From 0dc1710c16ee9258018ca79a389efc6b2cc71375 Mon Sep 17 00:00:00 2001
From: tqs <56479841@qq.com>
Date: 星期五, 02 十二月 2022 18:12:42 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/enums/RgvStatusType.java | 3
src/main/java/com/zy/core/thread/RgvThread.java | 22
src/main/java/com/zy/core/thread/SiemensCrnThread.java | 2
src/main/java/com/zy/core/model/RgvSlave.java | 11
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 858 ++++++++++++++++++++++++++++++++++++--------------
src/main/java/com/zy/asrs/mapper/WrkMastMapper.java | 45 ++
src/main/resources/mapper/WrkMastMapper.xml | 31 +
src/main/java/com/zy/core/MainProcess.java | 14
src/main/resources/application.yml | 18
9 files changed, 745 insertions(+), 259 deletions(-)
diff --git a/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java b/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
index c1d08a1..ac14bfa 100644
--- a/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
+++ b/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
@@ -110,10 +110,53 @@
Integer selectExistInEmpty();
/**
- * 鏌ユ壘宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級,涓旇揣鐗╁湪RGV鍏ュ簱鎺ラ┏绔欑殑鍏ュ簱宸ヤ綔妗�,鏌ユ壘鏈�澶�2绗�
+ * 鏌ユ壘宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級,涓擱GV鍏ュ簱鎺ラ┏绔欑鍚堢殑鐨勫叆搴撳伐浣滄。
* @param rgvNo
* @param staNos
* @return
*/
List<WrkMast> selectRgvInStep1(@Param("rgvNo")Integer rgvNo, @Param("staNos")List<Integer> staNos);
+
+ /**
+ * 鏌ユ壘鏄惁瀛樺湪RGV姝ｅ湪宸ヤ綔涓殑浠诲姟
+ * @param rgvNo
+ * @return
+ */
+ List<WrkMast> selectRgvInWorking(@Param("rgvNo")Integer rgvNo);
+
+ /**
+ * 鎸囧畾RGV鍑哄簱绔�,鏌ユ壘宸ヤ綔鐘舵�佷负7(RGV鍏ュ簱鏀捐揣涓�)鐨勫叆搴撳伐浣滄。List
+ * @param rgvInDStn
+ * @return
+ */
+ List<WrkMast> selectRgvInStep2(@Param("rgvInDStn")Integer rgvInDStn);
+
+ /**
+ * 鎸囧畾RGV鍑哄簱绔�,鏌ユ壘宸ヤ綔鐘舵�佷负17(RGV鍑哄簱鏀捐揣涓�)鐨勫嚭搴撳伐浣滄。List
+ * @param rgvOutDStn
+ * @return
+ */
+ List<WrkMast> selectRgvOutStep2(@Param("rgvOutDStn")Integer rgvOutDStn);
+
+ /**
+ * 鎸囧畾RGV鍑哄簱绔�,鏌ユ壘宸ヤ綔鐘舵�佷负7(RGV鍏ュ簱鏀捐揣涓�)鎴� 17(RGV鍑哄簱鏀捐揣涓�) 鐨勫伐浣滄。List
+ * @param rgvDestStn
+ * @return
+ */
+ List<WrkMast> selectRgvDestStep2(@Param("rgvDestStn")Integer rgvDestStn);
+
+ /**
+ * 鏌ユ壘宸ヤ綔鐘舵�佷负14锛堝嚭搴撳畬鎴愶級,涓擱GV鍑哄簱鎺ラ┏绔欑鍚堢殑鐨勫叆搴撳伐浣滄。
+ * @param rgvNo
+ * @param staNos
+ * @return
+ */
+ List<WrkMast> selectRgvOutStep1(@Param("rgvNo")Integer rgvNo, @Param("staNos")List<Integer> staNos);
+
+ /**
+ * 鏌ユ壘鏄惁瀛樺湪RGV姝ｅ湪鍑哄簱宸ヤ綔涓殑浠诲姟
+ * @param rgvNo
+ * @return
+ */
+ List<WrkMast> selectRgvOutWorking(@Param("rgvNo")Integer rgvNo);
}
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 701cd6c..5fd4ef8 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -29,6 +29,7 @@
import com.zy.core.model.*;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
+import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
@@ -40,7 +41,6 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
-import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
@@ -104,8 +104,6 @@
continue;
}
String barcode = barcodeThread.getBarcode();
-
- barcode = "80011105";
if (!Cools.isEmpty(barcode)) {
log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
@@ -196,64 +194,6 @@
} else {
log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
}
-
-
-// // 妫�绱㈠簱浣�
-// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-// List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
-// StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos, locTypeDto, 0);
-// // 宸ヤ綔鍙�
-// int workNo = startupDto.getWorkNo();
-// // 鎻掑叆宸ヤ綔鏄庣粏妗�
-// wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);
-//
-// // 鎻掑叆宸ヤ綔涓绘。
-// wrkMast = new WrkMast();
-// wrkMast.setWrkNo(workNo);
-// wrkMast.setIoTime(new Date());
-// wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
-// wrkMast.setIoType(1); // 鍏ュ嚭搴撶姸鎬侊細1.鍏ュ簱
-// wrkMast.setIoPri(10D); // 浼樺厛绾э細10
-// wrkMast.setCrnNo(startupDto.getCrnNo());
-// wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
-// wrkMast.setStaNo(startupDto.getStaNo());
-// wrkMast.setLocNo(startupDto.getLocNo());
-// wrkMast.setBarcode(barcode); // 鎵樼洏鐮�
-// wrkMast.setFullPlt("Y"); // 婊℃澘锛歒
-// wrkMast.setPicking("N"); // 鎷ｆ枡
-// wrkMast.setExitMk("N"); // 閫�鍑�
-// wrkMast.setEmptyMk("N"); // 绌烘澘
-// wrkMast.setLinkMis("N");
-// // 鎿嶄綔浜哄憳鏁版嵁
-// wrkMast.setAppeTime(new Date());
-// wrkMast.setModiTime(new Date());
-// Integer insert = wrkMastMapper.insert(wrkMast);
-// if (insert == 0) {
-// throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
-// }
-// // 鏇存柊鐩爣搴撲綅鐘舵��
-// LocMast locMast = locMastService.selectById(startupDto.getLocNo());
-// locMast.setLocSts("S"); // S.鍏ュ簱棰勭害
-// locMast.setModiTime(new Date());
-// if (!locMastService.updateById(locMast)){
-// throw new CoolException("鏀瑰彉搴撲綅鐘舵�佸け璐�");
-// }
-// // 灏嗗叆搴撻�氱煡妗ｄ慨鏀逛负宸插惎鍔�
-// if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
-// throw new CoolException("淇敼鍏ュ簱閫氱煡妗ｇ姸鎬佷负宸插惎鍔ㄥけ璐�");
-// }
-//
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-//
-// // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
-// barcodeThread.setBarcode("");
-// staProtocol.setWorkNo((short) workNo);
-// staProtocol.setStaNo(startupDto.getStaNo().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-// if (!result) {
-// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
-// }
} catch (Exception e) {
e.printStackTrace();
@@ -452,7 +392,6 @@
/**
* 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
*/
- @Async
public synchronized void crnStnToOutStn() {
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
// 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
@@ -590,20 +529,20 @@
// 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
if (rgvProtocol.getLastIo().equals("I")) {
if (basRgv.getInEnable().equals("Y")) {
-// this.rgvInStnToLoc(rgv, rgvProtocol); // 鍏ュ簱
+ this.rgvInStn(rgv, rgvProtocol); // 鍏ュ簱
rgvProtocol.setLastIo("O");
} else if (basRgv.getOutEnable().equals("Y")) {
-// this.locToCrnStn(rgv, crnProtocol); // 鍑哄簱
+ this.rgvOutStn(rgv, rgvProtocol); // 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("Y")) {
-// this.locToCrnStn(rgv, crnProtocol); // 鍑哄簱
+ this.rgvOutStn(rgv, rgvProtocol); // 鍑哄簱
rgvProtocol.setLastIo("I");
} else if (basRgv.getInEnable().equals("Y")) {
-// this.rgvInStnToLoc(rgv, rgvProtocol); // 鍏ュ簱
+ this.rgvInStn(rgv, rgvProtocol); // 鍏ュ簱
rgvProtocol.setLastIo("O");
}
}
@@ -1055,19 +994,23 @@
// }
/**
- * 鍏ュ簱 ===>> RGV鍏ュ簱绔欏埌绔�
+ * 鏌ユ壘宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級,涓擱GV鍏ュ簱鎺ラ┏绔欑鍚堢殑鐨勫叆搴撳伐浣滄。锛屾彁鍙栧嚭鏈�澶�2绗�
+ * @param slave
+ * @return
*/
- public synchronized void rgvInStn(RgvSlave slave, RgvProtocol rgvProtocol) {
- // 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級,涓旇揣鐗╁湪RGV鍏ュ簱鎺ラ┏绔欑殑鍏ュ簱宸ヤ綔妗�,鏌ユ壘鏈�澶�2绗�
+ public synchronized List<WrkMast> getRgvInTask(RgvSlave slave){
+ List<WrkMast> wrkMastTask = new ArrayList<>();
List<Integer> staNos = new ArrayList<>();
- for (RgvSlave.RgvStn rgvStn : slave.getRgvInStn()) {
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
staNos.add(rgvStn.getStaNo());
}
- List<WrkMast> wrkMasts1 = new ArrayList<>();
+ if(staNos.size() < 1){
+ return null;
+ }
List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep1(slave.getId(), staNos);
for(WrkMast wrkMast : wrkMasts){
Integer plcId = 0;
- for (RgvSlave.RgvStn rgvStn : slave.getRgvInStn()) {
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
plcId = rgvStn.getDevpPlcId();
break;
@@ -1075,141 +1018,610 @@
}
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, plcId);
- StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getRgvSstaNo());
- if (staProtocol == null) {
+ //鍒ゆ柇RGV鍏ュ簱婧愮珯鐐癸紝鑷姩銆佹湁鐗╋紝鏈変换鍔″彿锛屽彲鍑�
+ boolean flag1 = false;
+ StaProtocol staProtocol1 = devpThread.getStation().get(wrkMast.getRgvSstaNo());
+ if (staProtocol1 == null) {
continue;
} else {
- staProtocol = staProtocol.clone();
+ staProtocol1 = staProtocol1.clone();
+ }
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl1 = basDevpService.selectById(wrkMast.getRgvSstaNo());
+ if (staDetl1 == null) {
+ log.error("RGV鍏ュ簱 ===>> 杈撻�佹満婧愮珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", wrkMast.getRgvSstaNo());
+ continue;
+ }
+ if (staProtocol1.isAutoing() && staProtocol1.isLoading() && staProtocol1.getWorkNo().intValue() == wrkMast.getWrkNo()
+ && staProtocol1.isOutEnable() && staDetl1.getOutEnable() != null && staDetl1.getOutEnable().equals("Y")) {
+ flag1 = true;
+ }
+
+ //鍒ゆ柇RGV鍏ュ簱鐩爣绔欑偣锛岃嚜鍔ㄣ�佹棤鐗╋紝娌℃湁浠诲姟鍙凤紝鍙叆
+ boolean flag2 = false;
+ StaProtocol staProtocol2 = devpThread.getStation().get(wrkMast.getRgvDstaNo());
+ if (staProtocol2 == null) {
+ continue;
+ } else {
+ staProtocol2 = staProtocol2.clone();
+ }
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl2 = basDevpService.selectById(wrkMast.getRgvSstaNo());
+ if (staDetl2 == null) {
+ log.error("RGV鍏ュ簱 ===>> 杈撻�佹満婧愮珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", wrkMast.getRgvSstaNo());
+ continue;
+ }
+ if (staProtocol2.isAutoing() && staProtocol2.isLoading() && staProtocol2.getWorkNo().intValue() == wrkMast.getWrkNo()
+ && staProtocol2.isInEnable() && staDetl2.getCanining() != null && staDetl2.getCanining().equals("Y")) {
+ flag2 = true;
+ }
+
+ if(flag1 && flag2){
+ wrkMastTask.add(wrkMast);
+ if(wrkMastTask.size() >= 2) break;
}
}
+ return wrkMastTask;
+ }
-// WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
-// for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
-// boolean flag = false;
-// // 鑾峰彇鍫嗗灈鏈哄叆搴撶珯淇℃伅
-// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
-// StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
-// if (staProtocol == null) {
-// continue;
-// } else {
-// staProtocol = staProtocol.clone();
-// }
-// // 鏌ヨ绔欑偣璇︾粏淇℃伅
-// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
-// if (staDetl == null) {
-// log.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
-// continue;
-// }
-// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
-// && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
-// flag = true;
-// }
-// if (!flag) {
-// continue;
-// }
-// // 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級鐨勫叆搴撳伐浣滄。
-// WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
-// if (null == wrkMast) {
-//// log.error("鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
-// continue;
-// }
-// // 鑾峰彇搴撲綅淇℃伅
-// LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
-// if (locMast == null) {
-// log.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
