src/main/java/com/zy/asrs/mapper/WrkMastStaMapper.java
@@ -40,4 +40,5 @@ List<WrkMastSta> selectByWorkStaList(@Param("workSta") Integer workSta, @Param("rgvNo") Short rgvNo); WrkMastSta selectByWorkSta(@Param("workSta") Integer workSta, @Param("rgvNo") Integer rgvNo); List<WrkMastSta> selectLockWrk(@Param("rgvNo") Integer rgvNo); } src/main/java/com/zy/asrs/service/WrkMastStaService.java
@@ -3,5 +3,8 @@ import com.baomidou.mybatisplus.service.IService; import com.zy.asrs.entity.WrkMastSta; import java.util.List; public interface WrkMastStaService extends IService<WrkMastSta> { List<WrkMastSta> selectLockWrk(Integer rgvNo); } 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; }
@@ -36,4 +36,6 @@ public WrkMast selectByWrkNo(int wrkNo) { return this.baseMapper.selectByWrkNo(wrkNo); } } src/main/java/com/zy/asrs/service/impl/WrkMastStaServiceImpl.java
@@ -6,7 +6,13 @@ import com.zy.asrs.service.WrkMastStaService; import org.springframework.stereotype.Service; import java.util.List; @Service("wrkMastStaService") public class WrkMastStaServiceImpl extends ServiceImpl<WrkMastStaMapper, WrkMastSta> implements WrkMastStaService { @Override public List<WrkMastSta> selectLockWrk(Integer rgvNo){ Integer rgvNo1 = rgvNo; return this.baseMapper.selectLockWrk(rgvNo); } } src/main/java/com/zy/asrs/utils/RouteUtils.java
@@ -322,8 +322,11 @@ } public static Short SouStaEnd(Integer endSta,Integer souSta){ if (souSta == 159) { return (short)161; if (souSta == 1103) { return (short)1105; } if(souSta == 1047){ return (short)1042; } return souSta.shortValue(); } src/main/java/com/zy/core/MainProcess.java
@@ -90,7 +90,7 @@ // mainService.outOfDevp(11); if (i>10){ if (i>2){ //空托盘自动出库 // mainService.autoEmptyOut(); //空托盘自动入库 @@ -132,6 +132,10 @@ try{ //RGV小车出入库取货下发 mainService.rgvIoExecute(11); if(k > 2){ mainService.rgvOutExecute(); k = 0; } }catch (Exception e){ log.error("RGV ===>> 小车任务作业下发异常"+e); } src/main/java/com/zy/core/thread/RgvThread.java
@@ -71,6 +71,8 @@ private boolean PakRgv = true; //接驳标记 private boolean PakToCrn = true; // 任务锁定 private boolean Paking = true; public RgvThread(RgvSlave slave) { this.slave = slave; @@ -273,7 +275,6 @@ rgvProtocol.setErr11(status3[2]); rgvProtocol.setErr12(status3[3]); BasRgvMapService basRgvMapService = SpringUtils.getBean(BasRgvMapService.class); OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId())); try { src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -27,6 +27,7 @@ import lombok.Data; import lombok.extern.slf4j.Slf4j; import java.nio.charset.StandardCharsets; import java.text.MessageFormat; import java.util.*; import java.util.concurrent.ConcurrentHashMap; @@ -110,6 +111,11 @@ // 其他站点同理继续加 }}; public static final Map<Integer, Integer> siteErrOffsetMap = new HashMap<Integer, Integer>() {{ put(1036, 512);put(1103, 476);put(1047, 452); }}; // 特殊站点集合 private static final Set<Integer> specialSites = new HashSet<>( Arrays.asList(1001,1005,1008,1011,1015,1019,1022,1025,1029, 1032,1039)); @@ -129,7 +135,7 @@ add(3); add(4); }}; public static final ArrayList<Integer> staNosErrList = new ArrayList<Integer>() {{ add(1036); add(1103);add(1036);add(1047); }}; private Integer count=0; @@ -286,6 +292,7 @@ OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB104.0", (short) (1268));//1042-1053 OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB103.0", (short) (2824));//1054-1079 OperateResultExOne<byte[]> result5 = siemensS7Net.Read("DB102.0", (short) (3428));//1080-1110 OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB3.0", (short) (536));//1080-1110 @@ -327,10 +334,24 @@ if(specialSites2.contains(siteId)){ staProtocol.setStaNo((short)siemensS7Net.getByteTransform().TransInt32(result.Content, offset + offset2 + 48)); // 目标站 staProtocol.setBarcode(String.valueOf(siemensS7Net.getByteTransform().TransInt32(result.Content, offset + offset2 + 52))); //条码 } if(staNosErrList.contains(siteId)){ Integer offsetErr = siteErrOffsetMap.get(siteId); boolean[] statusErr = siemensS7Net.getByteTransform().TransBool(resultErr.Content, offsetErr, 2); staProtocol.setFrontErr(statusErr[2]); staProtocol.setBackErr(statusErr[3]); staProtocol.setHighErr(statusErr[5]); staProtocol.setLeftErr(statusErr[11]); staProtocol.setRightErr(statusErr[12]); // 