From 0ae7648dae40c6b7efa15e276099da7a9213ad37 Mon Sep 17 00:00:00 2001
From: lty <876263681@qq.com>
Date: 星期二, 23 九月 2025 22:13:13 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 2034 +++++++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 1,743 insertions(+), 291 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 b1dc376..655b13f 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -8,11 +8,18 @@
import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
+import com.zy.asrs.entity.param.ArmOrderAssignmentParam;
+import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
+import com.zy.asrs.entity.param.CombParam;
+import com.zy.asrs.entity.result.OrderDetlValueResultUtil;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
+import com.zy.asrs.utils.PostMesDataUtils;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
+import com.zy.asrs.utils.core.ReturnT;
+import com.zy.common.constant.ArmConstant;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
@@ -46,7 +53,6 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;
-import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
/**
@@ -94,9 +100,16 @@
private WrkMastService wrkMastService;
@Autowired
private BasRgvMapService basRgvMapService;
+ @Autowired
+ private BasArmService basArmService;
+ @Autowired
+ private BasArmMastService basArmMastService;
@Value("${wms.url}")
private String wmsUrl;
+
+ @Value("${wms.comb}")
+ private String wmsComb;
@Value("${inventory.number}")
private Integer inventoryNumber;
@@ -748,9 +761,10 @@
continue;
}
// 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
- if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
+ if ((wrkMast.getIoType() != 12 && 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();
@@ -802,8 +816,112 @@
}
/**
- * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
+ * 鍫嗗灈鏈轰换鍔¤鎺ヤ换鍔＄敓鎴�
*/
+ public synchronized void connectWrk(Integer mark) {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocolIn = devpThread.getStation().get(4001);
+ if (staProtocolIn == null) {
+ continue;
+ } else {
+ staProtocolIn = staProtocolIn.clone();
+ }
+ int[] outStaNos = {1015, 2016};
+ for (int outStaNo : outStaNos) {
+ StaProtocol staProtocolOut = devpThread.getStation().get(outStaNo);// 鐩樼偣鍑哄簱琛旀帴绔欑偣锛堝彲鑳芥槸 1015锛屼篃鍙兘鏄� 2016锛�
+ if (staProtocolOut == null) {
+ continue;
+ } else {
+ staProtocolOut = staProtocolOut.clone();
+ }
+
+ if (staProtocolOut.getWorkNo() != null && staProtocolOut.getStaNo() == 4006) {
+ WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
+ WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9997);
+ if (wrkMastOut == null) {
+ continue;
+ }
+ if (wrkMast != null) {
+ News.info("宸插瓨鍦ㄦ枩琛椾换鍔★紝绛夊緟浠诲姟瀹屾垚");
+ continue;
+ }
+ try {
+ TransplantWork param = new TransplantWork();
+ param.setWorkNo(wrkMastOut.getWrkNo());
+ param.setBarcode(wrkMastOut.getBarcode());
+ param.setSourceStaNo(outStaNo);
+ param.setStaNo(wrkMastOut.getStaNo());
+
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/auto/TransplantingOut/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ staProtocolOut.setWorkNo(9997);
+ devpThread.setPakMk(staProtocolOut.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolOut));
+
+ if (!result) {
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ }
+ if(staProtocolIn.getWorkNo() != null &&staProtocolIn.getStaNo() != 4001){
+ WrkMast wrkMastIn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
+ WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9996);
+ if(wrkMastIn == null){
+ continue;
+ }
+ if(wrkMast != null){
+ News.info("宸插瓨鍦ㄦ枩琛椾换鍔★紝绛夊緟浠诲姟瀹屾垚");
+ continue;
+ }
+ try {
+ TransplantWork param = new TransplantWork();
+ param.setWorkNo(wrkMastIn.getWrkNo());
+ param.setBarcode(wrkMastIn.getBarcode());
+ param.setSourceStaNo(4001);
+ param.setStaNo(wrkMastIn.getStaNo());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/auto/TransplantingIn/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ staProtocolIn.setWorkNo(9996);
+ devpThread.setPakMk(staProtocolIn.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolIn));
+
+ if (!result) {
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ }
+ }
+
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ }
+
+ }
+
+
+ /**
+ * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
+ */
public synchronized void crnIoExecute(Integer mark) {
for (CrnSlave crn : slaveProperties.getCrn()) {
@@ -929,6 +1047,61 @@
continue;
} else {
staProtocol = staProtocol.clone();
+ }
+ if (slave.getId() == 3) {
+ 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();
+ }
+ WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
+ 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(wrkMast9999 != null && staProtocol2.isAutoing() && 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) 5); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 4); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX((short) 6); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 1); // 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, wrkMast9999.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�={}", wrkMast9999.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();
+ wrkMast9999.setWrkSts(3L);
+ wrkMast9999.setCrnStrTime(now);
+ wrkMast9999.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast9999) == 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={}", wrkMast9999.getWrkNo());
+ }
+ break;
+ }
+ }
}
// 鏌ヨ绔欑偣璇︾粏淇℃伅
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
@@ -1074,6 +1247,61 @@
// 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑鍑哄簱宸ヤ綔妗�
// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
+ if (slave.getId() == 3) {
+ SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol2 = devpThread1.getStation().get(1015);
+ 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();
+ }
+ WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9997);
+ 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(wrkMast9999 != null && staProtocol2.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) 9997); // 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) 5); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX((short) 6); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 4); // 鐩爣搴撲綅灞�
+// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.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�={}", wrkMast9999.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();
+ wrkMast9999.setWrkSts(12L);
+ wrkMast9999.setCrnStrTime(now);
+ wrkMast9999.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast9999) == 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={}", wrkMast9999.getWrkNo());
+ }
+ break;
+ }
+ }
+ }
for (WrkMast wrkMast : wrkMasts) {
if (wrkMast == null) {
continue;
@@ -1126,11 +1354,11 @@
