#

yxFwq

2025-01-01 c1d30e0e96f9fc0d32a9a5007977ce305e0d22c5

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

@@ -7,6 +7,7 @@
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.R;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.LedErrorAreaType;
import com.zy.asrs.domain.enums.WorkNoType;
@@ -57,13 +58,9 @@
public class MainServiceImpl {

    public static final long COMMAND_TIMEOUT = 5 * 1000;
//    private static final int[][] execute = new int[][]{{1,4},{2,4},{3,4},{4,4},{5,6},{6,6},{7,4},{8,4},{9,3},{10,4},{11,4}};
    private static final int[][] execute = new int[][]{{1,4},{2,4},{3,4},{4,4},{5,6},{6,6},{7,4},{8,4},{9,3},{10,4},{11,4}};

//    private static final Integer jarMaxLoc1 = 7;
    private static  Integer jarMaxLoc = 0;
//    private static  Integer signBigTurn = 0;
//    private static  Integer signSmallTurn = 0;
    private static final Float jarTemperature = 50F;
    @Autowired
    private CommonService commonService;
@@ -1138,7 +1135,7 @@

                    String barcode = wrkMast.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode) || "empty".equals(barcode)) {
                            continue;
                        }
                    } else {
@@ -2273,7 +2270,7 @@
                    staProtocolOther1 = staProtocolOther1.clone();
                }

                if (staProtocolOther1.isAutoing() || staProtocolOther1.getWorkNo()!=0){
                if (staProtocolOther1.isLoading() || !staProtocolOther1.getWorkNo().equals(0)){
                    return;
                }

@@ -2284,7 +2281,7 @@
                } else {
                    staProtocolOther2 = staProtocolOther2.clone();
                }
                if (staProtocolOther2.isAutoing() || staProtocolOther2.getWorkNo()!=0){
                if (staProtocolOther2.isLoading() || !staProtocolOther2.getWorkNo().equals(0)){
                    return;
                }
            }
@@ -3098,18 +3095,26 @@
                continue;
            }

            Integer turnBigInt = 0;
            if (wrkMast.booleanStaNoSign()){
                RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign("LineUp"+wrkMast.getStaNo());
                if (Cools.isEmpty(rgvOneSign)){
                    continue;
                }
                if (rgvOneSign.getRgvOneSign()>=2){
                RgvOneSign trunBig = rgvOneSignMapper.selectOneSign("TrunBig"+wrkMast.getStaNo());
                if (Cools.isEmpty(trunBig)){
                    continue;
                }
//                int wrkCount = wrkMastMapper.selectCount(new EntityWrapper<WrkMast>().eq("io_type", 110).gt("sta_no", 309).lt("sta_no", 314).gt("wrk_sts",11L));
//                if (wrkCount>=12){
//                    continue;
//                }
                turnBigInt = trunBig.getRgvOneSign();
                int wrkCount = wrkMastMapper.selectCount(new EntityWrapper<WrkMast>().eq("sta_no", wrkMast.getStaNo()).eq("wrk_sts",12L));

                if (trunBig.getRgvOneSign()+wrkCount+rgvOneSign.getRgvOneSign()>2){
                    continue;
                }
                int wrkCountGt = wrkMastMapper.selectCount(new EntityWrapper<WrkMast>().eq("sta_no", wrkMast.getStaNo()).gt("wrk_sts",11L));
                if (wrkCountGt > 2){
                    continue;
                }
//                RgvOneSign bigTurn = rgvOneSignMapper.selectOneSign("bigTurn");
//                if (Cools.isEmpty(bigTurn)){
//                    continue;
@@ -3266,6 +3271,9 @@
                    crnCommand.setDestinationPosX((short)0);     // 目标库位排
                    crnCommand.setDestinationPosY((short)0);     // 目标库位列
                    crnCommand.setDestinationPosZ((short)0);     // 目标库位层
                    if (wrkMast.booleanStaNoSign()){
                        updateRgvOneSign("TrunBig"+wrkMast.getStaNo(),turnBigInt+1);
                    }
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
                    } else {
@@ -3347,6 +3355,24 @@
//            signBigTurn = 0;
//        }

