From 012c7432e6a18aac67c0888309aa42d0fa4a862a Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期三, 05 六月 2024 10:47:15 +0800
Subject: [PATCH] #双工位拆分
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 629 +++++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 609 insertions(+), 20 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index a2485cb..13036b1 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1364,6 +1364,67 @@
}
/**
+ * 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
+ */
+ public synchronized void crnStnToOutStnTwo() {
+ for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+ // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
+ for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
+ // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
+ // 鏌ヨ宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
+ if (wrkMast == null) {
+ continue;
+ }
+ // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
+ if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
+ continue;
+ }
+ // 鍒ゆ柇鍚婅溅鏄惁瀹為檯宸插畬鎴愶紝涓旂數鑴戠姸鎬佸湪move涓紝浠ュ鐢佃剳杩涜鏇存柊宸ヤ綔妗�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol.statusTypeTwo == CrnStatusType.FETCHING || crnProtocol.statusTypeTwo == CrnStatusType.PUTTING) {
+ // 绉诲姩涓�
+ continue;
+ }
+
+ // 鍒ゆ柇鍫嗗灈鏈虹姸鎬佺瓑寰呯‘璁�
+ if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNoTwo().equals(wrkMast.getWrkNo().shortValue())
+ && crnProtocol.statusTypeTwo == CrnStatusType.WAITING
+ && crnProtocol.forkPosTypeTwo == CrnForkPosType.HOME) {
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
+ if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ continue;
+ }
+
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
+ wrkMast.setWrkSts(14L);
+ wrkMast.setCrnEndTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) != 0) {
+ // 澶嶄綅鍫嗗灈鏈�
+ crnThread.setResetFlagTwo(true);
+ } else {
+ log.error("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
+ }
+ }
+ }
+ }
+ }
+ }
+
+ /**
* 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
*/
public synchronized void crnIoExecute() {
@@ -1395,8 +1456,12 @@
case 2:
this.crnStnToLoc1Single(crn, crnProtocol); // 鍏ュ簱
break;
+ case 3:
+ case 4:
+ case 5:
+ continue;
default:
- this.crnStnToLoc1(crn, crnProtocol); // 鍏ュ簱
+ this.crnStnToLoc1(crn, crnProtocol,1); // 鍏ュ簱
}
crnProtocol.setLastIo("O");
} else if (basCrnp.getOutEnable().equals("Y")) {
@@ -1405,8 +1470,12 @@
case 2:
this.locToCrnStn1Single(crn, crnProtocol); // 鍑哄簱
break;
+ case 3:
+ case 4:
+ case 5:
+ continue;
default:
- this.locToCrnStn1(crn, crnProtocol); // 鍑哄簱
+ this.locToCrnStn1(crn, crnProtocol,1); // 鍑哄簱
}
crnProtocol.setLastIo("I");
}
@@ -1419,8 +1488,12 @@
case 2:
this.locToCrnStn1Single(crn, crnProtocol); // 鍑哄簱
break;
+ case 3:
+ case 4:
+ case 5:
+ continue;
default:
- this.locToCrnStn1(crn, crnProtocol); // 鍑哄簱
+ this.locToCrnStn1(crn, crnProtocol,1); // 鍑哄簱
}
crnProtocol.setLastIo("I");
} else if (basCrnp.getInEnable().equals("Y")) {
@@ -1429,13 +1502,130 @@
case 2:
this.crnStnToLoc1Single(crn, crnProtocol); // 鍏ュ簱
break;
+ case 3:
+ case 4:
+ case 5:
+ continue;
default:
- this.crnStnToLoc1(crn, crnProtocol); // 鍏ュ簱
+ this.crnStnToLoc1(crn, crnProtocol,1); // 鍏ュ簱
}
crnProtocol.setLastIo("O");
}
}
}
+ // 搴撲綅绉昏浆
+ this.locToLoc(crn, crnProtocol);
+// this.crnRebackHp(crnProtocol, crnThread);
+
+ }
+ }catch (Exception e){
+ log.error("鍫嗗灈鏈哄嚭鍏ュ簱涓嬪彂鎶ラ敊"+e);
+ }
+ }
+
+ /**
+ * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
+ */
+ public synchronized void crnIoExecuteTwo() {
+ try{
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ continue;
+ }
+ BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