if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
) {
- if (slave.getId() == 1 || slave.getId() == 2){
- if (staProtocol.isLoading() || staProtocol.getWorkNo() != 0 || !staProtocol.isOutEnable()){
- continue;
- }
- }
+// if (slave.getId() == 1 || slave.getId() == 2){
+// if (staProtocol.isLoading() || staProtocol.getWorkNo() != 0 || !staProtocol.isOutEnable()){
+// continue;
+// }
+// }
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
// 鍫嗗灈鏈烘帶鍒惰繃婊�
@@ -1438,14 +1666,50 @@
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.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
- News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:"+crnProtocol.getTaskNo());
+ if(crnProtocol.getTaskNo() == 9999){
+ // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
+ if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
+ News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
+
+
+
+ // 鍫嗗灈鏈哄浣�
+ News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}", crnThread.getCrnProtocol().getCrnNo());
+ crnThread.setResetFlag(true);
+ }
+ } else if (crnProtocol.getTaskNo() == 9996) {//鐩樼偣鍏ュ簱琛旀帴
+ // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
+ if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
+ News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
// 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
- if (wrkMast == null) {
- News.error(""+mark+" - 1"+" - 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.getTaskNo());
+ // 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�
+ log.error(wrkMast.getWrkNo() + "浠诲姟淇敼鐘舵��4鎴愬姛锛屽浣嶅爢鍨涙満={}", crnThread.getCrnProtocol().getCrnNo());
+ News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}", crnThread.getCrnProtocol().getCrnNo());
+ crnThread.setResetFlag(true);
+ }
+ }
+ }else{
+ // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
+ if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
+ News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
+
+ // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
+ if (wrkMast == null ) {
+ News.error("" + mark + " - 1" + " - 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.getTaskNo());
continue;
}
// 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
@@ -1460,16 +1724,19 @@
// 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
if (wrkMastMapper.updateById(wrkMast) > 0) {
// 鍫嗗灈鏈哄浣�
- log.error(wrkMast.getWrkNo()+"浠诲姟淇敼鐘舵��4鎴愬姛锛屽浣嶅爢鍨涙満={}",crnThread.getCrnProtocol().getCrnNo());
- News.warnNoLog(""+mark+" - 2"+" - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}",crnThread.getCrnProtocol().getCrnNo());
+ log.error(wrkMast.getWrkNo() + "浠诲姟淇敼鐘舵��4鎴愬姛锛屽浣嶅爢鍨涙満={}", crnThread.getCrnProtocol().getCrnNo());
+ News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}", crnThread.getCrnProtocol().getCrnNo());
crnThread.setResetFlag(true);
}
}
+ }
+
}
// News.infoNoLog(""+mark+" - 0"+" - 瀵瑰伐浣滄。鐨勫畬鎴愭搷浣滄墽琛屽畬鎴�");
}
+
/**
* 鍫嗗灈鏈哄紓甯镐俊鎭褰�
@@ -2295,16 +2562,20 @@
public synchronized void autoEmptyOut() {
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
List<Integer> list = new ArrayList<>();
- list.add(1108);list.add(112);
- Map<Integer,Integer> map = new HashMap<>();
- map.put(101,102);map.put(112,111);
+ list.add(1108);list.add(2031);
for (Integer site:list){
- WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", map.get(site)));
- if (!Cools.isEmpty(wrkMast)){
+ Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
+ StaProtocol staProtocol = null;
+ if(emptyCount >= 2 && site == 1108){
+ continue;
+ }else if(emptyCount == 1 && site == 2031){
continue;
}
//濡傛灉绔欑偣鍙嚭绂佺敤锛屽垯涓嶇敓鎴愮┖鐩樺嚭搴撲换鍔�
- StaProtocol staProtocol = devpThread.getStation().get(site);
+ switch (site){
+ case 1108:staProtocol = devpThread.getStation().get(site - 2);break;
+ case 2031:staProtocol = devpThread.getStation().get(site);break;
+ }
if (staProtocol == null) {
return;
} else {
@@ -2315,10 +2586,6 @@
&& staProtocol.isOutEnable() //鍙嚭淇″彿
&& staProtocol.getWorkNo() == 0
) {
- WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(site);
- if (null != pakoutEmpty) {
- return;
- }
Short loctype1 = 1;
LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
locTypeDto.setSiteId(site);
@@ -2458,13 +2725,15 @@
// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE &&
rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
- && (rgvProtocol.getTaskNo1()==0)
+ && !rgvProtocol.isLoaded1ing() //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+ && rgvProtocol.getTaskNo1()==0
+ && !rgvProtocol.isLoaded2ing()
+ && rgvProtocol.getTaskNo2()==0
&&rgvThread.isPakMk()
) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- Integer rgvNoOther = basRgvMap.getRgvNoOther(rgvProtocol.getRgvNo());
+ Integer rgvNoOther = basRgvMap.getRgvNoOther((int) rgvProtocol.getRgvNo());
RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther);
RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
if (rgvProtocolOther == null) {
@@ -2474,8 +2743,10 @@
}
if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
&& rgvProtocolOther.getModeType() == RgvModeType.AUTO
- && rgvProtocolOther.getLoaded1()==0
- && (rgvProtocolOther.getTaskNo1()==0)
+ && !rgvProtocolOther.isLoaded1ing()
+ && rgvProtocolOther.getTaskNo1()==0
+ && !rgvProtocolOther.isLoaded2ing()
+ && rgvProtocolOther.getTaskNo2()==0
&&rgvThreadOther.isPakMk()
){
//瀵瑰伐浣滄。杩涜鍒ゆ柇
@@ -2519,7 +2790,56 @@
// }
// }
+ /**
+ * 灏忚溅涓婂伐浣嶅乏鍙崇Щ鍔�
+ *
+ */
+ public synchronized boolean rgvStaMove(Long workNo) {
+ try {
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ } else {
+ rgvProtocol = rgvProtocol.clone();
+ }
+ if(rgvProtocol.isLoaded2ing() && rgvProtocol.isLoaded1ing()){
+ continue;
+ }
+ if(rgvProtocol.isLoaded1ing() && !rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo1() != 0){
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
+ Short moveSta =0;
+ if(wrkMastSta.getStaEnd()< 1036 || (2000 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd()<2031)){
+ moveSta = 2;
+ boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),7,wrkMastSta.getWrkNo(),moveSta);
+ if (!rgvComplete){
+ log.error("灏忚溅宸ヤ綅绉诲姩澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+ break;
+ }
+ }
+ }
+ if(!rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo2() != 0){
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
+ Short moveSta =0;
+
+ if(wrkMastSta.getStaEnd()> 2030 || (1036 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd()<2000)){
+ moveSta = 1;
+ boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),8,wrkMastSta.getWrkNo(),moveSta);
+ if (!rgvComplete){
+ log.error("灏忚溅宸ヤ綅绉诲姩澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+ break;
+ }
+ }
+ }
+
+
+ }
+ }catch (Exception e){
+ log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+ }
+ }
/**
* 瀹屾垚灏忚溅浠诲姟
*/
