From 02d21f6176ac8d54f7ba121bf42821a405be40f2 Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期四, 23 十月 2025 16:45:21 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 495 ++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 344 insertions(+), 151 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 1a0084f..aaf30a6 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -9,6 +9,7 @@
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
+import com.zy.asrs.entity.param.AgvTaskAssignmentParam;
import com.zy.asrs.entity.param.ArmOrderAssignmentParam;
import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
import com.zy.asrs.entity.param.CombParam;
@@ -20,6 +21,7 @@
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.asrs.utils.core.ReturnT;
+import com.zy.common.constant.AgvConstant;
import com.zy.common.constant.ArmConstant;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
@@ -105,6 +107,8 @@
private BasRgvMapService basRgvMapService;
@Autowired
private BasArmService basArmService;
+ @Autowired
+ private BasAgvMastService basAgvMastService;
@Autowired
private BasArmMastService basArmMastService;
@Autowired
@@ -491,10 +495,10 @@
if (Cools.isEmpty(staDesc)) {
News.error(""+mark+" - 2"+" - 鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
staProtocol.setWorkNo(wrkNo++);
- staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
+ staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()));
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- log.error("杈撻�佺嚎涓嬪彂4锛�"+9989+","+(pickSta.getStaNo().shortValue()-(short)1));
+ log.error("杈撻�佺嚎涓嬪彂4锛�"+9996+","+(pickSta.getStaNo().shortValue()-(short)1));
//LED
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
// led 寮傚父鏄剧ず
@@ -518,6 +522,14 @@
Date now = new Date();
// 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
Integer staNo = staDesc.getCrnStn();
+ if(wrkMast.getSourceStaNo() > 2000){
+ switch (wrkMast.getCrnNo()){
+ case 1: staNo = 2004;break;
+ case 2: staNo = 2010;break;
+ case 4: staNo = 2022;break;
+ case 5: staNo = 2028;break;
+ }
+ }
// 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
wrkMast.setIoTime(now);
wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
@@ -547,7 +559,7 @@
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
staProtocol.setWorkNo(wrkMast.getWrkNo());
- staProtocol.setStaNo((short) 161);
+ staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
log.error("杈撻�佺嚎涓嬪彂5锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
@@ -753,14 +765,14 @@
if(crnSlave.getId() == 3 && wrkMast9997 != null){
WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9997.getBarcode());
// 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, wrkMast107.getCrnNo());
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn,3);
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == 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.getTaskNo().equals(wrkMast107.getWrkNo().shortValue())
+ if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo()== 9997
&& crnProtocol.statusType == CrnStatusType.WAITING
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
log.info("鍫嗗灈鏈哄嚭搴撳畬鎴� - 寮�濮嬫墽琛�");
@@ -799,14 +811,14 @@
if(crnSlave.getId() == 3 && wrkMast9996 != null){
WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9996.getBarcode());
// 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, wrkMast107.getCrnNo());
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, 3);
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == 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.getTaskNo().equals(wrkMast107.getWrkNo().shortValue())
+ if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo() == 9996
&& crnProtocol.statusType == CrnStatusType.WAITING
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
log.info("鍫嗗灈鏈哄嚭搴撳畬鎴� - 寮�濮嬫墽琛�");
@@ -966,7 +978,13 @@
}
}
}
- if(staProtocolIn.getWorkNo() != null &&staProtocolIn.getStaNo() != 4001){
+ if(staProtocolIn.getWorkNo() != null && staProtocolIn.getStaNo() != 4001){
+ WrkMast wrkMastCrn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
+ if(wrkMastCrn!=null){
+ if(wrkMastCrn.getCrnNo() == 3 ){
+ continue;
+ }
+ }
WrkMast wrkMastIn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9996);
if(wrkMastIn == null){
@@ -1138,62 +1156,69 @@
} else {
staProtocol = staProtocol.clone();
}
- WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9996(9996);
-
- if (slave.getId() == 3 && wrkMast9996 != null) {
- SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
- if (staProtocol2 == null) {
- News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
- break;
- } else {
- staProtocol2 = staProtocol2.clone();
- }
- BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
- if (staDetl == null) {
- News.error(""+mark+" - 2"+" - 5"+" - 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;
- }
- if( staProtocol2.isAutoing() && staProtocol2.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