-// continue;
-// }
-// if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
-// log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
-// continue;
-// }
-//
-// // 鍫嗗灈鏈烘帶鍒惰繃婊�
-// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
-// continue;
-// }
-//
-// // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
-// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
-// continue;
-// }
-//
-// // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
-// if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
-// String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
-// LocMast shallowLoc = locMastService.selectById(shallowLocNo);
-// // O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
-// if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
-// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
-// if (null == waitWrkMast) {
-// log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
-// } else {
-// waitWrkMast.setIoPri(15D);
-// waitWrkMast.setModiTime(new Date());
-// if (wrkMastMapper.updateById(waitWrkMast) == 0) {
-// log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
-// }
-// continue;
-// }
-//
-// } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
-// // 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
-// if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
-// wrkMast.setUpdMk("Y");
-// wrkMast.setIoPri(14D);
-// wrkMastMapper.updateById(wrkMast);
-// // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
-// moveLocForDeepLoc(slave, shallowLoc);
-// // 鐢熸垚宸ヤ綔妗ｃ�佹敼鍙樻祬搴撲綅鐨勬簮搴�/鐩爣搴� 搴撲綅鐘舵�併�佷笅鍙戝爢鍨涙満鍛戒护锛堢珛椹墽琛�)
-//// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
-// }
-// continue;
-// } else if (shallowLoc.getLocSts().equals("Q")) {
-// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
-// if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
-// continue;
-// }
-// }
-// }
-//
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// CrnCommand crnCommand = new CrnCommand();
-// crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
-// crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
-// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
-// crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
-// crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
-// crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
-// crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
-// crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
-// crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
-// crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
-// if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
-// log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
-// } else {
-//
-//// long startTime = System.currentTimeMillis();
-//// while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
-////
-//// if (true) {
-//// break;
-//// }
-////
-//// try{
-//// Thread.sleep(500);
-//// }catch(Exception ignore){}
-//// }
-//
-// // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
-// Date now = new Date();
-// wrkMast.setWrkSts(3L);
-// wrkMast.setCrnStrTime(now);
-// wrkMast.setModiTime(now);
-// if (wrkMastMapper.updateById(wrkMast) == 0) {
-// log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
-// }
-// }
-// }
+ /**
+ * 鍏ュ簱 ===>> RGV鍏ュ簱绔欏埌绔�
+ */
+ public synchronized void rgvInStn(RgvSlave slave, RgvProtocol rgvProtocol) {
+ //鏌ユ壘宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級,涓擱GV鍏ュ簱鎺ラ┏绔欑鍚堢殑鐨勫叆搴撳伐浣滄。锛屾彁鍙栧嚭鏈�澶�2绗�
+ List<WrkMast> wrkMastTask = getRgvInTask(slave);
+ if(wrkMastTask.size() <= 0){
+ return;
+ }
+
+ // RGV鎺у埗杩囨护锛� 蹇呴』婊¤冻鑷姩銆佺┖闂诧紝娌℃湁浠诲姟鍙�
+ if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE)
+ || rgvProtocol.getModeType() != RgvModeType.AUTO
+ || rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getTaskNo2() != 0) {
+ return;
+ }
+
+ // 宸茬粡瀛樺湪RGV鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if(wrkMastMapper.selectRgvInWorking(slave.getId()).size() > 0){
+ return;
+ }
+
+ if(wrkMastTask.size() == 2){
+ //鏈�2绗擱GV寰呭叆搴撲换鍔★紝2涓伐浣嶏紝鍙栬揣銆佹斁璐т换鍔″悓鏃朵笅鍙�
+ WrkMast wrkMast1 = wrkMastTask.get(0);
+ WrkMast wrkMast2 = wrkMastTask.get(1);
+ if(Cools.isEmpty(wrkMast1) || Cools.isEmpty(wrkMast2)){
+ log.error("宸ヤ綔妗GV鍏ュ簱鏁版嵁涓虹┖");
+ return;
+ }
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(slave.getId()); // RGV缂栧彿
+ rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkMast1.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(wrkMast1.getRgvSstaNo().shortValue()); //宸ヤ綅1婧愮珯鐐�
+ rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(wrkMast2.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(wrkMast2.getRgvSstaNo().shortValue()); //宸ヤ綅2婧愮珯鐐�
+ rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setCommand((short) 0); //宸ヤ綅1銆�2浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), 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�={}", slave.getId(), JSON.toJSON(rgvCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 6.RGV鍏ュ簱鍙栬揣涓�
+ Date now = new Date();
+ wrkMast1.setWrkSts(6L);
+ wrkMast1.setCrnStrTime(now);
