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野心家

2023-03-13 df2c9631337b19a6fe08d15203186b8c5393a808

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

@@ -39,16 +39,14 @@
import com.zy.core.thread.LedThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import net.bytebuddy.asm.Advice;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Set;
import java.util.*;
import java.util.stream.Collectors;

/**
@@ -691,9 +689,147 @@

    /**
     * 入库  ===>>  堆垛机站到库位
     * 根据入库时间进行排序入库
     */
    public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
        List<WrkMast> wrkMasts= new ArrayList<>();
        //指针
        int count=-1;
        int i=0;

        WrkMast wrkMast=null;
        CrnSlave.CrnStn crnStn1=null;
        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            boolean flag = false;
            // 获取堆垛机入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                News.error(methodName + ":入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                flag = true;
                // 获取工作状态为2（设备上走）的入库工作档
                wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
                if (null == wrkMast) {
//                News.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                    continue;
                }
                //打擂台
                wrkMasts.add(wrkMast);
                count++;
                if(count==0) continue;
                if(wrkMast.getWrkDate().getTime()<wrkMasts.get(i).getWrkDate().getTime())
                    i=count;
                crnStn1=crnStn;
            }
            if (!flag) {
                continue;
            }
        }
            if(!Cools.isEmpty(wrkMasts)){
            wrkMast=wrkMasts.get(i);
            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast != null) {
                if (locMast.getLocSts().equals("S") && locMast.getLocSts().equals("Q")) {
                    // 堆垛机控制过滤
                    if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() == 0) {
                    // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) == null) {
                    // 双深库位且浅库位有货，则需先对浅库位进行库位移转
//                    if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
//                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
//                        LocMast shallowLoc = locMastService.selectById(shallowLocNo);
//                        // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
//                        if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
//                            if (null == waitWrkMast) {
//                                News.error(methodName + ":{}库位异常，未检索到相应工作档！", shallowLocNo);
//                            } else {
//                                waitWrkMast.setIoPri(15D);
//                                waitWrkMast.setModiTime(new Date());
//                                if (wrkMastMapper.updateById(waitWrkMast) == 0) {
//                                    News.error(methodName + ":调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
//                                }
//                                continue;
//                            }
//
//                        } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
//                            // 此标记避免多次执行移库任务
//                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
//                                wrkMast.setUpdMk("Y");
//                                wrkMast.setIoPri(14D);
//                                wrkMastMapper.updateById(wrkMast);
//                                // 生成工作档,将浅库位移转到新的库位中
//                                moveLocForDeepLoc(slave, shallowLoc);
//                                // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
////                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
//                            }
//                            continue;
//                        } else if (shallowLoc.getLocSts().equals("Q")) {
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
//                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
//                                continue;
//                            }
//                        }
//                    }
                    // 命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(crnStn1.getRow().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(crnStn1.getBay().shortValue());     // 源库位列
                    crnCommand.setSourcePosZ(crnStn1.getLev().shortValue());     // 源库位层
                    crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        News.error(methodName + ":堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {

//                long startTime = System.currentTimeMillis();
//                while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
//
//                    if (true) {
//                        break;
//                    }
//
//                    try{
//                        Thread.sleep(500);
//                    }catch(Exception ignore){}
//                }

                        // 修改工作档状态 2.设备上走 => 3.吊车入库中
                        Date now = new Date();
                        wrkMast.setWrkSts(3L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.error(methodName + ":修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                    }
                        }
                    }
                }else News.error(methodName + ":入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
            }else News.error(methodName + ":查询库存无数据--库位号{}", wrkMast.getLocNo());
            }
    }

    public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();

        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            boolean flag = false;