取出454~458位置的5个字节 byte[] bytes = Arrays.copyOfRange(resultErr.Content, (offsetErr + 14), (offsetErr + 19)); // 转换成字符串（S7里CHAR是单字节编码，直接ASCII即可） String plcStr = new String(bytes, StandardCharsets.US_ASCII).trim(); // 判断是否等于 "error" staProtocol.setBarcodeErr("error".equalsIgnoreCase(plcStr)); } boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, offset + offset3, 2); boolean[] status = siemensS7Net.getByteTransform().TransBool(result.Content, offset + offset3, 1); staProtocol.setAutoing(!status[0]); // 自动 boolean[] status1 = siemensS7Net.getByteTransform().TransBool(result.Content, offset + offset3 - 4, 3); @@ -387,159 +408,6 @@ // News.error(JSON.toJSONString(barcode+"线程"+barcodeId)); } // BasRgvMapService basRgvMapService = SpringUtils.getBean(BasRgvMapService.class); // RGV小车1 // Thread.sleep(100); // OperateResultExOne<byte[]> resultCar1 = siemensS7Net.Read("DB101.0",(short)36); // if (resultCar1.IsSuccess) { // BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo((int) siemensS7Net.getByteTransform().TransInt16(resultCar1.Content, 0) + 1); // if (!Cools.isEmpty(basRgvMap)){ // Integer siteId1 = 1; // Integer siteId2 = 2; // StaProtocol staProtocol1 = station.get(siteId1); // StaProtocol staProtocol2 = station.get(siteId2); // // if (null == staProtocol1) { // staProtocol1 = new StaProtocol(); // staProtocol1.setSiteId(siteId1); // station.put(siteId1, staProtocol1); // } // if (null == staProtocol2) { // staProtocol2 = new StaProtocol(); // staProtocol2.setSiteId(siteId2); // station.put(siteId2, staProtocol2); // // } // String pos = String.valueOf(getRgvPosI(siemensS7Net.getByteTransform().TransInt32(resultCar1.Content, 4))); // staProtocol1.setAutoing(siemensS7Net.getByteTransform().TransInt16(result.Content, 2) == 0); // staProtocol2.setAutoing(siemensS7Net.getByteTransform().TransInt16(result.Content, 2) == 0); // staProtocol1.setNearbySta(pos); // staProtocol1.setStaNo((short) siemensS7Net.getByteTransform().TransInt32(resultCar1.Content, 28)); // staProtocol2.setStaNo((short) siemensS7Net.getByteTransform().TransInt32(resultCar1.Content, 32)); // staProtocol1.setWorkNo(siemensS7Net.getByteTransform().TransInt32(resultCar1.Content, 16)); // staProtocol2.setWorkNo(siemensS7Net.getByteTransform().TransInt32(resultCar1.Content, 20)); // boolean[] status1 = siemensS7Net.getByteTransform().TransBool(resultCar1.Content, 24, 1); // staProtocol1.setLoading(status1[0]); // staProtocol2.setLoading(status1[1]); // // staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result3.Content, 8))); // } // } //RGV小车2 // Thread.sleep(100); // OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB50.212",(short)10); // if (result4.IsSuccess) { // BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo((int) siemensS7Net.getByteTransform().TransInt16(result4.Content, 0)); // if (!Cools.isEmpty(basRgvMap)){ // Integer siteId = 2; // StaProtocol staProtocol = station.get(siteId); // if (null == staProtocol) { // staProtocol = new StaProtocol(); // staProtocol.setSiteId(siteId); // station.put(siteId, staProtocol); // } // staProtocol.setAutoing(true); // staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result4.Content, 8))); // } // } // //RGV小车3 //// Thread.sleep(100); // OperateResultExOne<byte[]> result5 = siemensS7Net.Read("DB50.224",(short)10); // if (result5.IsSuccess) { // BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo((int) siemensS7Net.getByteTransform().TransInt16(result5.Content, 0)); // if (!Cools.isEmpty(basRgvMap)){ // Integer siteId = 3; // StaProtocol staProtocol = station.get(siteId); // if (null == staProtocol) { // staProtocol = new StaProtocol(); // staProtocol.setSiteId(siteId); // station.put(siteId, staProtocol); // } // staProtocol.setAutoing(true); // staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result5.Content, 8))); // } // } //条码扫描器 // ArrayList<Integer> barcodeListMat = BarcodeListMat; // OperateResultExOne<byte[]> result2Mat = siemensS7Net.Read("DB103.0", (short) (barcodeListMat.size() * 30)); // if (result2Mat.IsSuccess) { // for (int i = 0; i < barcodeListMat.size(); i++) { // Integer