+ wrkMast1.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast1) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 6.RGV鍏ュ簱鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast1.getWrkNo());
+ }
+
+ wrkMast2.setWrkSts(6L);
+ wrkMast2.setCrnStrTime(now);
+ wrkMast2.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast2) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 6.RGV鍏ュ簱鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast2.getWrkNo());
+ }
+ }
+ } else if(wrkMastTask.size() == 1){
+ //鍙湁1绗擱GV寰呭叆搴撲换鍔★紝鍏堜笅鍙戝彇璐т换鍔★紝鍙栬揣鍚庡啀鍒ゆ柇鏄惁鏈変笅涓�绗斿緟鍏ュ簱浠诲姟
+ WrkMast wrkMast1 = wrkMastTask.get(0);
+ if(Cools.isEmpty(wrkMast1)){
+ log.error("宸ヤ綔妗GV鍏ュ簱鏁版嵁涓虹┖");
+ return;
+ }
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(slave.getId()); // RGV缂栧彿
+ rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栬揣
+ rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //宸ヤ綅1婧愮珯鐐�
+ rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setCommand((short) 0); //宸ヤ綅1銆�2浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2浠诲姟纭锛� step=4锛屽伐浣�1纭锛� step=5锛屽伐浣�2浠诲姟纭
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", slave.getId(), JSON.toJSON(rgvCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 6.RGV鍏ュ簱鍙栬揣涓�
+ Date now = new Date();
+ wrkMast1.setWrkSts(6L);
+ wrkMast1.setCrnStrTime(now);
+ wrkMast1.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast1) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 6.RGV鍏ュ簱鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast1.getWrkNo());
+ }
+ }
+ }
+ }
+
+ /**
+ * 鍑哄簱 ===>> RGV鍑哄簱绔欏埌绔�
+ */
+ public synchronized void rgvOutStn(RgvSlave slave, RgvProtocol rgvProtocol) {
+ //鏌ユ壘宸ヤ綔鐘舵�佷负14锛堝嚭搴撳畬鎴愶級,涓擱GV鍑哄簱鎺ラ┏绔欑鍚堢殑鐨勫嚭搴撳伐浣滄。锛屾彁鍙栧嚭鏈�澶�2绗�
+ List<WrkMast> wrkMastTask = getRgvOutTask(slave);
+ if(wrkMastTask.size() <= 0){
+ return;
+ }
+
+ // RGV鎺у埗杩囨护锛� 蹇呴』婊¤冻鑷姩銆佺┖闂诧紝娌℃湁浠诲姟鍙�
+ if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE)
+ || rgvProtocol.getModeType() != RgvModeType.AUTO
+ || rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getTaskNo2() != 0) {
+ return;
+ }
+
+ // 宸茬粡瀛樺湪RGV鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if(wrkMastMapper.selectRgvOutWorking(slave.getId()).size() > 0){
+ return;
+ }
+
+ if(wrkMastTask.size() == 2){
+ //鏈�2绗擱GV寰呭叆搴撲换鍔★紝2涓伐浣嶏紝鍙栬揣銆佹斁璐т换鍔″悓鏃朵笅鍙�
+ WrkMast wrkMast1 = wrkMastTask.get(0);
+ WrkMast wrkMast2 = wrkMastTask.get(1);
+ if(Cools.isEmpty(wrkMast1) || Cools.isEmpty(wrkMast2)){
+ log.error("宸ヤ綔妗GV鍏ュ簱鏁版嵁涓虹┖");
+ return;
+ }
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(slave.getId()); // RGV缂栧彿
+ rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkMast1.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(wrkMast1.getRgvSstaNo().shortValue()); //宸ヤ綅1婧愮珯鐐�
+ rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(wrkMast2.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(wrkMast2.getRgvSstaNo().shortValue()); //宸ヤ綅2婧愮珯鐐�
+ rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setCommand((short) 0); //宸ヤ綅1銆�2浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), 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�={}", slave.getId(), JSON.toJSON(rgvCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 14.鍑哄簱瀹屾垚 => 16.RGV鍑哄簱鍙栬揣涓�
+ Date now = new Date();
+ wrkMast1.setWrkSts(16L);
+ wrkMast1.setCrnStrTime(now);
+ wrkMast1.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast1) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 14.鍑哄簱瀹屾垚 => 16.RGV鍑哄簱鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast1.getWrkNo());
+ }
+
+ wrkMast2.setWrkSts(16L);
+ wrkMast2.setCrnStrTime(now);
+ wrkMast2.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast2) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 14.鍑哄簱瀹屾垚 => 16.RGV鍑哄簱鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast2.getWrkNo());
+ }
+ }
+ } else if(wrkMastTask.size() == 1){
+ //鍙湁1绗擱GV寰呭叆搴撲换鍔★紝鍏堜笅鍙戝彇璐т换鍔★紝鍙栬揣鍚庡啀鍒ゆ柇鏄惁鏈変笅涓�绗斿緟鍏ュ簱浠诲姟
+ WrkMast wrkMast1 = wrkMastTask.get(0);
+ if(Cools.isEmpty(wrkMast1)){
+ log.error("宸ヤ綔妗GV鍏ュ簱鏁版嵁涓虹┖");
+ return;
+ }
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(slave.getId()); // RGV缂栧彿
+ rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栬揣
+ rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //宸ヤ綅1婧愮珯鐐�
+ rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setCommand((short) 0); //宸ヤ綅1銆�2浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2浠诲姟纭锛� step=4锛屽伐浣�1纭锛� step=5锛屽伐浣�2浠诲姟纭
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", slave.getId(), JSON.toJSON(rgvCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 14.鍑哄簱瀹屾垚 => 16.RGV鍑哄簱鍙栬揣涓�
+ Date now = new Date();
+ wrkMast1.setWrkSts(16L);
+ wrkMast1.setCrnStrTime(now);
+ wrkMast1.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast1) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 14.鍑哄簱瀹屾垚 => 16.RGV鍑哄簱鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast1.getWrkNo());
+ }
+ }
+ }
+ }
+
+ /**
+ * 鏌ユ壘宸ヤ綔鐘舵�佷负14锛堝嚭搴撳畬鎴愶級,涓擱GV鍑哄簱鎺ラ┏绔欑鍚堢殑鐨勫嚭搴撳伐浣滄。锛屾彁鍙栧嚭鏈�澶�2绗�
+ * @param slave
+ * @return
+ */
+ public synchronized List<WrkMast> getRgvOutTask(RgvSlave slave){
+ List<WrkMast> wrkMastTask = new ArrayList<>();
+ List<Integer> staNos = new ArrayList<>();
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) {