    }

    public void updateRgvOneSign(String signType,Integer oneSign){
        RgvOneSignMapper rgvOneSignMapper = SpringUtils.getBean(RgvOneSignMapper.class);

        try{
            RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(signType);
            if (!Cools.isEmpty(rgvOneSign)){
                rgvOneSign.setRgvOneSign(oneSign);
                rgvOneSignMapper.updateById(rgvOneSign);
            }
        } catch (Exception e){
            RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign(signType);
            if (!Cools.isEmpty(rgvOneSign)){
                rgvOneSign.setRgvOneSign(999);
                rgvOneSignMapper.updateById(rgvOneSign);
            }
        }
    }

    /**
@@ -4022,12 +4048,12 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (emptyInSta.getStaNo()==607 && staProtocol.getStaNo()==0 && staProtocol.getWorkNo()==0
                if (emptyInSta.getStaNo()==607 && staProtocol.getStaNo()==0 && staProtocol.getWorkNo().equals(0)
                        && staProtocol.isLoading() && staProtocol.isAutoing() && staProtocol.isInEnable()){
                    String barcode = staProtocol.getBarcode();
                    if (!Cools.isEmpty(barcode)) {
//                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
                            continue;
                        }
                    } else {
@@ -5132,7 +5158,7 @@
                            if (jarMaxLoc == 0 || basJarOther.getJarCount() == 0) {
                                break;
                            }
                            int count = basJarMastService.selectCount(new EntityWrapper<BasJarMast>().eq("jar_regin", basJar.getRegion()).lt("status", 17).gt("status", 6));
                            int count = basJarMastService.selectCount(new EntityWrapper<BasJarMast>().eq("jar_regin", basJar.getRegion()).lt("status", 17).gt("status", 5));
                            if (count>0){
                                break;
                            }
@@ -5341,8 +5367,8 @@
                case 3:
                case 4:
                    signExecute = jarWrkMastExecuteGenerateJar(signExecute,sign);//硫化罐任务
                case 5:
                    signExecute = jarWrkMastExecuteGenerateBurial(signExecute, sign);//冷却槽取输送线
//                case 5:
//                    signExecute = jarWrkMastExecuteGenerateBurial(signExecute, sign);//冷却槽去输送线
                default:
                    jarWrkMastExecuteGenerateSte(signExecute,sign);//小车移动
//                    signExecute = jarWrkMastExecuteGenerateBurial(signExecute, sign);//冷却槽取输送线
@@ -5941,9 +5967,9 @@
                if (!basJarMastListOther.isEmpty() && basJarMastListOther.size() < basJarOther.getJarCount()){
                    return false;
                }
                if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),4)!=0 && !basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(), 4).equals(basJarOther.getJarCount() )){
                    return false;
                }
//                if (basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(),4)!=0 && !basJarMastService.selectJarMastOperation(jarSlave.getJarOtherId(), 4).equals(basJarOther.getJarCount() )){
//                    return false;
//                }

//                //临时
//                if (basJar.getJarCode()==1){
@@ -6436,12 +6462,12 @@
                        if (jarWrkMastExecuteActionExecute5Three(wrkMastExecute,sign)){
                            break;
                        }
                        return;
                        continue;
                    case 6:
                        if (jarWrkMastExecuteActionExecute6Three(wrkMastExecute,sign)){
                            break;
                        }
                        return;
                        continue;
                }
            }
        } catch (Exception e){
@@ -7176,7 +7202,7 @@
                            return false;
                        }
                        //调车  == > 取货
                        if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT25.id,SteTaskModeType.STE_WFFH_13,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
                        if (!jarSteTake(wrkMastExecute,SteLocaType.POINT23.id,SteLocaType.POINT26.id,SteTaskModeType.STE_WFFH_13,false,SteAndJarUtil.getBJarNo(wrkMastExecute.getJarId()))){
                            log.error("穿梭板Ste命令下发失败，ste号={},任务数据={},硫化罐数据={},sign={}",
                                    wrkMastExecute.getJarId(), JSON.toJSONString(wrkMastExecute), JSON.toJSONString(jarProtocol),sign);
                        }
@@ -7901,26 +7927,88 @@
            switch (sign){
                case 1:
                    if (jarWrkMastExecuteGenerateSteComplete(sign)){
                        break;
                        return;
                    }
                case 2:
                    if (jarWrkMastExecuteGenerateJarComplete(sign)){
                        break;
                        return;
                    }
                case 3:
                    if (jarWrkMastExecuteGenerateRgvComplete1(sign)){
                        break;
                        return;
                    }
                case 4:
                    if (jarWrkMastExecuteGenerateRgvComplete2(sign)){
                        break;
                        return;
                    }
                default:
                    return;
                    break;
            }
            jarWrkMastExecuteGenerateDevComplete(sign);
        }catch (Exception e){
            log.error("JarWrkMastExecute任务完成报错！"+e);
        }
    }

