#和得服务器

1

7 天以前 aeaf3e43e425ef0de84c1819f318f20e90471f90

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

@@ -3045,7 +3045,7 @@
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
            if (rgvProtocol.getStatusType1() != RgvStatusType.IDLE && rgvProtocol.getModeType() != RgvModeType.AUTO) {
                continue;
            }
            BasRgv basRgv = basRgvService.selectById(rgv.getId());
@@ -3054,10 +3054,16 @@
                continue;
            }
            //小车无任务时跳过
            if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0){
            if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0 ){
                continue;
            }
            //入库放货
            if(!rgvThread.isPaking()){
                continue;
            }
            List<WrkMastSta> wrkMastStaLock = wrkMastStaService.selectLockWrk(rgv.getId());
            if(wrkMastStaLock.size() == 1){
                continue;
            }
            if(rgvThread.isPakIn()){
                for(RgvSlave.RgvStn rgvStn : rgv.getRgvInPStn()){//入库放货站点
                    boolean flag = false;
@@ -3101,6 +3107,7 @@
                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
                    if (sign){
                        try{
                            rgvThread.setPaking(false);
                            wrkMast.setSheetNo("2");
                            wrkMastSta.setWrkSts(2);
                            wrkMastStaMapper.updateById(wrkMastSta);
@@ -3163,6 +3170,7 @@
                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
                    if (sign){
                        try{
                            rgvThread.setPaking(false);
                            wrkMastSta.setWrkSts(2);
                            wrkMastStaMapper.updateById(wrkMastSta);
                            log.error("更新小车任务成功");
@@ -3214,6 +3222,7 @@
                    && !rgvProtocol.isLoaded1ing()
                    && !rgvProtocol.isLoaded2ing()){
                rgvThread.setPakRgv(true);
                rgvThread.setPakMk(true);
                rgvThread.setPakIn(true);
                rgvThread.setPakOut(true);
                rgvThread.setPakToCrn(true);
@@ -3239,8 +3248,12 @@
                log.error("{}号RGV尚未在数据库进行维护！4", rgv.getId());
                continue;
            }
            if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
//                log.error("解锁");
                rgvThread.setPaking(true);
            }
            // 只有当RGV空闲 并且 无任务时才继续执行
            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk() && rgvThread.isPakToCrn()) {
            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk() && rgvThread.isPakToCrn() && rgvThread.isPaking()) {
                News.warnNoLog(""+mark+" - 0"+" - 开始执行RGV入出库作业下发");
                // 如果最近一次是入库模式
//                rgvRunWrkMastInTest();
@@ -3279,11 +3292,12 @@
//                rgvPreScheduling();//若暂无下发任务预调度提前到取货点
//            }

            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
                //小车执行放货任务
                rgvOutExecute();

            }
//            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
//                //小车执行放货任务
//                rgvOutExecute();
//
//            }
        }
    }
    public synchronized void rgvRunWrkMastInTest(){
@@ -3335,6 +3349,7 @@
            StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
            StaProtocol staProtocol2 = null;  //连续取货任务站点
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
            WrkMastSta wrkMastSta3 = null;//连取两个
            if(rgvStn.getStaNo2()!= null ){
                staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
                if (staProtocol2 == null) {
@@ -3348,18 +3363,9 @@
                    News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
                    continue;
                }
                WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
                if(wrkMastSta2 != null){
                    wrkMastSta2.setMk(1);
                    try{
                        wrkMastStaMapper.updateById(wrkMastSta2);
                        log.error("锁定相隔站点任务");
                    }catch (Exception e){
                        log.error("锁定相隔站点任务失败");
                    }