+ staNos.add(rgvStn.getStaNo());
+ }
+ if(staNos.size() < 1){
+ return null;
+ }
+ List<WrkMast> wrkMasts = wrkMastMapper.selectRgvOutStep1(slave.getId(), staNos);
+ for(WrkMast wrkMast : wrkMasts){
+ Integer plcId = 0;
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) {
+ if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
+ plcId = rgvStn.getDevpPlcId();
+ break;
+ }
+ }
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, plcId);
+ //鍒ゆ柇RGV鍑哄簱婧愮珯鐐癸紝鑷姩銆佹湁鐗╋紝鏈変换鍔″彿锛屽彲鍑�
+ boolean flag1 = false;
+ StaProtocol staProtocol1 = devpThread.getStation().get(wrkMast.getRgvSstaNo());
+ if (staProtocol1 == null) {
+ continue;
+ } else {
+ staProtocol1 = staProtocol1.clone();
+ }
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl1 = basDevpService.selectById(wrkMast.getRgvSstaNo());
+ if (staDetl1 == null) {
+ log.error("RGV鍑哄簱 ===>> 杈撻�佹満婧愮珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", wrkMast.getRgvSstaNo());
+ continue;
+ }
+ if (staProtocol1.isAutoing() && staProtocol1.isLoading() && staProtocol1.getWorkNo().intValue() == wrkMast.getWrkNo()
+ && staProtocol1.isOutEnable() && staDetl1.getOutEnable() != null && staDetl1.getOutEnable().equals("Y")) {
+ flag1 = true;
+ }
+
+ //鍒ゆ柇RGV鍑哄簱鐩爣绔欑偣锛岃嚜鍔ㄣ�佹棤鐗╋紝娌℃湁浠诲姟鍙凤紝鍙叆
+ boolean flag2 = false;
+ StaProtocol staProtocol2 = devpThread.getStation().get(wrkMast.getRgvDstaNo());
+ if (staProtocol2 == null) {
+ continue;
+ } else {
+ staProtocol2 = staProtocol2.clone();
+ }
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl2 = basDevpService.selectById(wrkMast.getRgvSstaNo());
+ if (staDetl2 == null) {
+ log.error("RGV鍑哄簱 ===>> 杈撻�佹満婧愮珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", wrkMast.getRgvSstaNo());
+ continue;
+ }
+ if (staProtocol2.isAutoing() && staProtocol2.isLoading() && staProtocol2.getWorkNo().intValue() == wrkMast.getWrkNo()
+ && staProtocol2.isInEnable() && staDetl2.getCanining() != null && staDetl2.getCanining().equals("Y")) {
+ flag2 = true;
+ }
+
+ if(flag1 && flag2){
+ wrkMastTask.add(wrkMast);
+ if(wrkMastTask.size() >= 2) break;
+ }
+ }
+ return wrkMastTask;
+ }
+
+ /**
+ * 鏍规嵁RGV瀹屾垚淇″彿锛屾墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屽拰RGV鐨勪换鍔′笅鍙�
+ */
+ public synchronized void rgvFinished() {
+ 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;
+ }
+ // 宸ヤ綅1鐘舵�侊細鍙栬揣瀹屾垚绛夊緟纭91 骞朵笖 浠诲姟瀹屾垚浣� = 1
+ if (rgvProtocol.statusType1 == RgvStatusType.FETCHWAITING && rgvProtocol.getTaskNo1() != 0) {
+ //宸ヤ綅1鍙栬揣瀹屾垚鍚庯紝宸ヤ綅2鏄棤璐х┖闂茬姸鎬佹椂锛屽噯澶囩粰宸ヤ綅2鍙戜换鍔★紝纭鏄惁鏈夊緟鎵цRGV浠诲姟
+ if (rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() == 0
+ && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() == 0
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ ) {
+ WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
+ if (wrkMast1 == null) {
+ log.error("RGV宸ヤ綅1澶勪簬绛夊緟纭涓斿彇璐т换鍔″畬鎴愮姸鎬侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�俁GV鍙�={}锛屽伐浣滃彿={}", rgv.getId(), rgvProtocol.getTaskNo1());
+ continue;
+ }
+ List<WrkMast> wrkMastTask = new ArrayList<>();
+ List<WrkMast> list = new ArrayList<>();
+ Integer type = 0;//1鍏ュ簱锛�2鍑哄簱
+ if(wrkMast1.getWrkSts()==6L){
+ wrkMastTask = getRgvInTask(rgv);
+ list = wrkMastMapper.selectRgvInWorking(rgv.getId());
+ type = 1;
+ } else if(wrkMast1.getWrkSts()==16L){
+ wrkMastTask = getRgvOutTask(rgv);
+ list = wrkMastMapper.selectRgvOutWorking(rgv.getId());
+ type = 2;
+ }
+ if(wrkMastTask.size() > 0){//鏈夌户缁墽琛屼换鍔★紝涓嬪彂鍙栬揣浠诲姟缁欏伐浣�2
+ // 宸茬粡瀛樺湪RGV鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (list.size() > 1) {
+ continue;
+ }
+ WrkMast wrkMast2 = wrkMastTask.get(0);
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgv.getId()); // RGV缂栧彿
+ rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栬揣
+ rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //宸ヤ綅2婧愮珯鐐�
+ rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setCommand((short) 0); //宸ヤ綅1銆�2浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast2.getRgvNo(), 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�={}", rgv.getId(), JSON.toJSON(rgvCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 6.RGV鍏ュ簱鍙栬揣涓�
+ Date now = new Date();
+ wrkMast2.setWrkSts(type==1 ? 6L : 16L);
+ wrkMast2.setCrnStrTime(now);
+ wrkMast2.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast2) == 0) {
+ log.error("宸ヤ綅2淇敼宸ヤ綔妗ｇ姸鎬� 2/14.璁惧涓婅蛋 => 6/16.RGV鍏ュ簱鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast2.getWrkNo());
+ }
+ }
+ } else {//娌℃湁缁х画鎵ц浠诲姟锛屼笅鍙戞斁璐т换鍔＄粰宸ヤ綅1
+ if(type == 1 && wrkMast1.getWrkSts() != 6L){//RGV鍏ュ簱鍙栬揣涓�
+ continue;
+ }
+ if(type == 2 && wrkMast1.getWrkSts() != 16L){//RGV鍑哄簱鍙栬揣涓�
+ continue;
+ }
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgv.getId()); // RGV缂栧彿
+ rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鏀捐揣
+ rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //宸ヤ綅1婧愮珯鐐�
+ rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setCommand((short) 0); //宸ヤ綅1銆�2浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2浠诲姟纭锛� step=4锛屽伐浣�1纭锛� step=5锛屽伐浣�2浠诲姟纭
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgv.getId(), JSON.toJSON(rgvCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 6.RGV鍏ュ簱鍙栬揣涓� => 7.RGV鍏ュ簱鏀捐揣涓�
+ Date now = new Date();
+ wrkMast1.setWrkSts(type==1 ? 7L : 17L);
+ wrkMast1.setCrnEndTime(now);
+ wrkMast1.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast1) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 6/16.RGV鍏ュ簱鍙栬揣涓� => 7/17.RGV鍏ュ簱鏀捐揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast1.getWrkNo());
+ }
+ log.error("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgv.getId(), JSON.toJSON(rgvCommand));
+ }
+ }
+ } else if (rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() > 0
+ && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() > 0
+ && rgvProtocol.statusType2 == RgvStatusType.FETCHWAITING){
+ // 宸ヤ綅2鐘舵�侊細涔熸槸鍙栬揣瀹屾垚绛夊緟纭91 骞朵笖 浠诲姟瀹屾垚浣� = 1, 宸ヤ綅1銆�2鍚屾椂涓嬪彂鏀捐揣浠诲姟
+ WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
+ WrkMast wrkMast2 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo2().intValue());
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgv.getId()); // RGV缂栧彿
+ rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鏀捐揣
+ rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //宸ヤ綅1婧愮珯鐐�
+ rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 宸ヤ綅2浠诲姟妯″紡: 鏀捐揣
+ rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //宸ヤ綅2婧愮珯鐐�
+ rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setCommand((short) 0); //宸ヤ綅1銆�2浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2浠诲姟纭锛� step=4锛屽伐浣�1纭锛� step=5锛屽伐浣�2浠诲姟纭
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgv.getId(), JSON.toJSON(rgvCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 6.RGV鍏ュ簱鍙栬揣涓�
+ Date now = new Date();
+ wrkMast1.setWrkSts(wrkMast1.getWrkSts()==6L ? 7L : 17L);
+ wrkMast1.setCrnStrTime(now);
+ wrkMast1.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast1) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 6/16.RGV鍏ュ簱鍙栬揣涓� => 7/17.RGV鍏ュ簱鏀捐揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast1.getWrkNo());
+ }
+
+ wrkMast2.setWrkSts(wrkMast2.getWrkSts()==6L ? 7L : 17L);
+ wrkMast2.setCrnStrTime(now);
+ wrkMast2.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast2) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 6/16.RGV鍏ュ簱鍙栬揣涓� => 7/17.RGV鍏ュ簱鏀捐揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast2.getWrkNo());
+ }
+ }
+ }
+ }
+
+ }
+ }
+
+ /**
+ * 鍏ュ簱 ===>> RGV鍑哄簱绔欏埌鍫嗗灈鏈哄叆搴撶珯
+ * rgvInDStnToCrnStn
+ */
+ public synchronized void rgvDestStnToCrnStn() {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ // 閬嶅巻鍏ュ簱浠诲姟鐨凴GV鍑哄簱绔�
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) {
+ // 鑾峰彇RGV鍑哄簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
+ // 鏌ヨ宸ヤ綔妗ist
+// List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep2(staProtocol.getSiteId());
+ List<WrkMast> wrkMasts = wrkMastMapper.selectRgvDestStep2(staProtocol.getSiteId());
+ for(WrkMast wrkMast : wrkMasts){
+ // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
+ if (wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null
+ || wrkMast.getRgvSstaNo() == null || wrkMast.getRgvDstaNo() == null) {
+ continue;
+ }
+
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ // 鍒ゆ柇RGV鐘舵�佺瓑寰呯‘璁�,宸ヤ綅1
+ if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())
+ && rgvProtocol.statusType1 == RgvStatusType.WAITING) {
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ continue;
+ }
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负2,14
+ wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L);
+ wrkMast.setOnlineYn("Y");
+ wrkMast.setCrnEndTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) != 0) {
+ // 澶嶄綅RGV宸ヤ綅1
+ rgvThread.setResetFlag1(true);
+ } else {
+ log.error("RGV宸ヤ綅1鎺ラ┏锛屾洿鏂板伐浣滄。鐨勫伐浣滅姸鎬佷负{}澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo());
+ }
+ }
+ // 鍒ゆ柇RGV鐘舵�佺瓑寰呯‘璁�,宸ヤ綅2
+ if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue())
+ && rgvProtocol.statusType2 == RgvStatusType.WAITING) {
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ continue;
+ }
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负2,14
+ wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L);
+ wrkMast.setOnlineYn("Y");
+ wrkMast.setCrnEndTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) != 0) {
+ // 澶嶄綅RGV宸ヤ綅2
+ rgvThread.setResetFlag2(true);
+ } else {
+ log.error("RGV宸ヤ綅2鎺ラ┏锛屾洿鏂板伐浣滄。鐨勫伐浣滅姸鎬佷负{}澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo());
+ }
+ }
+ }
+
+ }
+ }
+ }
+ }
+
+ /**
+ * 鍑哄簱 ===>> RGV鍑哄簱绔欏埌绯荤粺鍑哄簱绔�
+ */
+ public synchronized void rgvOutDStnToOutStn() {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ // 閬嶅巻鍑哄簱浠诲姟鐨凴GV鍑哄簱绔�
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) {
+ // 鑾峰彇RGV鍑哄簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
+ // 鏌ヨ宸ヤ綔妗ist
+ List<WrkMast> wrkMasts = wrkMastMapper.selectRgvOutStep2(staProtocol.getSiteId());
+ for(WrkMast wrkMast : wrkMasts){
+ // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
+ if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null
+ || wrkMast.getRgvSstaNo() == null || wrkMast.getRgvDstaNo() == null) {
+ continue;
+ }
+
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ // 鍒ゆ柇RGV鐘舵�佺瓑寰呯‘璁�,宸ヤ綅1
+ if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())
+ && rgvProtocol.statusType1 == RgvStatusType.WAITING) {