@@ -2527,112 +2847,251 @@
try{
for (DevpSlave devp : slaveProperties.getDevp()) {
List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
- for (BasRgvMap rgvSlave:basRgvMaps) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
continue;
}else {
rgvProtocol = rgvProtocol.clone();
}
- BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
+ BasRgv basRgv = basRgvService.selectById(rgv.getId());
if (basRgv == null) {
- log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�3", rgvSlave.getRgvNo());
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�3", rgv.getId());
continue;
}
+ //鏀捐揣纭
+ if(rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
+ boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
+ if (!rgvComplete){
+ log.error("灏忚溅鏀捐揣澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+ }
+ }
+ if(rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
+ boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 6);
+ if (!rgvComplete){
+ log.error("灏忚溅鏀捐揣澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+ }
+ }
- // 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
- if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
+ // 鍙湁褰揜GV宸ヤ綅1绛夊緟WCS纭銆佽嚜鍔�
+ if (rgvProtocol.getStatusType1() == RgvStatusType.WAITING
&& rgvProtocol.getModeType() == RgvModeType.AUTO
- && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
){
- log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
- if (rgvProtocol.getTaskNo1()!=0){
-// if (rgvProtocol.getTaskNo1()==32222){
-// boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
-// if (!rgvComplete){
-// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
-// }
-// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
-// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2415");
-// rgvThread.setPakMk(true);
-// break;
-// }
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
- if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getWrkSts()!=1){
- log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�"+wrkMastSta);
- continue;
+
+ log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType1(),rgvProtocol);
+ if(rgvProtocol.getTaskNo1() == 9999){ // 棰勮皟搴︿换鍔＄‘璁�
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ Integer staNo = basRgvMap.getNowRoute();
+ switch (staNo){
+ case 1004: staNo = 1042; break;
+ case 1007: staNo = 1105; break;
}
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
- continue;
- }
- WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
- if (!Cools.isEmpty(wrkMast)){
- if (!staProtocol.isPakMk()){
- continue;
- }
- // 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMast.getWrkNo());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- log.error("rgv浠诲姟瀹屾垚缁欒緭閫佺嚎涓嬪彂鍛戒护锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
- if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
- continue;
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ boolean rgvComplete = false;
+
+// long now = System.currentTimeMillis();
+// if (staProtocol.isLoading()) {
+// rgvProtocol.setLoadingStartTime(null); // 宸插埌浣嶏紝娓呯┖鏃堕棿鎴�
+// } else {
+// if (rgvProtocol.getLoadingStartTime() == null) {
+// rgvProtocol.setLoadingStartTime(now);
+// }
+// }
+
+ if (staProtocol.isLoading()) {
+ rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
+ if (!rgvComplete){
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛佺瓑寰呭叆搴撳彇璐�", rgvProtocol.getRgvNo());
}
}
-// else {
-// log.error("rgv浠诲姟瀹屾垚缁欒緭閫佺嚎涓嬪彂鍛戒护,浣嗘湭鏌ヨ鍒板伐浣滄。");
+ }
+ if ( rgvProtocol.getTaskNo1()!=9999){
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
+ if(null == wrkMastSta){
+ log.error("灏忚溅鏃犱换鍔�");
+ continue;
+ }
+ if(wrkMastSta.getWrkSts() == 1){//鍙栬揣纭
+ if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
+ continue;
+ }
+ wrkMastSta.setUpdateTime(new Date());
+ wrkMastSta.setWrkSts(2);
+// wrkMastSta.setWorkSta(2);
+ try{
+ 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");
+ }
+ boolean rgvComplete = false;
+
+ rgvComplete = rgvStaMove(wrkMastSta.getWrkNo());
+ if (!rgvComplete){
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+ break;
+ }
+ break;
+ }
+// if(wrkMastSta.getWrkSts() == 4){//琛岃蛋纭
+// wrkMastSta.setWrkSts(2);
+// try{
+// 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");
+// }
+// boolean rgvComplete = false;
+//
+// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
+// }
+// break;
+// }
+// if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getWrkSts()!=1){
+// log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�"+wrkMastSta);
+// continue;
+// }
+//
+// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+// StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
+// if (staProtocol == null) {
+// continue;
+// } else {
+// staProtocol = staProtocol.clone();
+// }
+// if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+// continue;
+// }
+// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
+// if (!Cools.isEmpty(wrkMast)){
+// if (!staProtocol.isPakMk()){
+// continue;
+// }
// // 涓嬪彂绔欑偣淇℃伅
-// Map<Integer,Integer> map = new HashMap<>();
-// map.put(101,102);map.put(112,111);
-// map.put(100,100);
-// staProtocol.setWorkNo(rgvProtocol.getTaskNo1().intValue());
-// staProtocol.setStaNo(map.get(rgvProtocol.getRgvPosI()).shortValue());
+// staProtocol.setWorkNo(wrkMast.getWrkNo());
+// staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
// devpThread.setPakMk(staProtocol.getSiteId(), false);
-//// log.error("rgv浠诲姟瀹屾垚缁欒緭閫佺嚎涓嬪彂鍛戒护锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
+// log.error("rgv浠诲姟瀹屾垚缁欒緭閫佺嚎涓嬪彂鍛戒护锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
// if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
// continue;
// }
// }
- int sourceSta = wrkMast.getSourceStaNo();
- boolean rgvComplete = false;
-
- //鍙屽伐浣嶅嚭鍏ュ簱涓嶅悓宸ヤ綅澶嶄綅
- if((sourceSta >= 1001 && sourceSta <= 1035) || (sourceSta >= 2001 && sourceSta <= 2030)){
- rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),6);
- }else{
- rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),3);
-
- }
- if (!rgvComplete){
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
- break;
- }
- WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
- wrkMast1.setPdcType("Y");
-
- wrkMastService.updateById(wrkMast1);
-
- wrkMastSta.setWrkSts(3);
- wrkMastStaMapper.updateById(wrkMastSta);
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
- rgvThread.setPakMk(true);
+// boolean rgvComplete = false;
+//
+// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),3);
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
+// }
+// WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
+// wrkMast1.setPdcType("Y");
+//
+// wrkMastService.updateById(wrkMast1);
+//
+// wrkMastSta.setWrkSts(3);
+// wrkMastStaMapper.updateById(wrkMastSta);