-// continue;
- 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) {
- 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((short) 9996); // 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((short) 9); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY((short) 52); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ((short) 3); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX((short) 9); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ((short) 2); // 鐩爣搴撲綅灞�
-// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) {
- News.error("" + mark + " - 2" + " - 13" + " - 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�={}", wrkMast9996.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();
- wrkMast9996.setWrkSts(3L);
- wrkMast9996.setCrnStrTime(now);
- wrkMast9996.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast9996) == 0) {
- News.error("" + mark + " - 2" + " - 14" + " - 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={}", wrkMast9996.getWrkNo());
- }
- break;
- }
- }
- }
+// WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9996(9996);
+//
+// if (slave.getId() == 3 && wrkMast9996 != null) {
+// SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp,2);
+// StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
+// if (staProtocol2 == null) {
+// News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
+// break;
+// } else {
+// staProtocol2 = staProtocol2.clone();
+// }
+// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+// if (staDetl == null) {
+// News.error(""+mark+" - 2"+" - 5"+" - 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;
+// }
+// if( staProtocol2.isAutoing() && staProtocol2.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
+// // 鍫嗗灈鏈烘帶鍒惰繃婊�
+// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+//// continue;
+// 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) {
+// 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((short) 9996); // 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((short) 9); // 婧愬簱浣嶆帓
+// crnCommand.setSourcePosY((short) 52); // 婧愬簱浣嶅垪
+// crnCommand.setSourcePosZ((short) 3); // 婧愬簱浣嶅眰
+// if(wrkMast9996.getStaNo()>2000){
+// crnCommand.setDestinationPosX((short) 9); // 鐩爣搴撲綅鎺�
+// crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
+// crnCommand.setDestinationPosZ((short) 2); // 鐩爣搴撲綅灞�
+// }else{
+// crnCommand.setDestinationPosX((short) 11); // 鐩爣搴撲綅鎺�
+// crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
+// crnCommand.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+// }
+//
+//// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+// if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) {
+// News.error("" + mark + " - 2" + " - 13" + " - 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�={}", wrkMast9996.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();
+// wrkMast9996.setWrkSts(3L);
+// wrkMast9996.setCrnStrTime(now);
+// wrkMast9996.setModiTime(now);
+// if (wrkMastMapper.updateById(wrkMast9996) == 0) {
+// News.error("" + mark + " - 2" + " - 14" + " - 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={}", wrkMast9996.getWrkNo());
+// }
+// break;
+// }
+// }
+// }
// 鏌ヨ绔欑偣璇︾粏淇℃伅
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
if (staDetl == null) {
@@ -1339,6 +1364,8 @@
// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
WrkMast wrkMast9997 = wrkMastMapper.selectByWrkNo9997(9997);
+ WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9997(9996);
+
if (slave.getId() == 3 && wrkMast9997 != null) {
SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
@@ -1435,6 +1462,66 @@
wrkMast9997.setModiTime(now);
if (wrkMastMapper.updateById(wrkMast9997) == 0) {
News.error("" + mark + " - 2" + " - 14" + " - 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={}", wrkMast9997.getWrkNo());
+ }
+ break;
+ }
+ }
+ }
+ if (slave.getId() == 3 && wrkMast9996 != null) {
+ SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+ StaProtocol staProtocol4001 = devpThread2.getStation().get(4001);
+ if (staProtocol4001 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol4001);
+ break;
+ } else {
+ staProtocol4001 = staProtocol4001.clone();
+ }
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ News.error(""+mark+" - 2"+" - 5"+" - 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;
+ }
+ if(staProtocol4001.isLoading() && staProtocol4001.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+// continue;
+ 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) {
+ 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((short) 9996); // 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((short) 9); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 52); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 3); // 婧愬簱浣嶅眰
+ if(wrkMast9996.getStaNo()>2000){
+ crnCommand.setDestinationPosX((short) 9); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 2); // 鐩爣搴撲綅灞�
+ }else{
+ crnCommand.setDestinationPosX((short) 11); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+ }
+// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) {
+ News.error("" + mark + " - 2" + " - 13" + " - 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�={}", wrkMast9996.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();
+ wrkMast9996.setWrkSts(12L);
+ wrkMast9996.setCrnStrTime(now);
+ wrkMast9996.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast9996) == 0) {
+ News.error("" + mark + " - 2" + " - 14" + " - 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={}", wrkMast9996.getWrkNo());
}
break;
}
@@ -3791,94 +3878,137 @@
/**
* 灏忚溅鍑哄簱鎺ラ┏浠诲姟鍙栬揣涓嬪彂
*/
-// public synchronized void rgvRunWrkToCrn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
-// for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv鍑哄簱鍙栬揣绔欑偣
-// boolean flag = false;
-// //閬嶅巻rgv鍏ュ簱鍙栬揣绔欑偣
-// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
-// StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
-// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
-// StaProtocol staProtocol2 = null;
-// if(rgvStn.getStaNo2()!= null ){
-// staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
-// if (staProtocol2 == null) {
-// News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍏ュ簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
-// continue;
-// } else {
-// staProtocol2 = staProtocol2.clone();
-// }
-// BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
-// if (staDetl2 == null) {
-// News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
-// continue;
-// }
-// }
-// if (staProtocol == null) {
-// News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍑哄簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
-// continue;
-// } else {
-// staProtocol = staProtocol.clone();
-// }
-//
-// // 鏌ヨ绔欑偣璇︾粏淇℃伅
-// BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
-// if (staDetl == null) {
-// News.error("" + mark + " - 1" + " - 2" + " - 鍑哄簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
-// continue;
-// }
-//
-// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
-// && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
-// flag = true;
-// }
-// if (!flag) {
-// News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv鍑哄簱鍙栬揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
-// + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
-// + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isOutEnable()
-// + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanouting());
-// continue;
-// }
-// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-// List<Integer> route = new ArrayList<>();
-// switch (rgvProtocol.getRgvNo()){
-// case 1: route = RouteUtils.getRouteOne();break;
-// case 2: route = RouteUtils.getRouteTwo();break;
-// }
-// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
-// WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfereToCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
-// if( null == wrkMastSta ) {
-// News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
-// continue;
-// }
-// WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
-// boolean result = false;
-// if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
-// result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
-// }
-// if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
-// rgvThread.setPakRgv(false);
-// continue;
-// }
-// wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//鑻�1鍙峰伐浣嶆湁浠诲姟缁�2鍙峰伐浣�
-// wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
-// boolean sign = false;
-// sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
-// if (sign){
+ public synchronized void rgvRunWrkToCrn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv鍑哄簱鍙栬揣绔欑偣
+ boolean flag = false;
+ //閬嶅巻rgv鍏ュ簱鍙栬揣绔欑偣
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
+ BasRgv basRgv = basRgvService.selectById(slave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", slave.getId());
+ continue;
+ }
+ StaProtocol staProtocol2 = null;
+ WrkMastSta wrkMastSta3 = null;
+
+ if(rgvStn.getStaNo2()!= null ){
+ staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
+ if (staProtocol2 == null) {
+ News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍏ュ簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocol2 = staProtocol2.clone();
+ }
+ BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
+ if (staDetl2 == null) {
+ News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+ wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
+
+ }
+ if (staProtocol == null) {
+ News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍑哄簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
+ if (staDetl == null) {
+ News.error("" + mark + " - 1" + " - 2" + " - 鍑哄簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
+ && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv鍑哄簱鍙栬揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
+ + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
+ + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isOutEnable()
+ + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanouting());
+ continue;
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ List<Integer> route = new ArrayList<>();
+ switch (rgvProtocol.getRgvNo()){
+ case 1: route = RouteUtils.getRouteOne();break;
+ case 2: route = RouteUtils.getRouteTwo();break;
+ }
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ basRgvMapService.updateById(basRgvMap);
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
+ if( null == wrkMastSta ) {
+ News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ continue;
+ }
+ WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
+ if(basRgv.getPakToCrn().equals("0")){
+ wrkMastSta = wrkMastStaMapper.selectNoInterfereCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));
+ }
+ boolean result = false;
+ if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
+ result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
+ }
+ if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
+ basRgv.setPakRgv("0");
+ basRgvService.updateById(basRgv);
+
+ continue;
+ }
+ wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//鑻�1鍙峰伐浣嶆湁浠诲姟缁�2鍙峰伐浣�
+ wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
+ boolean sign = false;
+ sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+ if (sign){
+ if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
+ basRgv.setPakToCrn("0");
+ basRgvService.updateById(basRgv);
+ if(wrkMastSta3 != null){
+ if(!LEFT_POSITION.contains(wrkMastSta3.getStaEnd())){
+ wrkMastSta3 = null;//鑻ユ帴椹崇浜屼綅涓嶆帴椹虫椂鍙栨秷杩炵画鍙栬揣
+ }
+ }
+ }
+
+ if(wrkMastSta3 != null ){
+ List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
+ if(wrkMastStaPaking.size() < 1){
+ wrkMastSta3.setMk(1);
+ basRgv.setPakAll("0");
+ basRgvService.updateById(basRgv);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta3);
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
+ }catch (Exception e){
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
+ }
+ }
+ }
+ basRgv.setPakIn("0");
+ basRgvService.updateById(basRgv);
+
+ rgvThread.setPaking(false);
// rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
-// try{
-// wrkMastSta.setWrkSts(1);
-// wrkMastStaMapper.updateById(wrkMastSta);
-// log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
-// }catch (Exception e){
-// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
-// }
-// } else {
-// log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
-// }
-//
-//
-// }
-// }
+ try{
+ wrkMastSta.setWrkSts(1);
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+
+
+ }
+ }
/**
* 鎵ц灏忚溅鎼繍浠诲姟
*
@@ -4483,4 +4613,67 @@
response, bool);
}
+ /*
+ * agv浠诲姟涓嬪彂
+ * */
+ public synchronized void agvTaskAssignment() {
+ try{
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("status", 0));
+ for (BasAgvMast basAgvMast : basAgvMastList) {
+ if (basAgvMast.getStatus()!=0 && basAgvMast.getIoType()!=3){//3==銆嬪嚭搴�==>杈撻�佺嚎绔欑偣==銆婣GV搴撲綅
+ continue;
+ }
+ try{
+ // 鑾峰彇绔欑偣淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getDevpId());
+ StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getSourceStaNo());
+ if (staProtocol == null || !staProtocol.isLoading()) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ if (!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())){
+
+ AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam();
+
+ //浠诲姟涓嬪彂
+ ReturnT<String> result = new PostMesDataUtils().postMesData("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
+ if (result.getCode()==200){
+ basAgvMast.setStatus(1);
+ basAgvMastService.updateById(basAgvMast);
+ } else {
+ agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV浠诲姟涓嬪彂澶辫触", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
+ }
+ }
+ } catch (Exception e){
+ log.error("浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"====銆婣GV浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+ }catch (Exception e){
+ log.error("AGV浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+
+ public void agvTaskAssignmentCallApiLogSave(BasAgvMast basAgvMast ,String tableName, String response, Boolean bool) {
+ ApiLog apiLog = apiLogService.selectOne(new EntityWrapper<ApiLog>()
+ .eq("namespace", "Agv浠诲姟涓嬪彂")
+ .eq("request", "浠诲姟鍙�:" + basAgvMast.getTaskNo())
+ .eq("response", response)
+ .eq("url", tableName)
+ .eq("result", 0)
+ .orderBy("create_time", false)
+ );
+
+ if (!Cools.isEmpty(apiLog)){
+ long parseLong = Long.parseLong(apiLog.getTimestamp());
+ if (new Date().getTime()-parseLong<5*1000*60){
+ return;
+ }
+ }
+ apiLogService.save("Agv浠诲姟涓嬪彂", tableName, "null", "127.0.0.1",
+ "浠诲姟鍙�:" + basAgvMast.getTaskNo() ,
+ response, bool);
+ }
+
}
--
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