆垛机信息 且 下发plc命令 todo:luxiaotao
                    // 命令下发区 --------------------------------------------------------------------------

                    // 1.复位堆垛机 更新堆垛机信息 且 下发plc命令 todo:luxiaotao
                    crnProtocol.setStatus(CrnStatusType.IDLE);
                    crnProtocol.setTaskNo((short)0);
                    boolean result = MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task<>(4, crnProtocol));
                    if (!result) {
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task<>(4, crnProtocol))) {
                        throw new CoolException("更新堆垛机信息失败");
                    }

                    // 2.下发站点信息
                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                    staProtocol.setStaNo(wrkMast.getStaNo());
                    if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task<>(4, staProtocol))) {
                        throw new CoolException("更新plc站点信息失败");
                    }
                }
            }
        }
    }

    /**
     * 入出库  ===>>  堆垛机站到库位 堆垛机入出库作业下发
     */
    public void crnIoExecute(){
        for (Slave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
            if (basCrnp == null) {
                continue;
            }
            // 只有当堆垛机空闲 或者 无任务时才继续执行
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE || crnProtocol.getTaskNo() == 0) {
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
                    if (basCrnp.getInEnable().equals("Y")) {
                        this.crnStnToLoc(); //  入库
                        crnProtocol.setLastIo("O");
                    } else if (basCrnp.getOutEnable().equals("Y")) {
                        this.locToCrnStn(); //  出库
                        crnProtocol.setLastIo("I");
                    }
                }
                // 如果最近一次是出库模式
                else if (crnProtocol.getLastIo().equals("O")) {
                    if (basCrnp.getOutEnable().equals("Y")) {
                        this.locToCrnStn(); //  出库
                        crnProtocol.setLastIo("I");
                    } else if (basCrnp.getInEnable().equals("Y")) {
                        this.crnStnToLoc(); //  入库
                        crnProtocol.setLastIo("O");
                    }
                }
            }
            // 库位移转
            this.locToLoc();

        }
    }

    /**
     * 入库  ===>>  堆垛机站到库位
     */
    private void crnStnToLoc(){

    }

    /**
     * 出库  ===>>  库位到堆垛机站
     */
    private void locToCrnStn(){

    }

    /**
     * 库位移转
     */
    private void locToLoc(){

    }

    /**
@@ -295,4 +364,23 @@
        }
    }

    /**
     * 更新堆垛机移动时工作档状态
     */
    public void updateCrnMove() {
        for (Slave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            // todo
            if (crnProtocol.getStatusType() == CrnStatusType.FETCH_POSITION) {

                WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());


            }


        }
    }
}