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ continue;
+ }
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14
+ wrkMast.setWrkSts(14L);
+ wrkMast.setOnlineYn("Y"); //鎺у埗WMS灏嗗伐浣滅姸鎬�14杞�15鐨勬椂鏈猴紝鍙湁RGV杩愭惉瀹屾垚鍚庢墠鍙互杞�
+ wrkMast.setCrnEndTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) != 0) {
+ // 澶嶄綅RGV宸ヤ綅1
+ rgvThread.setResetFlag1(true);
+ } else {
+ log.error("RGV宸ヤ綅1鎺ラ┏锛屾洿鏂板伐浣滄。鐨勫伐浣滅姸鎬佷负2澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
+ }
+ }
+ // 鍒ゆ柇RGV鐘舵�佺瓑寰呯‘璁�,宸ヤ綅2
+ if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue())
+ && rgvProtocol.statusType2 == RgvStatusType.WAITING) {
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ continue;
+ }
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14
+ wrkMast.setWrkSts(14L);
+ wrkMast.setOnlineYn("Y"); //鎺у埗WMS灏嗗伐浣滅姸鎬�14杞�15鐨勬椂鏈猴紝鍙湁RGV杩愭惉瀹屾垚鍚庢墠鍙互杞�
+ wrkMast.setCrnEndTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) != 0) {
+ // 澶嶄綅RGV宸ヤ綅2
+ rgvThread.setResetFlag2(true);
+ } else {
+ log.error("RGV宸ヤ綅2鎺ラ┏锛屾洿鏂板伐浣滄。鐨勫伐浣滅姸鎬佷负2澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
+ }
+ }
+ }
+
+ }
+ }
+ }
}
/**
@@ -1283,8 +1695,7 @@
/**
* 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
*/
- @Async
- public void storeFinished() {
+ public synchronized void storeFinished() {
for (CrnSlave crn : slaveProperties.getCrn()) {
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -1327,8 +1738,7 @@
/**
* 鍫嗗灈鏈哄紓甯镐俊鎭褰�
*/
- @Async
- public void recCrnErr() {
+ public synchronized void recCrnErr() {
Date now = new Date();
for (CrnSlave crn : slaveProperties.getCrn()) {
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
@@ -1449,8 +1859,7 @@
/**
* 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
*/
- @Async
- public void storeEmptyPlt() {
+ public synchronized void storeEmptyPlt() {
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻绌烘澘鍏ュ簱鍙�
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
@@ -1564,8 +1973,7 @@
/**
* 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
*/
- @Async
- public void ledExecute() {
+ public synchronized void ledExecute() {
for (LedSlave led : slaveProperties.getLed()) {
// 鑾峰彇杈撻�佺嚎plc绾跨▼
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
@@ -1681,35 +2089,7 @@
/**
* 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
*/
- @Async
- public void ledReset() {
-// for (LedSlave led : slaveProperties.getLed()) {
-// // 鑾峰彇杈撻�佺嚎plc绾跨▼
-// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
-// // 鍛戒护闆嗗悎
-// boolean reset = true;
-// for (Integer staNo : led.getStaArr()) {
-// // 鑾峰彇鍙夎溅绔欑偣
-// StaProtocol staProtocol = devpThread.getStation().get(staNo);
-// if (staProtocol == null) {
-// continue;
-// } else {
-// staProtocol = staProtocol.clone();
-// }
-// if (staProtocol.getWorkNo() != 0) {
-// reset = false;
-// break;
-// }
-// }
-// // 鑾峰彇led绾跨▼
-// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
-// // led鏄剧ず榛樿鍐呭
-// if (reset) {
-// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
-// log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
-// }
-// }
-// }
+ public synchronized void ledReset() {
for (LedSlave led : slaveProperties.getLed()) {
// 鑾峰彇杈撻�佺嚎plc绾跨▼
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index e62ae2a..9634d57 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -56,12 +56,22 @@
mainService.crnStnToOutStn();
// 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
mainService.crnIoExecute();
- // 鍏ュ嚭搴� ===>> RGV鍏ュ嚭搴撲綔涓氫笅鍙�
- mainService.rgvIoExecute();
// 鍏ュ嚭搴撳寮� ===>> 鍫嗗灈鏈哄懡浠や笅鍙戝悗锛屽紓姝ヤ慨鏀瑰伐浣滄。鐘舵��
// mainService.crnIoWrkMast();
// 鍏ュ簱 ===>> 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
mainService.storeFinished();
+
+ ///////////////////////RGV璋冨害/////////////////////////////////////
+ // 鍏ュ嚭搴� ===>> RGV鍏ュ嚭搴撲綔涓氫笅鍙�
+ mainService.rgvIoExecute();
+ // RGV鍏ュ簱 ===>> 鏍规嵁RGV瀹屾垚淇″彿,鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
+ mainService.rgvFinished();
+ // 鍏ュ嚭搴� ===>> RGV鍑哄簱绔欏埌绯荤粺鍏ュ嚭搴撶珯
+ mainService.rgvDestStnToCrnStn();
+// // 鍑哄簱 ===>> RGV鍑哄簱绔欏埌绯荤粺鍑哄簱绔�
+// mainService.rgvOutDStnToOutStn();
+ //////////////////////////////////////////////////////////////////
+
// 鍫嗗灈鏈哄紓甯镐俊鎭褰�
mainService.recCrnErr();
// 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
diff --git a/src/main/java/com/zy/core/enums/RgvStatusType.java b/src/main/java/com/zy/core/enums/RgvStatusType.java
index 3126ba6..52a3179 100644
--- a/src/main/java/com/zy/core/enums/RgvStatusType.java
+++ b/src/main/java/com/zy/core/enums/RgvStatusType.java
@@ -8,7 +8,8 @@
SOS(2, "鎶ヨ"),
FETCHING(11, "鍙栬揣涓�"),
PUTTING(12, "鏀捐揣涓�"),
- WAITING(10, "浠诲姟瀹屾垚绛夊緟WCS纭"),
+ WAITING(90, "浠诲姟瀹屾垚绛夊緟WCS纭"),
+ FETCHWAITING(91, "鍙栬揣浠诲姟瀹屾垚绛夊緟WCS纭"),
;
public Integer id;
diff --git a/src/main/java/com/zy/core/model/RgvSlave.java b/src/main/java/com/zy/core/model/RgvSlave.java
index 6f182af..36ff666 100644
--- a/src/main/java/com/zy/core/model/RgvSlave.java
+++ b/src/main/java/com/zy/core/model/RgvSlave.java
@@ -22,11 +22,14 @@
private Boolean demo;
- // 鍫嗗灈鏈哄叆搴撶珯鐐�
- private List<RgvStn> rgvInStn = new ArrayList<>();
+ // RGV鍏ュ簱婧愮珯鐐�
+ private List<RgvStn> rgvInSStn = new ArrayList<>();
- // 鍫嗗灈鏈哄嚭搴撶珯鐐�
- private List<RgvStn> rgvOutStn = new ArrayList<>();