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
}
else {
log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{},绛夊緟wcs纭浣嗘槸娌℃湁宸ヤ綔鍙凤紒",rgvProtocol.getRgvNo());
}
+ }
+ // 鍙湁褰揜GV宸ヤ綅2绛夊緟WCS纭銆佽嚜鍔�
+ if (rgvProtocol.getStatusType2() == RgvStatusType.WAITING
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ ){
+ log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType2(),rgvProtocol);
+ if (rgvProtocol.getTaskNo2() !=0 ){
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
+ if(wrkMastSta.getWrkSts() == 1){//鍙栬揣纭
+ boolean rgvComplete = false;
+ rgvComplete = rgvComplete2((int) rgvProtocol.getRgvNo(),8,wrkMastSta.getWrkNo());
+ if (!rgvComplete){
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+ break;
+ }
+ wrkMastSta.setWrkSts(2);
+ try{
+ 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");
+ }
+ break;
+ }
+// if(wrkMastSta.getWrkSts() == 4){//琛岃蛋鍚庣‘璁�
+// wrkMastSta.setWrkSts(2);
+// try{
+// 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");
+// }
+// boolean rgvComplete = false;
+//
+// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
+// }
+// break;
+// }
+// if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getWrkSts()!=1){
+// log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�"+wrkMastSta);
+// continue;
+// }
+
+// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+// StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
+// if (staProtocol == null) {
+// continue;
+// } else {
+// staProtocol = staProtocol.clone();
+// }
+// if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+// continue;
+// }
+// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
+//
+// int sourceSta = wrkMast.getSourceStaNo();
+// boolean rgvComplete = false;
+//
+// //鍙屽伐浣嶅嚭鍏ュ簱涓嶅悓宸ヤ綅澶嶄綅
+// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),6);
+
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
+// }
+// WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
+// wrkMast1.setPdcType("Y");
+//
+// wrkMastService.updateById(wrkMast1);
+//
+// wrkMastSta.setWrkSts(3);
+// wrkMastStaMapper.updateById(wrkMastSta);
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
+ }
+ else {
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{},绛夊緟wcs纭锛�",rgvProtocol.getRgvNo());
+ }
+ }
+ //褰撳皬杞︽棤浠诲姟鏃跺彇娑堥攣瀹�
+ if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0){
+ rgvThread.setPakMk(true);
+ rgvThread.setPakIn(true);
+ rgvThread.setPakOut(true);
}
}
}
@@ -2640,11 +3099,612 @@
log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
}
}
+
+ /**
+ * rgv鏀捐揣浠诲姟涓嬪彂
+ */
+ public synchronized void rgvOutExecute() {
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ // 鑾峰彇RGV淇℃伅
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgv.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgv.getId());
+ continue;
+ }
+ //灏忚溅鏃犱换鍔℃椂璺宠繃
+// if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0){
+// continue;
+// }
+ //鍏ュ簱鏀捐揣
+ if(rgvThread.isPakIn()){
+ for(RgvSlave.RgvStn rgvStn : rgv.getRgvInPStn()){//鍏ュ簱鏀捐揣绔欑偣
+ boolean flag = false;
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ if (staProtocol == null) {
+ News.infoNoLog( " - 1" + " - 1" + " - Rgv鍏ュ簱鏀捐揣绔欎俊鎭�(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( " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv鏀捐揣绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isInEnable()
+ && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog( " - 1" + " - 3" + " - Rgv鍏ュ簱鏀捐揣绔欎俊鎭�(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.isInEnable()
+ + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanining());
+ continue;
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+// Integer wrkNo = 0;
+ if(rgvProtocol.getTaskNo2() != 0){
+ wrkNo = rgvProtocol.getTaskNo2();
+ }
+// else{
+// wrkNo = rgvProtocol.getTaskNo1();
+// }
+ if(!rgvProtocol.isLoaded2ing()){
+ continue;
+ }
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());//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( " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ continue;
+ }
+ if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
+ continue;
+ }
+
+ boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null,2); //鍛戒护涓嬪彂
+ if (sign){
+ try{
+ wrkMastSta.setWrkSts(3);
+ 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");
+ }
+// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+// if (!signMap){
+// log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+// }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+
+ }
+ }
+ //鍑哄簱鏀捐揣
+ if( rgvThread.isPakOut()){
+ for(RgvSlave.RgvStn rgvStn : rgv.getRgvOutPStn()){//鍏ュ簱鏀捐揣绔欑偣
+ boolean flag = false;
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ if (staProtocol == null) {
+ News.infoNoLog( " - 1" + " - 1" + " - Rgv鍑哄簱鏀捐揣绔欎俊鎭�(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( " - 1" + " - 2" + " - 鍑哄簱 ===>>Rgv鏀捐揣绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isOutEnable()
+ && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog( " - 1" + " - 3" + " - Rgv鍑哄簱鏀捐揣绔欎俊鎭�(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());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+// Integer wrkNo = 0;
+ if(rgvProtocol.getTaskNo1() != 0){
+ wrkNo = rgvProtocol.getTaskNo1();
+ }
+// else{
+// wrkNo = rgvProtocol.getTaskNo2();
+// }
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());//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( " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ continue;
+ }
+ if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
+ continue;
+ }
+ Integer pos = 2;
+ boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null,pos); //鍛戒护涓嬪彂
+ if (sign){
+ try{
+ wrkMastSta.setWrkSts(3);
+ 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());
+ }
+
+ }
+ }
+ rgvThread.setPakRgv(true);//浼樺厛鏀捐揣瀹屾垚锛屽紑鍚璋冨害
+ }
+ }
+
+
+
+ /**
+ * rgv鍑哄叆搴撲换鍔′笅鍙�
+ */
+ public synchronized void rgvIoExecute(Integer mark) {
+ List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
+
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgv.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgv.getId());
+ continue;
+ }
+
+ // 鍙湁褰揜GV绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
+ if ((rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE)
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvThread.isPakMk()) {
+ News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛孯GV鍏ュ嚭搴撲綔涓氫笅鍙�");
+ // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
+// rgvRunWrkMastInTest();
+
+ if (rgvProtocol.getLastIo().equals("I")) {
+ if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
+ //mark - 1 - ....
+ this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
+ rgvProtocol.setLastIo("O");
+ } else if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
+ //mark - 2 - ....
