#

lsh

2024-01-26 3f81b75ec0922df70b8aee69bb6e84468453a1ff

#

 src/main/java/com/zy/asrs/controller/RgvController.java

@@ -91,7 +91,7 @@
            vo.setWalkPos(rgvProtocol.getWalkPos()==1?"不在定位":"在定位");
            vo.setWorkNo2(rgvProtocol.getTaskNo2());  //  工位2任务号
            vo.setStatus2(rgvProtocol.getStatusType2().desc);  // 工位2状态
            vo.setLoading2(rgvProtocol.getLoaded2()==1?"有物":"无物");  // 工位2有物
            vo.setLoading2(rgvProtocol.getLoaded2()==0?"无物":"有物");  // 工位2有物

            vo.setWarnCode(String.valueOf(rgvProtocol.getAlarm()));
            if (rgvProtocol.getAlarm() > 0) {

 src/main/java/com/zy/asrs/entity/BasRgv.java

@@ -125,6 +125,12 @@
    @ApiModelProperty(value= "备注")
    private String memo;

    /**
     * 有物无物
     */
    @ApiModelProperty(value= "有物无物")
    private int loaded2;

    public BasRgv() {}

    public BasRgv(Integer rgvNo,String inEnable,String outEnable,Integer rgvSts,Integer wrkNo1,Integer wrkNo2,Long rgvErr,String pakMk,Integer status,Long createBy,Date createTime,Long updateBy,Date updateTime,String memo) {

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

@@ -2304,7 +2304,8 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                        && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                        &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
//                        &&  (rgvProtocol.getLoaded2()==2  || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                        &&  rgvProtocol.getLoaded2()==3 ////0 无物；1 一层无物二层有物  ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
                ) {
                    try {
                        WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
@@ -3125,8 +3126,7 @@
                    if (!result) {
                        throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
                    }
//                    wrkMast.setWrkSts(52L);
                    wrkMast.setWrkSts(57L);
                    wrkMast.setWrkSts(52L);
                    wrkMastMapper.updateById(wrkMast);
                    Thread.sleep(100);

@@ -3283,8 +3283,20 @@
                    staProtocol = staProtocol.clone();
                }

                StaProtocol staProtocol147 = devpThread.getStation().get(147);
                if (staProtocol147 == null) {
                    continue;
                } else {
                    staProtocol147 = staProtocol147.clone();
                }

                if (!staProtocol.isLoading()){
                    log.info("{}站点无物，异常！",staNo);
                    continue;
                }

                if (staProtocol147.isLoading()){
                    log.info("{}站点有物！",staProtocol147.getSiteId());
                    continue;
                }
                // 判断是否满足入库条件
@@ -3292,6 +3304,9 @@
                        && staProtocol.isLoading()
                        && !staProtocol.isEmptyMk()
                ) {

                    boolean result3 = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol147));

                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                    staProtocol.setStaNo(wrkMast.getStaNo());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -3299,8 +3314,12 @@
                    if (!result) {
                        throw new CoolException("更新plc站点信息失败==>驱动码垛位托盘前进失败！");
                    }

                    wrkMast.setSheetNo("5");
                    wrkMastMapper.updateById(wrkMast);

                    boolean result4 = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol147));

                }
            }
        }catch (Exception e){
@@ -3430,7 +3449,7 @@
                            continue;
                        }
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)){
                        if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
                            Thread.sleep(200);
                            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
@@ -3488,7 +3507,7 @@
                            continue;
                        }
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)){
                        if (!Cools.isEmpty(wrkMast)  && wrkMastSta.getWrkType()!=5){
                            Thread.sleep(200);
                            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
@@ -3590,31 +3609,29 @@
                        default:
                            break;
                    }
                }else {

                }
                for (int signCount = 1;!signWork && signCount<7;signCount++){
                    switch (signCount){
                        case 1://执行小车货物搬运任务
                            signWork = rgvRunWrkMastFullSta();
                            break;
                        case 2://放//拆盘
                            signWork = rgvRunWrkMastEmptyStaPut();
                            break;
                        case 3://满放
                            signWork = rgvRunWrkMastEmptyStaPutFull();
                            break;
                        case 4://取叠盘
                            signWork = rgvRunWrkMastEmptyStaTake();
                            break;
                        case 5:////满取
                            signWork = rgvRunWrkMastEmptyStaTakeFull();
                            break;
                        case 6:////提升
                    for (int signCount = 1;!signWork && signCount<7;signCount++){
                        switch (signCount){
                            case 1://执行小车货物搬运任务
                                signWork = rgvRunWrkMastFullSta();
                                break;
                            case 2://放//拆盘
                                signWork = rgvRunWrkMastEmptyStaPut();
                                break;
                            case 3://满放
                                signWork = rgvRunWrkMastEmptyStaPutFull();
                                break;
                            case 4://取叠盘
                                signWork = rgvRunWrkMastEmptyStaTake();
                                break;
                            case 5:////满取
                                signWork = rgvRunWrkMastEmptyStaTakeFull();
                                break;
                            case 6:////提升
//                            signWork = rgvRunWrkMastEmptyStaPut();
                            break;
                        default:
                            break;
                                break;
                            default:
                                break;
                        }
                    }
                }
                if (!rgvIoExecuteSign){

 src/main/java/com/zy/core/thread/RgvThread.java

@@ -238,6 +238,7 @@
                    BasRgv basRgv = new BasRgv();
                    basRgv.setRgvNo(slave.getId());
                    basRgv.setRgvSts((int)rgvProtocol.getMode());
                    basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
                    if (!basRgvService.updateById(rgvProtocol.toSqlModel(basRgv))){
                        log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                    }

 src/main/java/com/zy/core/thread/SiemensDevpThread.java

@@ -397,6 +397,9 @@
            case 135:
                index=5;
                break;
            case 147:
                index=6;
                break;
            default:
                return;
        }
@@ -452,6 +455,9 @@
            case 135:
                index=5;
                break;
            case 147:
                index=6;
                break;
            default:
                return;
        }

 src/main/resources/mapper/BasRgvMapper.xml

@@ -18,6 +18,7 @@
        <result column="update_by" property="updateBy" />
        <result column="update_time" property="updateTime" />
        <result column="memo" property="memo" />
        <result column="loaded2" property="loaded2" />

    </resultMap>