+ if (basCrnp == null) {
+ log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
+ continue;
+ }
+
+
+ int[] sign = new int[]{0,0};
+ // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
+ if (crnProtocol.getModeType() == CrnModeType.AUTO) {
+ // 鍙湁褰撳爢鍨涙満宸ヤ綅绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
+ if (crnProtocol.getStatusType() == CrnStatusType.IDLE
+ && crnProtocol.getTaskNo() == 0
+ && crnProtocol.getLoaded() == 0
+ && crnProtocol.getForkPos() == 0) {
+// sign[0] = 1;
+// sign[1] = 1;
+ /*
+ * 浠诲姟鎷嗗垎鐗规畩澶勭悊
+ * */
+ if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
+ && crnProtocol.getTaskNoTwo() == 0
+ && crnProtocol.getLoadedTwo() == 0
+ && crnProtocol.getForkPosTwo() == 0){
+ sign[0] = 1;
+ sign[1] = 1;
+ }
+ }else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
+ && crnProtocol.getTaskNoTwo() == 0
+ && crnProtocol.getLoadedTwo() == 0
+ && crnProtocol.getForkPosTwo() == 0){
+ sign[0] = 1;
+ sign[1] = 2;
+ }
+ }
+
+ if (sign[0]==1 && sign[1] == 1){
+ // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
+ if (crnProtocol.getLastIo().equals("I")) {
+ if (basCrnp.getInEnable().equals("Y")) {
+ switch (crn.getId()){
+ case 3:
+ case 4:
+ case 5:
+ this.crnStnToLoc1Big(crn, crnProtocol, sign[1]); // 鍏ュ簱
+ break;
+ default:
+ continue;
+ }
+ crnProtocol.setLastIo("O");
+ } else if (basCrnp.getOutEnable().equals("Y")) {
+ switch (crn.getId()){
+ case 3:
+ case 4:
+ case 5:
+ this.locToCrnStn1Big(crn, crnProtocol, sign[1]); // 鍑哄簱
+ break;
+ default:
+ continue;
+ }
+ crnProtocol.setLastIo("I");
+ }
+ }
+ // 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
+ else if (crnProtocol.getLastIo().equals("O")) {
+ if (basCrnp.getOutEnable().equals("Y")) {
+ switch (crn.getId()){
+ case 3:
+ case 4:
+ case 5:
+ this.locToCrnStn1Big(crn, crnProtocol, sign[1]); // 鍑哄簱
+ break;
+ default:
+ continue;
+ }
+ crnProtocol.setLastIo("I");
+ } else if (basCrnp.getInEnable().equals("Y")) {
+ switch (crn.getId()){
+ case 3:
+ case 4:
+ case 5:
+ this.crnStnToLoc1Big(crn, crnProtocol, sign[1]); // 鍏ュ簱
+ break;
+ default:
+ continue;
+ }
+ crnProtocol.setLastIo("O");
+ }
+ }
+ }
+
// 搴撲綅绉昏浆
this.locToLoc(crn, crnProtocol);
// this.crnRebackHp(crnProtocol, crnThread);
@@ -1701,9 +1891,9 @@
/**
* 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
- * 2022-12-03 TQS淇敼锛屽厛閬嶅巻鏌ヨ鍚屽彴鍫嗗灈鏈哄伐浣滄。鎵�鏈夌珯鐐瑰叆搴撲换鍔IST锛屾牴鎹伐浣滄。浠诲姟鎺掑簭浼樺厛绾ч珮浜� 鏍规嵁鍫嗗灈鏈哄叆搴撶珯鐐规帓搴�
+ * 2024-06-05
*/
- public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
+ public synchronized void crnStnToLoc1Big(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
for(WrkMast wrkMast : wrkMasts){
if (wrkMast == null) {
@@ -1755,10 +1945,25 @@
continue;
}
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
- continue;
+ //宸ヤ綅
+ if (crnStation == 1){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+ break;
+ }
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
+ break;
+ }
+ }else if(crnStation == 2){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
+ break;
+ }
+ }else {
+ break;
}
+
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
@@ -1808,14 +2013,14 @@
crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+ crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 浠诲姟妯″紡: 鍗曞彇璐�
crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
} else {
// 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
@@ -1828,12 +2033,11 @@
}
}
}
-
}
/**
* 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
- * 2022-12-03 TQS淇敼锛屽厛閬嶅巻鏌ヨ鍚屽彴鍫嗗灈鏈哄伐浣滄。鎵�鏈夌珯鐐瑰叆搴撲换鍔IST锛屾牴鎹伐浣滄。浠诲姟鎺掑簭浼樺厛绾ч珮浜� 鏍规嵁鍫嗗灈鏈哄叆搴撶珯鐐规帓搴�
+ * 2024-01-15 鐓滄槦灏忔枡绠�
*/
public synchronized void crnStnToLoc1Single(CrnSlave slave, CrnProtocol crnProtocol) {