barcodeId = barcodeListMat.get(i); // String barcode = siemensS7Net.getByteTransform().TransString(result2Mat.Content,i*30,30, "UTF-8"); // BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId + 1); // if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) { // barcodeThread.setBarcode(barcode); // } // } // } //外形检测 // ArrayList<Integer> staNoErrs = staNosErrList; // int staNoErrsSize = staNoErrs.size(); // OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB101.800", (short) (staNoErrsSize*8)); // if (resultErr.IsSuccess){ // for (int i = 0;i<3;i++){ // Integer siteId = staNoErrs.get(i); // 站点编号 // boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr.Content, i*4+2, 1); // StaProtocol staProtocol = station.get(siteId); // staProtocol.setFrontErr(status[0]); // staProtocol.setBackErr(status[1]); // staProtocol.setHighErr(status[2]); // staProtocol.setLeftErr(status[3]); // staProtocol.setRightErr(status[4]); // staProtocol.setWeightErr(status[5]); // staProtocol.setBarcodeErr(status[6]); // } // } // OperateResultExOne<byte[]> resultErr2 = siemensS7Net.Read("DB13.2", (short) (staNoSize*4)); // if (resultErr2.IsSuccess) { // for (int i = 0; i < staNoSize; i++) { // Integer siteId = staNos.get(i); // 站点编号 // boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr2.Content, i*4, 1); // StaProtocol staProtocol = station.get(siteId); // staProtocol.setBreakerErr(status[0]); // staProtocol.setInfraredErr(status[1]); // staProtocol.setOutTimeErr(status[2]); // staProtocol.setSeizeSeatErr(status[3]); // staProtocol.setWrkYgoodsN(status[4]); // staProtocol.setInverterErr(status[5]); // staProtocol.setContactErr(status[6]); // staProtocol.setUpcontactErr(status[7]); // // } // } // OperateResultExOne<byte[]> resultErr3 = siemensS7Net.Read("DB13.400", (short) 3); // if (resultErr3.IsSuccess) { // if (staError1 == null){ // staError1 = new StaError1(); // } // boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr3.Content, 0, 3); // staError1.setEMERGENCY_Stop_Core(status[0]); // staError1.setEMERGENCY_STOP1(status[1]); // staError1.setEMERGENCY_STOP2(status[2]); // staError1.setEMERGENCY_STOP3(status[3]); // staError1.setEMERGENCY_STOP4(status[4]); // // staError1.setDoor_EMERGENCY_STOP1(status[5]); // staError1.setDoor_EMERGENCY_STOP2(status[6]); // staError1.setDoor_EMERGENCY_STOP3(status[7]); // staError1.setDoor_EMERGENCY_STOP4(status[8]); // staError1.setDoor_EMERGENCY_STOP5(status[9]); // staError1.setDoor_EMERGENCY_STOP6(status[10]); // // staError1.setDoor_Open_Err1(status[11]); // staError1.setDoor_Open_Err1(status[12]); // staError1.setDoor_Open_Err1(status[13]); // staError1.setDoor_Open_Err1(status[14]); // staError1.setDoor_Open_Err1(status[15]); // staError1.setDoor_Open_Err1(status[16]); // // } if (result1.IsSuccess && result2.IsSuccess) { src/main/resources/application.yml
@@ -434,7 +434,7 @@ led: ${wcs-slave.led[1].id} # 入库口1 inSta[0]: staNo: 1043 staNo: 1047 barcode: ${wcs-slave.barcode[1].id} backSta: 1041 led: ${wcs-slave.led[1].id} @@ -457,7 +457,7 @@ backSta: 1037 # 入库口1 inSta[2]: staNo: 1104 staNo: 1103 barcode: ${wcs-slave.barcode[2].id} backSta: 1041 led: ${wcs-slave.led[2].id} src/main/resources/mapper/WrkMastMapper.xml
@@ -78,7 +78,7 @@ select * from asr_wrk_mast where wrk_sts=5 or (wrk_sts=15 and ove_mk='Y' and wrk_no not in (select wrk_no from asr_bas_devp)) or (wrk_sts=15 and dateadd(mi,15,crn_end_time) <= getdate() and wrk_no not in (select wrk_no from asr_bas_devp)) or (wrk_sts=15 and dateadd(mi,3,crn_end_time) <= getdate() and wrk_no not in (select wrk_no from asr_bas_devp)) or (wrk_sts=15 and crn_end_time is null and wrk_no not in (select wrk_no from asr_bas_devp)) order by io_time,wrk_no asc </select> src/main/resources/mapper/WrkMastStaMapper.xml
@@ -19,6 +19,7 @@ <result column="bign_time" property="bignTime" /> <result column="work_sta" property="workSta"/> <result column="rgv_no" property="rgvNo"/> <result column="mk" property="mk"/> </resultMap> @@ -150,6 +151,11 @@ and wrk_sts = #{wrkSts} </if> </select> <select id="selectLockWrk" resultMap="BaseResultMap"> select * from asr_wrk_mast_sta where mk = 1 and rgv_no = #{rgvNo} </select>