+ this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 鍑哄簱
+ rgvProtocol.setLastIo("I");
+ }
+ }
+ // 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
+ else if (rgvProtocol.getLastIo().equals("O")) {
+ if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
+ this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 鍑哄簱
+ rgvProtocol.setLastIo("I");
+ } else if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
+ this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
+ rgvProtocol.setLastIo("O");
+ }
+ }
+ WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
+ WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
+ if(wrkMastSta1 != null && wrkMastSta2 != null){
+ rgvThread.setPakMk(false); //灏忚溅鍙屽伐浣嶉攣瀹�
+ }
+ }
+ if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
+ rgvPreScheduling();//鑻ユ殏鏃犱笅鍙戜换鍔￠璋冨害鎻愬墠鍒板彇璐х偣
+ }
+
+ if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO) {
+ //灏忚溅鎵ц鏀捐揣浠诲姟
+ rgvOutExecute();
+
+ }
+ }
+ }
+ public synchronized void rgvRunWrkMastInTest(){
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(1);
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(1021); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(342);//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℃。
+
+// WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, 1);
+ boolean result = false;
+// if(wrkMastSta2 != 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(),wrkMastSta2.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(1);
+ wrkMastSta.setRgvNo(1);
+ wrkMastSta.setStaStart(1035);
+ Short direction = 2;//鍙屽伐浣嶆渶缁堟姷杈句綅缃�
+ boolean sign = false;
+// sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,); //鍛戒护涓嬪彂
+ if (sign){
+ wrkMastSta.setWrkSts(1);
+ try{
+ 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");
+ }
+// rgvThread.setPakOut(false);//鍑哄簱涓嶅厑璁�
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+ if (!signMap){
+ log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+ }
+ /**
+ * 灏忚溅鍏ュ簱浠诲姟鍙栬揣涓嬪彂
+ */
+ public synchronized void rgvRunWrkMastIn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark) {
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvInTStn()) {//rgv鍏ュ簱鍙栬揣绔欑偣
+ boolean flag = false;
+ boolean ds = 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());
+ StaProtocol staProtocol2 = null;
+
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
+ 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鍏ュ簱绔欎俊鎭�(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" + " - 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.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0
+ && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv鍏ュ簱鍙栬揣绔欎俊鎭�(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.isInEnable()
+ + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanining());
+ continue;
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+// 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℃。
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(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 wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
+ boolean result = false;
+ if(wrkMastSta2 != 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(),wrkMastSta2.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(wrkMastSta2 !=null ? 1 : 2);
+ wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
+ Short direction = 2;//鍙屽伐浣嶆渶缁堟姷杈句綅缃�
+ boolean sign = false;
+// if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
+// continue;
+// }
+ if(Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd()) && wrkMastSta.getWrkSts() == 4){
+ wrkMastSta.setWrkSts(1);
+ try{
+ 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");
+ }
+ }
+ //鑻ュ彇璐т负宸ヤ綅2涓斿彇璐у彛鍓嶄竴绔欑偣鏈夌墿锛岀粰鍙屽伐浣嶅悓鏃朵笅鍙戞寚浠�
+ if(wrkMastSta.getWorkSta() == 2 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0 && sign){
+// WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.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℃。
+// wrkMastSta3.setWorkSta(1);
+// wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
+// sign = rgvTakeFullAll2(basRgvMap.getRgvNo(), wrkMastSta, wrkMastSta3);
+ }else{
+ sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,1); //鍛戒护涓嬪彂
+ }
+ if (sign){
+ rgvThread.setPakOut(false);//鍑哄簱涓嶅厑璁�
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+
+
+ }
+ }
+ /**
+ * 灏忚溅鍑哄簱浠诲姟鍙栬揣涓嬪彂
+ */
+ public synchronized void rgvRunWrkMastOut(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 = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(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 wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
+ boolean result = false;
+ if(wrkMastSta2 != 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(),wrkMastSta2.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 wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
+ 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;
+ Short direction = 1;//宸ヤ綅1鏂瑰悜
+ //鑻ュ彇璐т负宸ヤ綅2涓斿彇璐у彛鍓嶄竴绔欑偣鏈夌墿锛岀粰鍙屽伐浣嶅悓鏃朵笅鍙戞寚浠�
+ if(Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd()) && wrkMastSta.getWrkSts() == 4){
+ wrkMastSta.setWrkSts(1);
+ try{
+ 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");
+ }
+ }
+ if(wrkMastSta.getWorkSta() == 1 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0 && sign){
+// WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.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℃。
+// wrkMastSta3.setWorkSta(2);
+// wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
+// sign = rgvTakeFullAll2(basRgvMap.getRgvNo(), wrkMastSta, wrkMastSta3);
+ }else{
+ sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,2); //鍛戒护涓嬪彂
+ }
+ if (sign){
+ rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
+ } 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
+ *
+ * @return
*/
- public synchronized boolean rgvRunWrkMastFullSta() {
- boolean wrkEnable = false;
+// public synchronized boolean rgvRunWrkMastFullSta() {
+// boolean wrkEnable = false;
+// try{
+// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
+// for (BasRgvMap rgvSlave:basRgvMaps) {
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
+// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+// if (rgvProtocol == null) {
+// continue;
+// }else {
+// rgvProtocol = rgvProtocol.clone();
+// }
+// BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
+// if (basRgv == null) {
+// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgvSlave.getRgvNo());
+// continue;
+// }
+//
+// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鍏ュ簱鍙栬揣
+// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// && !rgvProtocol.isLoaded1ing()
+// && rgvProtocol.getTaskNo1() == 0
+// && rgvThread.isPakMk()
+// && rgvThread.isPakIn()
+// ) {
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// if (basRgvMap == null) {
+// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+// continue;
+// }
+// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+// for (WrkMastSta wrkMastSta : wrkMastStaList){
+// List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//鍏ュ簱鍙�
+// if (!staNos.contains(wrkMastSta.getStaStart())) {
+// continue;
+// }
+// boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+// wrkEnable = true;
+// if (sign){
+// wrkMastSta.setWrkSts(1);
+// try{
+// 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");
+// }
+// rgvThread.setPakMk(false);
+// rgvThread.setPakOut(false);
+// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+// if (signMap){
+// return wrkEnable;
+//// break;
+// }else {
+// log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+// Thread.sleep(500);
+// }