List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
@@ -1909,7 +2113,7 @@
continue;
}
if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
- log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
+ log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", locMast.getLocNo(), locMast.getLocSts());
continue;
}
@@ -1963,6 +2167,148 @@
}
}
+ }
+
+ /**
+ * 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
+ * 2024-01-15 浼樺寲鍙屽伐浣�
+ */
+ public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
+ List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
+ for(WrkMast wrkMast : wrkMasts){
+ if (wrkMast == null) {
+ continue;
+ }
+
+ CrnSlave.CrnStn crnStn = null;
+ for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
+ if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
+ crnStn = crnStn1;
+ break;
+ }
+ }
+ if(Cools.isEmpty(crnStn)){
+ continue;
+ }
+
+ boolean flag = false;
+ // 鑾峰彇鍫嗗灈鏈哄叆搴撶珯淇℃伅
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ log.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
+ continue;
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
+ && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ continue;
+ }
+
+ // 鑾峰彇搴撲綅淇℃伅
+ LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
+ if (locMast == null) {
+ log.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
+ continue;
+ }
+ if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
+ log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
+ continue;
+ }
+
+ //宸ヤ綅
+ if (crnStation == 1){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+ break;
+ }
+ }else if(crnStation == 2){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
+ break;
+ }
+ }else {
+ break;
+ }
+
+
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (wrkMastMapper.selectWorking(slave.getId()) != null) {
+ continue;
+ }
+
+ // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
+ if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
+ String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
+ LocMast shallowLoc = locMastService.selectById(shallowLocNo);
+ // O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
+ if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+ if (null == waitWrkMast) {
+ log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
+ } else {
+ waitWrkMast.setIoPri(15D);
+ waitWrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(waitWrkMast) == 0) {
+ log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
+ }
+ continue;
+ }
+
+ } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
+ // 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
+ if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
+ wrkMast.setUpdMk("Y");
+ wrkMast.setIoPri(14D);
+ wrkMastMapper.updateById(wrkMast);
+ // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
+ moveLocForDeepLoc(slave, shallowLoc);
+ // 鐢熸垚宸ヤ綔妗ｃ�佹敼鍙樻祬搴撲綅鐨勬簮搴�/鐩爣搴� 搴撲綅鐘舵�併�佷笅鍙戝爢鍨涙満鍛戒护锛堢珛椹墽琛�)
+// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
+ }
+ continue;
+ } else if (shallowLoc.getLocSts().equals("Q")) {
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
+ if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
+ continue;
+ }
+ }
+ }
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+ crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+ crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
+ log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
+ Date now = new Date();
+ wrkMast.setWrkSts(3L);
+ wrkMast.setCrnStrTime(now);
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+ }
+ }
+ }
}
/**
@@ -2105,9 +2451,9 @@
/**
* 鍑哄簱 ===>> 搴撲綅鍒板爢鍨涙満绔�
- * 2022-12-03 TQS淇敼锛屽厛閬嶅巻鏌ヨ宸ヤ綔妗ｆ墍鏈夌珯鐐瑰嚭搴撲换鍔IST锛屾牴鎹伐浣滄。浠诲姟鎺掑簭浼樺厛绾ч珮浜� 鏍规嵁鍫嗗灈鏈哄叆搴撶珯鐐规帓搴�
+ * 2024-01-15 浼樺寲鍙屽伐浣�
*/
- public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol) {
+ public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
for (WrkMast wrkMast : wrkMasts) {
if (wrkMast == null) {
@@ -2171,9 +2517,21 @@
&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+
+ //宸ヤ綅
+ if (crnStation == 1){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
// continue;
+ break;
+ }
+ }else if(crnStation == 2){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
+// continue;
+ break;
+ }
+ }else {
break;
}
@@ -2239,7 +2597,7 @@
crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
} else {
// 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
@@ -2259,7 +2617,7 @@
/**
* 鍑哄簱 ===>> 搴撲綅鍒板爢鍨涙満绔�
- * 2022-12-03 TQS淇敼锛屽厛閬嶅巻鏌ヨ宸ヤ綔妗ｆ墍鏈夌珯鐐瑰嚭搴撲换鍔IST锛屾牴鎹伐浣滄。浠诲姟鎺掑簭浼樺厛绾ч珮浜� 鏍规嵁鍫嗗灈鏈哄叆搴撶珯鐐规帓搴�
+ * 2024-01-15 鐓滄槦灏忔枡绠�
*/
public synchronized void locToCrnStn1Single(CrnSlave slave, CrnProtocol crnProtocol) {
List<WrkMastCrn> wrkMastCrnList = wrkMastCrnMapper.selectList(new EntityWrapper<WrkMastCrn>()
@@ -2387,6 +2745,177 @@
}
break;
}
+ }
+ }
+ }
+
+ }
+
+ /**
+ * 鍑哄簱 ===>> 搴撲綅鍒板爢鍨涙満绔�
+ * 2024-06-05 鐓滄槦澶ф枡绠�
+ */
+ public synchronized void locToCrnStn1Big(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
+ List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
+ for (WrkMast wrkMast : wrkMasts) {
+ if (wrkMast == null) {
+ continue;
+ }
+
+ CrnSlave.CrnStn crnStn = null;
+ for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
+ if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
+ crnStn = crnStn1;
+ break;
+ }
+ }
+ if(Cools.isEmpty(crnStn)){
+ continue;
+ }
+
+ // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
+ if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
+ log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
+ continue;
+ }
+ //閫�搴撴ā寮忚烦杩�118銆�119鍑哄簱浠诲姟
+ if (wrkMast.getStaNo()==118 || wrkMast.getStaNo()==119){
+ RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
+ if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
+ continue;
+ }
+ }
+ // 鑾峰彇婧愬簱浣嶄俊鎭�
+ LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
+ if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
+ log.error("鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), sourceSta.getLocSts());
+ continue;
+ }
+ // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ if (staProtocol == null) {
+ break;
+// continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+// // 鍏ュ嚭搴撴ā寮忓垽鏂�
+// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
+ if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
+ continue;
+ }
+
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ log.error("鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
+ break;
+// continue;
+ }
+ // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
+ && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+
+
+ //宸ヤ綅
+ if (crnStation == 1){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+// continue;
+ break;
+ }
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
+// continue;
+ break;
+ }
+ }else if(crnStation == 2){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
+// continue;
+ break;
+ }
+ }else {
+ break;
+ }
+
+ // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
+ if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
+ String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
+ LocMast shallowLoc = locMastService.selectById(shallowLocNo);
+ // O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
+ if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+ if (null == waitWrkMast) {