    /**
     *  JarWrkMastExecute任务完成 ===>Devp   //完成
     */
    public synchronized boolean jarWrkMastExecuteGenerateDevComplete(Integer sign) {
        try{
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历入库口
                for (DevpSlave.Sta inSta : devp.getOutJarInSta()) {
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    // 判断是否满足条件
                    if (staProtocol.isAutoing()
                            && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && staProtocol.getWorkNo() == 0
                            && staProtocol.isPakMk()) {
                        for (DevpSlave.Jar jar : inSta.getJarList()) {
                            // 判断重复工作档
                            List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusListB(jar.getBurial(), new ArrayList<Integer>() {{
                                add(9);
                                add(11);
                            }});
                            if (basJarMastList.isEmpty()){
                                continue;
                            }
                            BasJarMast jarMastByWrkNo = basJarMastList.get(0);
                            jarMastByWrkNo.setStatus(jarMastByWrkNo.getStatusComplete(6));


                            StaProtocol staProtocolNew = new StaProtocol();
                            staProtocolNew.setSiteId(staProtocol.getSiteId());
                            staProtocolNew.setWorkNo(basJarMastList.get(0).getWrkNo().intValue());
                            staProtocolNew.setStaNo(jar.getEndStaNo());
                            devpThread.setPakMk(staProtocolNew.getSiteId(), false,7989);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolNew));
                            if (!result) {
                                LedErrorThreadUtil.ledErrorThread("更新plc站点信息失败!站点号："+inSta.getStaNo(),inSta.getLed(), LedErrorAreaType.ONE_OTHER.getDesc());
                                throw new CoolException("更新plc站点信息失败");
                            }
                            if (!basJarMastService.updateById(jarMastByWrkNo)){
                                log.error("硫化区域分段任务完成异常,BasJarMast={},异常信息={}",JSON.toJSONString(jarMastByWrkNo),"更新basJarMast失败");
                                throw new CoolException("更新basJarMast失败");
                            }
                            break;
                        }
                    }
                }
            }
            return true;
        }catch (Exception e){
            log.error("JarWrkMastExecute任务完成 ===>Ste报错！"+e);
        }
        return false;
    }

    /**
@@ -8063,6 +8151,30 @@
                if (Cools.isEmpty(basJar)){
                    log.error("{}号硫化罐查询设备档案无信息！！！",jarProtocol.getJarNo());
                    continue;
                }
                if (jarProtocol.getJarErr()==0 && (jarProtocol.getStatusType().equals(JarStatusType.WAITING1) || jarProtocol.getStatusType().equals(JarStatusType.MOVING))
                        && jarProtocol.isRightDoor() && jarProtocol.isLeftDoor()
                        && jarProtocol.leftDoorOpen==0 && jarProtocol.leftDoorClose==0 && jarProtocol.rightDoorOpen==0 && jarProtocol.rightDoorClose==0
                ){
                    List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusList(jarSlave.getId(), new ArrayList<Integer>() {{
                        add(6);//硫化完成
                    }});
                    if (!basJarMastList.isEmpty()){
                        WrkMastExecute wrkMastExecuteSou = new WrkMastExecute();
                        wrkMastExecuteSou.setWrkSts(3);
                        List<WrkMastExecute> wrkMastExecuteList = wrkMastExecuteService.selectWrkMastExecuteByWrk(wrkMastExecuteSou);
                        for (WrkMastExecute wrkMastExecute : wrkMastExecuteList){
                            if (wrkMastExecute.getIoType() == 3){
                                wrkMastExecute.setWrkSts(4);
                                if (!wrkMastExecuteService.updateById(wrkMastExecute)){
                                    log.error("硫化罐Jar命令修改失败===>更新wrkMastExecute失败，jar号={},任务数据={},硫化罐数据={},sign={}",
                                            wrkMastExecute.getSteId(), JSON.toJSON(wrkMastExecute), JSON.toJSON(jarProtocol),sign);
                                    return false;
                                }
                                return true;
                            }
                        }
                    }
                }
                //WAITING2(4, "硫化完成"),
                if (jarProtocol.getJarErr()==0 && jarProtocol.getStatusType().equals(JarStatusType.WAITING2)
@@ -8420,6 +8532,13 @@
    /**
     *  ste充电任务创建   //完成
     */
    public synchronized void signTrunBig() {
        updateRgvOneSign("TrunSma126",0);
        updateRgvOneSign("TrunSma131",0);
        updateRgvOneSign("TrunBig310",0);
        updateRgvOneSign("TrunBig312",0);
    }