                }
                wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
            }

            if (staProtocol == null) {
                News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
                continue;
@@ -3389,7 +3395,7 @@
                case 2: route = RouteUtils.getRouteTwo();break;
            }
            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
             WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
            if( null == wrkMastSta ) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                continue;
@@ -3411,7 +3417,17 @@
            boolean sign = false;
            sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
            if (sign){
                if(wrkMastSta3 != null){
                    wrkMastSta3.setMk(1);
                    try{
                        wrkMastStaMapper.updateById(wrkMastSta3);
                        log.error("锁定相隔站点任务");
                    }catch (Exception e){
                        log.error("锁定相隔站点任务失败");
                    }

                }
                rgvThread.setPaking(false);
                rgvThread.setPakOut(false);//出库不允许
                try{
                    wrkMastSta.setWrkSts(1);
@@ -3438,6 +3454,8 @@
            StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
            StaProtocol staProtocol2 = null;
            WrkMastSta wrkMastSta3 = null;

            if(rgvStn.getStaNo2()!= null ){
                staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
                if (staProtocol2 == null) {
@@ -3451,18 +3469,7 @@
                    News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
                    continue;
                }
                WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
                if(wrkMastSta2 != null){
                    wrkMastSta2.setMk(1);
                    try{
                        wrkMastStaMapper.updateById(wrkMastSta2);
                        log.error("锁定相隔站点任务");
                    }catch (Exception e){
                        log.error("锁定相隔站点任务失败");
                    }

                }

                wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());

            }
            if (staProtocol == null) {
@@ -3519,6 +3526,17 @@
                if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
                    rgvThread.setPakToCrn(false); //锁定小车只能接接驳任务
                }
                if(wrkMastSta3 != null){
                    wrkMastSta3.setMk(1);
                    try{
                        wrkMastStaMapper.updateById(wrkMastSta3);
                        log.error("锁定相隔站点任务");
                    }catch (Exception e){
                        log.error("锁定相隔站点任务失败");
                    }

                }
                rgvThread.setPaking(false);
                rgvThread.setPakIn(false);//入库不允许
                try{
                    wrkMastSta.setWrkSts(1);
@@ -3754,9 +3772,9 @@
//        }
//        return wrkEnable;
//    }
//    /**
//     * 小车预调度
//     */
    /**
     * 小车预调度
     */
//    public synchronized  void rgvPreScheduling(){
//        try{
//            List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
@@ -3793,7 +3811,7 @@
//                    // 根据输送线plc遍历
//                    for (DevpSlave devp : slaveProperties.getDevp()) {
//                        // 遍历入库口  入库预调度
//                        List<Integer> staNos = Arrays.asList( 1043, 1104,1037);
//                        List<Integer> staNos = Arrays.asList( 1043, 1104, 1029, 1022, 1019, 1008, 1005);
//                        for (Integer staNo : staNos) {
//                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
//                            StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -3801,9 +3819,8 @@
//                                RgvCommand rgvCommand = new RgvCommand();
//                                rgvCommand.setRgvNo((int) rgvProtocol.getRgvNo()); // RGV编号
//                                rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
//                                rgvCommand.setTaskNo1(9999); // 工位1工作号
//                                rgvCommand.setTaskNo(9999); // 工位1工作号
//                                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  移动
//                                rgvCommand.setEndStaNo1(0);   //工位1 放货后要去的位置
//                                switch (staNo){
//                                    case 1043: rgvCommand.setTargetPosition1(1042);break;  //工位1目标站点
//                                    case 1104: rgvCommand.setTargetPosition1(1105);break;
@@ -3858,6 +3875,7 @@
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {

                return true;
            }

@@ -3927,18 +3945,23 @@
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta armSta : devp.getArmSta()) {
                    // 获取条码扫描仪信息
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, armSta.getBarcode());
                    if (barcodeThread == null) {

                    // 获取站点信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(armSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    String barcode = barcodeThread.getBarcode();
                    barcode="999997";
                    String barcode = staProtocol.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                            log.error("机械臂抓取任务完成："+JSON.toJSON(barcode)+"===》托盘条码异常");
                            continue;
                        }
                    } else {
                        log.error("机械臂抓取任务完成：===》托盘条码为空");
                        continue;
                    }