+ log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
+ } else {
+ if (waitWrkMast.getWrkSts() == 11) {
+ waitWrkMast.setIoPri(15D);
+ waitWrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(waitWrkMast) == 0) {
+ log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
+ }
+ continue;
+ } else {
+
+ }
+ }
+ } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
+// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+ //2022-08-16 modify,涓嶆牴鎹畊pdmk鏍囪绉诲簱浠诲姟(瀹规槗琚彇娑堝鑷村牭濉�)锛屾煡璇㈠伐浣滄。鏄惁瀛樺湪浠诲姟
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
+ // 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
+// if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
+// || Cools.isEmpty(waitWrkMast)) {
+ if (Cools.isEmpty(waitWrkMast)) {
+ wrkMast.setUpdMk("Y");
+ wrkMastMapper.updateById(wrkMast);
+ // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
+ moveLocForDeepLoc(slave, shallowLoc);
+ }
+ log.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛佹祬搴撲綅鍙�:{}", wrkMast.getWrkNo(), shallowLocNo);
+ continue;
+ } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
+ if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
+ continue;
+ }
+ }
+ }
+
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (wrkMastMapper.selectWorking(slave.getId()) != null) {
+ break;
+// return;
+ }
+
+ // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+ crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 浠诲姟妯″紡: 鍗曞彇璐�
+ crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
+ log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
+ Date now = new Date();
+ wrkMast.setWrkSts(12L);
+ wrkMast.setCrnStrTime(now);
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+ }
+ break;
}
}
}
@@ -2680,6 +3209,51 @@
if (wrkMastMapper.updateById(wrkMast) > 0) {
// 鍫嗗灈鏈哄浣�
crnThread.setResetFlag(true);
+ }
+ }
+
+ }
+ }
+ }
+ /**
+ * 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
+ */
+ public synchronized void storeFinishedTwo() {
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ if (crn.getId()<3 || crn.getId()>5){
+ continue;
+ }
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ continue;
+ }
+ // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
+ if (crnProtocol.statusTypeTwo == CrnStatusType.WAITING && crnProtocol.getTaskNoTwo() != 0) {
+ if (crnProtocol.getTaskNoTwo() == 32222) {
+ // 鍫嗗灈鏈哄浣�
+ crnThread.setResetFlagTwo(true);
+ } else {
+ // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNoTwo().intValue());
+ if (wrkMast == null) {
+ log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNoTwo());
+ continue;
+ }
+ // 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
+ if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
+ wrkMast.setWrkSts(4L);
+ } else {
+ continue;
+ }
+ Date now = new Date();
+ wrkMast.setCrnEndTime(now);
+ wrkMast.setModiTime(now);
+ // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ // 鍫嗗灈鏈哄浣�
+ crnThread.setResetFlagTwo(true);
}
}
@@ -4481,6 +5055,8 @@
case 6:////鎻愬崌
// signWork = qwe();
break;
+ case 7:////浣嶇Щ
+ break;
default:
break;
}
@@ -4503,6 +5079,8 @@
break;
case 6:////鎻愬崌
// signWork = rgvRunWrkMastEmptyStaPut();
+ break;
+ case 7:////浣嶇Щ
break;
default:
break;
@@ -5220,6 +5798,10 @@
* 灏忚溅鍦板浘鏇存柊 鏇存柊閿�
* */
public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
+ if (true){
+ basRgvMapMapper.updateById(basRgvMapCurrent);
+ return true;
+ }
// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
//鏇存柊褰撳墠灏忚溅閿�
@@ -5243,4 +5825,11 @@
}
}
+ /**
+ * 鍏ュ嚭搴� ===>> 灏忚溅浣滀笟涓嬪彂
+ */
+ public synchronized boolean steIoExecute(Integer sign) {
+ return false;
+ }
+
}
--
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