    public synchronized boolean jarChargeGenerate() {
        try{
            //80%电量 无任务  充电  >50电量  有任务  断电
@@ -8675,7 +8794,7 @@
            String barcode = staProtocol607.getBarcode();
            if (!Cools.isEmpty(barcode)) {
//                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
                if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
                    return;
                }
            } else {
@@ -8685,9 +8804,13 @@
                    && staProtocol607.getStaNo() == 0 && staProtocol607.isInEnable()){
                WrkMast wrkMast = wrkMastMapper.selectByBarcodeTwo(barcode);
                if (!Cools.isEmpty(wrkMast)){
                    staProtocol607.setWorkNo(wrkMast.getWrkNo());
                    staProtocol607.setStaNo(staNo1);
                    boolean result2 = MessageQueue.offer(SlaveType.Devp, 2, new Task(2, staProtocol607));

                    StaProtocol staProtocolNew = new StaProtocol();
                    staProtocolNew.setSiteId(staProtocol607.getSiteId());
                    staProtocolNew.setWorkNo(wrkMast.getWrkNo());
                    staProtocolNew.setStaNo(staNo1);
//                    devpThread.setPakMk(staProtocolNew.getSiteId(), false,7989);
                    boolean result = MessageQueue.offer(SlaveType.Devp, 2, new Task(2, staProtocolNew));
                }
            }
        } else {
@@ -8705,38 +8828,34 @@

            }
        }

//        try{
//            for (int idi = 1;idi<5;idi++){
//                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, idi);
//
//                if (ledThread != null) {
//                    ErrMsg errMsg1 = new ErrMsg();
//                    errMsg1.setErrMsg("测试："+idi);
//                    errMsg1.setArea("1");
//                    MessageQueue.offer(SlaveType.Led, idi, new Task(5, errMsg1));
//                } try {
//                    Thread.sleep(500);
//                } catch (Exception e){
//
//                }
//            }
//            LedThread ledThread3 = (LedThread) SlaveConnection.get(SlaveType.Led, 3);
//
//            if (ledThread3 != null) {
//                ErrMsg errMsg1 = new ErrMsg();
//                errMsg1.setErrMsg("测试测试测试测试测试测试测试测试测试测试测试测试测试："+3);
//                errMsg1.setArea("1");
//                MessageQueue.offer(SlaveType.Led, 3, new Task(5, errMsg1));
//            } try {
//                Thread.sleep(500);
//            } catch (Exception e){
//
//            }
//        } catch (Exception e){ }


    }
    public synchronized void stackingCompletionDriveTray2() {
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
        StaProtocol staProtocol = devpThread.getStation().get(518);
        String barcode = staProtocol.getBarcode();
        if (!Cools.isEmpty(barcode)) {
            if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
                return;
            }
        } else {
            return;
        }
        if (staProtocol.getWorkNo()==0 && staProtocol.isLoading() && staProtocol.isAutoing()
                && staProtocol.getStaNo() == 0 && staProtocol.isInEnable()){
            WrkMast wrkMast = wrkMastMapper.selectByBarcodeTwo(barcode);
            if (!Cools.isEmpty(wrkMast)){
                StaProtocol staProtocolNew = new StaProtocol();
                staProtocolNew.setSiteId(staProtocol.getSiteId());
                staProtocolNew.setWorkNo(wrkMast.getWrkNo());
                staProtocolNew.setStaNo(wrkMast.getStaNo());
                devpThread.setPakMk(staProtocolNew.getSiteId(), false,7989);
                boolean result = MessageQueue.offer(SlaveType.Devp, 2, new Task(2, staProtocolNew));
            }
        }
    }



    public synchronized Integer jarGetStartStaNo(Integer staNo) {
        try {
            int[] jarNos=new int[]{3,1,4,2};//(607分配硫化罐)