+// } else {
+// log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+// Thread.sleep(500);
+// }
+// break;
+// }
+// }
+//
+// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鍑哄簱鍙栬揣
+// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// && !rgvProtocol.isLoaded2ing()
+// && rgvProtocol.getTaskNo2() == 0
+// && rgvThread.isPakMk()
+// && rgvThread.isPakOut()
+// ){
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// if (basRgvMap == null) {
+// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+// continue;
+// }
+// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+// for (WrkMastSta wrkMastSta : wrkMastStaList){
+// List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//鍏ュ簱鍙�
+// if (staNos.contains(wrkMastSta.getStaStart())) {//闈炲叆搴撳彛锛堝嚭搴撳彛锛夐檺鍒�
+// continue;
+// }
+// boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null); //鍛戒护涓嬪彂
+// wrkEnable = true;
+// if (sign){
+// wrkMastSta.setWrkSts(1);
+// try{
+// 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");
+// }
+// rgvThread.setPakMk(false);
+// rgvThread.setPakOut(false);
+// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+// if (signMap){
+// return wrkEnable;
+//// break;
+// }else {
+// log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+// Thread.sleep(500);
+// }
+// } else {
+// log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+// Thread.sleep(500);
+// }
+// break;
+// }
+//
+// }
+//
+// }
+// }catch (Exception e){
+// log.error("鎵ц灏忚溅鎼繍浠诲姟涓嬪彂澶辫触");
+// }
+// return wrkEnable;
+// }
+ /**
+ * 灏忚溅棰勮皟搴�
+ */
+ public synchronized void rgvPreScheduling(){
try{
List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
for (BasRgvMap rgvSlave:basRgvMaps) {
@@ -2661,13 +3721,13 @@
continue;
}
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鎵嶈繘琛岄璋冨害
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
&& rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getLoaded1() == 0
+ && !rgvProtocol.isLoaded1ing()
&& rgvProtocol.getTaskNo1() == 0
+ && !rgvProtocol.isLoaded2ing()
&& rgvProtocol.getTaskNo2() == 0
- && rgvProtocol.getLoaded2() == 0
&& rgvThread.isPakMk()
) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
@@ -2677,73 +3737,44 @@
}
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
- List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
- for (WrkMastSta wrkMastSta : wrkMastStaList){
-// if (wrkMastSta.getType()!=0 || wrkMastSta.getWrkType()!=3 || wrkMastSta.getWrkSts()!=0){//1:婊＄増 3锛氬彇鏀�
-// continue;
-// }
- //鍒ゆ柇宸ヤ綔缁撴潫浣嶇疆鐘舵��
-// boolean signDev = false;
-// BasDevp devNo = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", wrkMastSta.getStaEnd()));
-// if (devNo.getDevNo()==113){
-// BasDevp devNo114 = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", 114));
-// if (!Cools.isEmpty(devNo114)){
-// if (devNo114.getOutEnable().equals("Y")){
-// signDev = true;
-// }
-// }
-// }
-// if (!Cools.isEmpty(devNo)){
-// if (devNo.getAutoing().equals("Y") && !devNo.getWrkNo().equals(0) && !devNo.getLoading().equals("N")){
-// continue;
-// }
-// if (!signDev && devNo.getDevNo()==113){
-// if (!devNo.getAutoing().equals("Y") || !devNo.getWrkNo().equals(0) || !devNo.getLoading().equals("N")){
-// wrkEnable = true;
-// continue;
-// }
-// if (!devNo.getOutEnable().equals("Y")){
-// wrkEnable = true;
-// continue;
-// }
-// }
-// }
- boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
- wrkEnable = true;
- if (sign){
- wrkMastSta.setWrkSts(1);
- try{
- 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");
- }
- rgvThread.setPakMk(false);
- boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
- if (signMap){
- return wrkEnable;
-// break;
- }else {
- log.error("3864琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
- Thread.sleep(500);
- }
- } else {
- log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
- Thread.sleep(500);
- }
- break;
- }
- }
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鍏ュ簱鍙� 鍏ュ簱棰勮皟搴�
+ List<Integer> staNos = Arrays.asList( 1043, 1104,1037);
+ for (Integer staNo : staNos) {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ if(staProtocol.isLoading()){
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo((int) rgvProtocol.getRgvNo()); // RGV缂栧彿
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(9999); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 绉诲姩
+ rgvCommand.setEndStaNo1(0); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ switch (staNo){
+ case 1043: rgvCommand.setTargetPosition1(1042);break; //宸ヤ綅1鐩爣绔欑偣
+ case 1104: rgvCommand.setTargetPosition1(1105);break;
+ case 1037: rgvCommand.setTargetPosition1(1036);break;
+ }
+ if(Objects.equals(basRgvMap.getNowRoute(), staNo)){
+ continue;
+ }
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Rgv, (int) rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", (int) rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+ }
+ }
+ }
+
+ }
+
+ }
}
-// if (!wrkEnable){
-// rgvRunWrkMastEmptyStaAvoidance();
-// }
}catch (Exception e){
- log.error("3875琛屾墽琛屽皬杞︽惉杩愪换鍔′笅鍙戝け璐�");
- log.error("3875琛�"+e);
+ log.error("鎵ц灏忚溅绉诲姩涓嬪彂澶辫触");
}
- return wrkEnable;
}
/**
* 鎵ц灏忚溅鎼繍浠诲姟
@@ -2877,134 +3908,134 @@
/*
* 鏈変换鍔′絾鏈墽琛� 姝ゆ椂闇�瑕佽皟鏁村皬杞︿綅缃�
* */
- public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
- try{
- Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
- if (integer==0){
- return;
- }
- List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
- for (BasRgvMap rgvSlave:basRgvMaps) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- continue;
- }else {
- rgvProtocol = rgvProtocol.clone();
- }
- BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
- if (basRgv == null) {
- log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�1", rgvSlave.getRgvNo());
- continue;
- }
-
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
- && rgvProtocol.getTaskNo1()==0
- && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
- && rgvThread.isPakMk()
-// && rgvProtocol.getTaskNo2()==0
- ){
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
- continue;
- }
-// if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
-// continue;
-// } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157) ){
+// public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
+// try{
+// Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
+// if (integer==0){
+// return;
+// }
+// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
+// for (BasRgvMap rgvSlave:basRgvMaps) {
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
+// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+// if (rgvProtocol == null) {
+// continue;
+// }else {
+// rgvProtocol = rgvProtocol.clone();
+// }
+// BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
+// if (basRgv == null) {
+// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�1", rgvSlave.getRgvNo());
+// continue;
+// }
+//
+// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// && !rgvProtocol.isLoaded1ing() //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+// && rgvProtocol.getTaskNo1()==0
+// && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+// && rgvThread.isPakMk()
+//// && rgvProtocol.getTaskNo2()==0
+// ){
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
// continue;
// }
- rgvAvoidanceXY(rgvProtocol.getRgvNo());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
- }
- }
- }catch (Exception e){
- log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
- log.error("4109琛�"+e);
- }
- }
+//// if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
+//// continue;
+//// } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157) ){
+//// continue;
+//// }