+ // RGV鍑哄簱婧愮珯鐐�
+ private List<RgvStn> rgvOutSStn = new ArrayList<>();
+
+ // RGV鍑哄簱鐩爣绔欑偣
+ private List<RgvStn> rgvDestStn = new ArrayList<>();
@Data
public static class RgvStn {
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index db19743..db8bd9c 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -67,9 +67,17 @@
case 1:
readStatus();
break;
- // 鍐欏叆鏁版嵁
+ // 宸ヤ綅1銆�2鍐欏叆鏁版嵁
case 2:
write((RgvCommand) task.getData());
+ break;
+ //宸ヤ綅1鍐欏叆鏁版嵁
+ case 4:
+ write1((RgvCommand) task.getData());
+ break;
+ //宸ヤ綅2鍐欏叆鏁版嵁
+ case 5:
+ write2((RgvCommand) task.getData());
break;
// 澶嶄綅
case 3:
@@ -180,7 +188,8 @@
OutputQueue.RGV.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
// 宸ヤ綅1澶嶄綅淇″彿
- if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)) {
+ if (rgvProtocol.getStatusType1().equals(RgvStatusType.WAITING)
+ || rgvProtocol.getStatusType1().equals(RgvStatusType.FETCHWAITING)) {
if (resetFlag1) {
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setAckFinish1((short)1);
@@ -191,7 +200,8 @@
}
// 宸ヤ綅2澶嶄綅淇″彿
- if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)) {
+ if (rgvProtocol.getStatusType2().equals(RgvStatusType.WAITING)
+ || rgvProtocol.getStatusType2().equals(RgvStatusType.FETCHWAITING)) {
if (resetFlag2) {
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setAckFinish2((short)1);
@@ -306,6 +316,7 @@
array[2] = command.getTaskMode1();
array[3] = command.getSourceStaNo1();
array[4] = command.getDestinationStaNo1();
+ siemensNet.Write("DB100.20", command.getCommand());
OperateResult result = siemensNet.Write("DB100.0", array);
@@ -357,15 +368,14 @@
return false;
}
- siemensNet.Write("DB100.20", command.getCommand());
-
command.setRgvNo(slave.getId());
- short[] array = new short[5];
+ short[] array = new short[6];
array[0] = command.getAckFinish2();
array[1] = command.getTaskNo2();
array[2] = command.getTaskMode2();
array[3] = command.getSourceStaNo2();
array[4] = command.getDestinationStaNo2();
+ array[5] = command.getCommand();
OperateResult result = siemensNet.Write("DB100.10", array);
diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
index 9bc94c7..e0709ba 100644
--- a/src/main/java/com/zy/core/thread/SiemensCrnThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -179,6 +179,8 @@
// 澶嶄綅淇″彿
if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
+ log.error("-------------------------------------------绗竴姝ャ�乕鍫嗗灈鏈哄彿锛歿}, 宸ヤ綔鍙凤細{}, 杞借揣鍙�:{}]==>> 鐘舵�佷负10锛岀瓑寰呯‘璁わ紒锛�",
+ slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "鏈夌墿" : "鏃犵墿");
if (resetFlag) {
if(crnProtocol.getTaskNo()==9999){
backHpFlag = false;
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index d2130f1..fb78128 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -150,18 +150,24 @@
port: 502
rack: 0
slot: 0
- rgvInStn[0]:
+ rgvInSStn[0]:
+ devpPlcId: ${wcs-slave.devp[0].id}
+ staNo: 100
+ rgvInSStn[1]:
devpPlcId: ${wcs-slave.devp[0].id}
staNo: 101
- rgvInStn[1]:
- devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 102
- rgvOutStn[0]:
+ rgvOutSStn[0]:
devpPlcId: ${wcs-slave.devp[0].id}
staNo: 110
- rgvOutStn[1]:
+ rgvOutSStn[1]:
devpPlcId: ${wcs-slave.devp[0].id}
staNo: 112
+ rgvDestStn[0]:
+ devpPlcId: ${wcs-slave.devp[0].id}
+ staNo: 102
+ rgvDestStn[1]:
+ devpPlcId: ${wcs-slave.devp[0].id}
+ staNo: 103
# RGV绌挎杞�2
rgv[1]:
id: 2
diff --git a/src/main/resources/mapper/WrkMastMapper.xml b/src/main/resources/mapper/WrkMastMapper.xml
index 2715f0c..7356f6d 100644
--- a/src/main/resources/mapper/WrkMastMapper.xml
+++ b/src/main/resources/mapper/WrkMastMapper.xml
@@ -200,4 +200,35 @@
order by io_pri desc,io_time,wrk_no asc
</select>
+ <select id="selectRgvInStep2" resultMap="BaseResultMap">
+ select * from dbo.asr_wrk_mast where rgv_dsta_no=#{rgvInDStn} and wrk_sts=7 and (io_type=1 or io_type=10 or io_type=53 or io_type=54 or io_type=57) order by io_pri desc,io_time desc,wrk_no ASC
+ </select>
+
+ <select id="selectRgvInWorking" resultMap="BaseResultMap">
+ select * from dbo.asr_wrk_mast where 1=1 and wrk_sts in (6,7) and rgv_no=#{rgvNo} order by io_time,wrk_no
+ </select>
+
+ <select id="selectRgvOutStep2" resultMap="BaseResultMap">
+ select * from dbo.asr_wrk_mast where rgv_dsta_no=#{rgvOutDStn} and wrk_sts=17 and io_type > 100 order by io_pri desc,io_time desc,wrk_no ASC
+ </select>
+
+ <select id="selectRgvDestStep2" resultMap="BaseResultMap">
+ select * from dbo.asr_wrk_mast where rgv_dsta_no=#{rgvDestStn} and wrk_sts in (7,17) order by io_pri desc,io_time desc,wrk_no ASC
+ </select>
+
+ <select id="selectRgvOutStep1" resultMap="BaseResultMap">
+ select * from dbo.asr_wrk_mast
+ where rgv_no=#{rgvNo} and rgv_ssta_no in
+ <foreach item="item" collection="staNos" index="index" separator="," open="(" close=")">
+ #{item}
+ </foreach>
+ and wrk_sts=14 and io_type>100 and online_yn='N'
+ order by io_pri desc,io_time,wrk_no asc
+ </select>
+
+ <select id="selectRgvOutWorking" resultMap="BaseResultMap">
+ select * from dbo.asr_wrk_mast where 1=1 and wrk_sts in (16,17) and rgv_no=#{rgvNo} order by io_time,wrk_no
+ </select>
+ <!-- RGV璋冨害鍏ュ嚭搴撶浉鍏� -->
+
</mapper>
--
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