+// rgvAvoidanceXY((int) rgvProtocol.getRgvNo());
+// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
+// }
+// }
+// }catch (Exception e){
+// log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
+// log.error("4109琛�"+e);
+// }
+// }
/*
* 灏忚溅XY绉诲姩 閬胯
* */
- public synchronized boolean rgvAvoidanceXY(Integer rgvId){
- BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
- if (basRgvMap.getStartRoute() == 100 || basRgvMap.getStartRoute() == 101){
- try{
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
- //basRgvMap.getLockStartRoute().shortValue()
- rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- return false;
- } else {
- return true;
- }
- }catch (Exception e){
- return false;
-
- }
- }else {
- try{
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
- //basRgvMap.getLockStartRoute().shortValue()
- rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- return false;
- } else {
- return true;
- }
- }catch (Exception e){
- return false;
-
- }
- }
- }
+// public synchronized boolean rgvAvoidanceXY(Integer rgvId){
+// BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
+// if (basRgvMap.getStartRoute() == 100 || basRgvMap.getStartRoute() == 101){
+// try{
+//
+// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+// RgvCommand rgvCommand = new RgvCommand();
+// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+// rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
+// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
+// //basRgvMap.getLockStartRoute().shortValue()
+// rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
+// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
+// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+// return false;
+// } else {
+// return true;
+// }
+// }catch (Exception e){
+// return false;
+//
+// }
+// }else {
+// try{
+// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+// RgvCommand rgvCommand = new RgvCommand();
+// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+// rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
+// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
+// //basRgvMap.getLockStartRoute().shortValue()
+// rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
+// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
+// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+// return false;
+// } else {
+// return true;
+// }
+// }catch (Exception e){
+// return false;
+//
+// }
+// }
+// }
/*
* 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
* */
- public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
+ public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta,Short direction,Integer pos){
try{
- int startSta = wrkMastSta.getStaStart();
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
+ boolean pakIn1 = true;
+ boolean pakIn2 = true;
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- if((startSta >= 1001 && startSta <= 1035) || (startSta >= 2001 && startSta <= 2030)){//鍑哄簱RGV鍙栬揣
- rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
- rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅2璧风偣
- rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅2鐩爣绔欑偣
- rgvCommand.setCommand((short) 2); //宸ヤ綅1浠诲姟纭
- }else{ //鍏ュ簱RGV鍙栬揣
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅1璧风偣
- rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- }
- if(rgvCommand.getCommand() == 1){
+ if(wrkMastSta.getWrkSts() == 0){//鍒濆鍚庤璧�
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskStatus1(RgvTaskStatusType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+// }
+ wrkMastSta.setWrkSts(4);
+ try{
+ 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");
+ }
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
//step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
@@ -3012,8 +4043,130 @@
} else {
return true;
}
- }else{
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+ }
+ if(wrkMastSta.getWrkSts() == 1){//鍙栬揣
+ if(pos == 2){//鍑哄簱RGV鍙栬揣
+ rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setDirection2((short)2);
+// rgvCommand.setWrkTaskMove2(direction);
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ pakIn1 = false;
+ }else{ //鍏ュ簱RGV鍙栬揣
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setDirection1((short)1);
+// rgvCommand.setWrkTaskMove1(direction);
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ }
+ if(!pakIn1){
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+ return false;
+ } else {
+ return true;
+ }
+ }else{
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+ return false;
+ } else {
+ return true;
+ }
+ }
+ }
+ if(wrkMastSta.getWrkSts() == 2) {//鏀捐揣
+ if((pos == 2)){ //宸ヤ綅2浠诲姟鏀捐揣
+ rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskStatus2(RgvTaskStatusType.PUT); // 宸ヤ綅2浠诲姟妯″紡: 鏀捐揣
+ rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setDirection2((short)2);
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ pakIn2 = false;
+ }else{ //宸ヤ綅1浠诲姟鏀捐揣
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskStatus1(RgvTaskStatusType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鏀捐揣
+ rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setDirection1((short)1);
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ }
+ if(pakIn2){
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+ return false;
+ } else {
+ return true;
+ }
+ }else{
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+ return false;
+ } else {
+ return true;
+ }
+ }
+ }
+ return true;
+ }catch (Exception e){
+ return false;
+ }
+ }
+
+
+ /*
+ * 灏忚溅鍙栬揣鑷冲弻宸ヤ綅浠诲姟
+ * */
+ public synchronized boolean rgvTakeFullAll2(Integer rgvId,WrkMastSta wrkMastSta,WrkMastSta wrkMastSta2){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ boolean pakIn1 = true;
+ boolean pakIn2 = true;
+ rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+ if(wrkMastSta.getWrkSts() == 0) {//鍙栬揣
+ if (wrkMastSta.getWorkSta() == 2) {//鍏ュ簱RGV鍙栬揣
+ rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition2(wrkMastSta.getStaStart()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta2.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo1(wrkMastSta2.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition1(wrkMastSta2.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ rgvCommand.setWrkTaskPri((short) 2); //浼樺厛鎵ц宸ヤ綅2浠诲姟
+ } else { //鍑哄簱RGV鍙栬揣
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition2(wrkMastSta.getStaStart()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setWrkTaskPri((short) 1); //鍑哄簱鍙栬揣浼樺厛鎵ц宸ヤ綅1浠诲姟
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ }
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(2, rgvCommand))) {
//step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
return false;
@@ -3021,6 +4174,43 @@
return true;
}
}
+
+// if(wrkMastSta.getWrkSts() == 2) {//鏀捐揣
+// if((wrkMastSta.getWorkSta() == 2)){ //宸ヤ綅2浠诲姟鏀捐揣
+// rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+// rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
+// rgvCommand.setTaskStatus2(RgvTaskStatusType.PUT); // 宸ヤ綅2浠诲姟妯″紡: 鏀捐揣
+// rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
+// rgvCommand.setTargetPosition2(wrkMastSta.getStaEnd()); //宸ヤ綅2鐩爣绔欑偣
+// rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+// pakIn2 = false;
+// }else{ //宸ヤ綅1浠诲姟鏀捐揣
+// rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+// rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
+// rgvCommand.setTaskStatus1(RgvTaskStatusType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鏀捐揣
+// rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
+// rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //宸ヤ綅1鐩爣绔欑偣
+// rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+// }
+// if(!pakIn2){
+// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+// return false;
+// } else {
+// return true;
+// }
+// }else{
+// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+// return false;
+// } else {
+// return true;
+// }
+// }
+// }
+ return true;
}catch (Exception e){
return false;
}
@@ -3126,6 +4316,37 @@
// }
// }
+ /**
+ * 鍙栨斁鍙栬矾寰勮绠�
+ */
+ public synchronized boolean rgvCalcDistance(Integer rgvNo, Integer outStn, Integer inStn){
+ try {
+ // 灏忚溅褰撳墠浣嶇疆
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvNo);
+ Integer currPos = basRgvMap.getNowRoute(); // 鎴栬�呯敤 rgvProtocol.getRgvPosI()
+
+ if(currPos == null || outStn == null || inStn == null){
+ return false; // 鏃犳晥鏁版嵁鐩存帴鏀惧純
+ }
+
+ // 璁＄畻涓ゆ璺濈
+ List<Integer> routeToOut = RouteUtils.getRouteDis(currPos, outStn);
+ List<Integer> routeToIn = RouteUtils.getRouteDis(currPos, inStn);
+
+ int distOut = (routeToOut != null) ? routeToOut.size() : Integer.MAX_VALUE;
+ int distIn = (routeToIn != null) ? routeToIn.size() : Integer.MAX_VALUE;
+
+ // 璋冭瘯鏃ュ織
+ log.info("RGV璺濈璁＄畻: currPos={}, outStn={}, distOut={}, inStn={}, distIn={}",
+ currPos, outStn, distOut, inStn, distIn);
+
+ return distOut < distIn; // 鏀捐揣鐐规洿杩� 鈫� true
+ } catch (Exception e) {
+ log.error("RGV璺緞璺濈璁＄畻寮傚父", e);
+ return false;
+ }
+ }
+
/*
* 灏忚溅澶嶄綅
* */
@@ -3146,4 +4367,235 @@
}
}
+ /*
+ * 灏忚溅澶嶄綅
+ * */
+ public synchronized boolean rgvComplete2(Integer rgvId,Integer step,Long workNo){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(step, new RgvCommand(),workNo))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}",rgvId);
+ return false;
+ } else {
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}",rgvId);
+ return true;
+ }
+ }catch (Exception e){
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}銆傚紓甯革細"+e,rgvId);
+ return false;
+ }
+ }
+
+ public synchronized boolean rgvComplete3(Integer rgvId,Integer step,Long workNo,Short moveSta){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(step, new RgvCommand(),workNo,moveSta))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}",rgvId);
+ return false;
+ } else {
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}",rgvId);
+ return true;
+ }
+ }catch (Exception e){
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}銆傚紓甯革細"+e,rgvId);
+ return false;
+ }
+ }
+
+
+
+
+ /*
+ * arm浠诲姟瀹屾垚鑷姩缁勬墭
+ * */
+ public synchronized void armMissionAccomplished() {
+ try{
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta armSta : devp.getArmSta()) {
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, armSta.getBarcode());
+ if (barcodeThread == null) {
+ continue;
+ }
+ String barcode = barcodeThread.getBarcode();
+ if(!Cools.isEmpty(barcode)) {
+ if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+ continue;
+ }
+ } else {
+ continue;
+ }
+
+ List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>()
+ .eq("arm_no", armSta.getArmNo())
+ .eq("sta_no", armSta.getStaNo())
+ .eq("status", 1));
+ for (BasArm basArm : basArmList) {
+ if (basArm.getStatus()!=1){
+ continue;
+ }
+ try{
+ List<BasArmMast> basArmMastList = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLine())
+ .eq("status", 3)
+ );
+ if (basArmMastList.isEmpty()){
+ continue;
+ }
+ CombParam combParam = new CombParam(basArmMastList);
+ combParam.setBarcode(barcode);
+ //璁剧疆宸ヤ綔绌洪棿灏辩华
+ ReturnT<String> result = new PostMesDataUtils().postMesData("arm浠诲姟瀹屾垚鑷姩缁勬墭",wmsUrl, wmsComb, combParam);
+ if (result.getCode()==200){
+ basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLine(),3,4);
+ } else {
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愶細"+JSON.toJSON(basArmMastList)+"===銆嬭嚜鍔ㄧ粍鎵樺け璐ワ紝绛夊緟閲嶈瘯");
+ }
+ } catch (Exception e){
+ log.error("arm缂栧彿锛�"+basArm.getArmNo()+"====銆嬫満姊拌噦鎶撳彇浠诲姟瀹屾垚"+e.getMessage());
+ }
+ break;
+ }
+ }
+ }
+ } catch (Exception e){
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愮粍鎵樺け璐�"+e.getMessage());
+ }
+ }
+ public synchronized void armMissionAccomplishedScanToCheckIn() {
+ try{
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta armSta : devp.getArmSta()) {
+
+ List<BasArmMast> basArmMastList = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", armSta.getArmNo())
+ .eq("sta_no", armSta.getStaNo())
+ .eq("status", 4)
+ );
+
+ if (basArmMastList.isEmpty()){
+ continue;
+ }
+ // 鑾峰彇绔欑偣淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(armSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
+ int workNo = commonService.getWorkNo(6);//寰呭畬鍠�
+ // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ staProtocol.setWorkNo(workNo);
+ staProtocol.setStaNo(armSta.getStaNoEnd().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�"+workNo+","+armSta.getStaNoEnd());
+ if (!result) {
+ News.error(""+" - 3"+" - 鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+ }
+ basArmMastService.updateArmMastStatus(basArmMastList.get(0).getArmNo(),basArmMastList.get(0).getSortingLine(),4,5);
+ }
+ }
+ }
+ } catch (Exception e){
+ log.error("缁勬墭瀹屾垚椹卞姩鎵樼洏鎵爜鍏ュ簱澶辫触"+e.getMessage());
+ }
+ }
+
+ /*
+ * arm浠诲姟涓嬪彂
+ * */
+ public synchronized void armTaskAssignment() {
+ try{
+ List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<>());
+ for (BasArm basArm : basArmList) {
+ if (basArm.getStatus()!=1){
+ continue;
+ }
+ try{
+ List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLine())
+ .eq("status", 1)
+ );
+ List<BasArmMast> basArmMastListRuning3 = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLine())
+ .eq("status", 3)
+ );
+ if (basArmMastListRuning.isEmpty() && basArmMastListRuning3.isEmpty()){
+ List<BasArmMast> basArmMastList = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLine())
+ .eq("status", 0)
+ );
+ if (basArmMastList.isEmpty()){
+ continue;
+ }
+ if (basArmMastList.size()>1){
+ log.error("arm缂栧彿锛�"+basArm.getArmNo()+"====銆嬫媶鐮佸灈浠诲姟寮傚父绂佹涓嬪彂锛侊紒锛佷换鍔″緟鎵ц鏁伴噺澶т簬1锛侊紒锛�");
+ continue;
+ }
+ BasArmMast basArmMast = basArmMastList.get(0);
+ List<BasArmMast> basArmMastListOrder = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLine())
+ .eq("sku", basArmMast.getSku())
+ .eq("order_no", basArmMast.getOrderNo())
+ );
+ if (basArmMastListOrder.size()==1){
+ OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getSku());
+
+ if (Cools.isEmpty(orderDetlValueResultUtil)){
+ continue;
+ }
+ //璁㈠崟涓嬪彂
+ try{
+ ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
+// 璁㈠崟涓嬪彂(SKU+璁㈠崟)
+ ReturnT<String> result = new PostMesDataUtils().postMesData("鏈烘鑷傛姄鍙栬鍗曪紙SKU锛変笅鍙戯細",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_ADAPTOR, armOrderAssignmentParam);
+ if (result.getCode()==200){
+ basArmMast.setStatus(1);
+ basArmMastService.updateById(basArmMast);
+ } else {
+ log.error("鏈烘鑷傛姄鍙栬鍗曪紙SKU锛変笅鍙戯細"+JSON.toJSON(basArmMast)+"===銆嬭鍗曚俊鎭笅鍙戝け璐�");
+ }
+ } catch (Exception e){
+ log.error("鏈烘鑷傛姄鍙栬鍗曪紙SKU锛変笅鍙戯細"+JSON.toJSON(basArmMast)+"===銆嬭鍗曚笅鍙戣鍗曚俊鎭笅鍙戝け璐�");
+ continue;
+ }
+ }
+ ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArmMast.getSortingLine());
+ //璁剧疆宸ヤ綔绌洪棿灏辩华
+ ReturnT<String> result = new PostMesDataUtils().postMesData("鏈烘鑷傛姄鍙栦换鍔′笅鍙戯細閫氱煡宸ヤ綔绌洪棿宸插氨缁�",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
+ if (result.getCode()==200){
+ basArmMast.setStatus(1);
+ basArmMastService.updateById(basArmMast);
+ } else {
+ log.error("鏈烘鑷傛姄鍙栦换鍔★細"+JSON.toJSON(basArmMast)+"===銆嬩换鍔′俊鎭笅鍙戝け璐�");
+ }
+ }
+ } catch (Exception e){
+ log.error("arm缂栧彿锛�"+basArm.getArmNo()+"====銆嬫媶鐮佸灈浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+ }catch (Exception e){
+ log.error("arm浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+
}
--
Gitblit v1.9.1