From 0e81b2e514cd11f56f23c455dbf75f6cd04e048a Mon Sep 17 00:00:00 2001
From: lty <876263681@qq.com>
Date: 星期五, 08 八月 2025 16:58:53 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 344 +++++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 249 insertions(+), 95 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 cf30bb9..b1dc376 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -97,6 +97,8 @@
@Value("${wms.url}")
private String wmsUrl;
+ @Value("${inventory.number}")
+ private Integer inventoryNumber;
public Integer wrkNo = 10000;
@@ -112,6 +114,7 @@
for (DevpSlave.Sta inSta : devp.getInSta()) {
// 鑾峰彇鏉＄爜鎵弿浠俊鎭�
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
+ BarcodeThread barcodeThreadMat = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcodeMat());
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
@@ -124,7 +127,14 @@
if (barcodeThread == null) {
continue;
}
+
+ if (barcodeThreadMat == null) {
+ continue;
+ }
+
String barcode = barcodeThread.getBarcode();
+
+ String barcodeMat = barcodeThreadMat.getBarcode();
// 灏哄妫�娴嬪紓甯�
boolean back = false;
String errMsg = "";
@@ -154,6 +164,7 @@
}
if (!back && staProtocol.isBarcodeErr()) {
errMsg = "鎵爜澶辫触";
+ log.error("鐗╂枡鐮佹壂鐮佸け璐�");
back = true;
}
// 閫�鍥�
@@ -166,6 +177,10 @@
}
if (!staProtocol.isPakMk()) {
continue;
+ }
+ // led 寮傚父鏄剧ず
+ if (ledThread != null) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
}
staProtocol.setWorkNo(wrkNo);
News.info("{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
@@ -184,7 +199,11 @@
&& staProtocol.isPakMk()) {
if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
-
+ // led 寮傚父鏄剧ず
+ if (ledThread != null) {
+ String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+ }
staProtocol.setWorkNo(wrkNo);
News.info("{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
wrkNo++;
@@ -194,6 +213,20 @@
log.error("杈撻�佺嚎涓嬪彂1锛�"+wrkNo+","+inSta.getBackSta());
continue;
}
+// if (staProtocol.getSiteId()!= 159){
+// if( Cools.isEmpty(barcodeMat) || "NG".endsWith(barcodeMat) || "NoRead".equals(barcodeMat) || "00000000".equals(barcodeMat)) {
+// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcodeMat(), barcodeMat);
+//
+// staProtocol.setWorkNo(wrkNo);
+// News.info("{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
+// wrkNo++;
+// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// log.error("杈撻�佺嚎涓嬪彂1锛�"+wrkNo+","+inSta.getBackSta());
+// continue;
+// }
+// }
// 鍒ゆ柇閲嶅宸ヤ綔妗�
WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
if (wrkMast != null) {
@@ -263,7 +296,34 @@
throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
}
- } else {
+ }
+// else if (jsonObject.getInteger("code").equals(700)) {
+// SearchLocParam param2 = new SearchLocParam();
+// param2.setBarcode(barcode);
+// param2.setBarcodeMat(barcodeMat);
+// param2.setSourceStaNo(inSta.getStaNo());
+// param2.setLocType1(locTypeDto.getLocType1());
+// String response2 = new HttpHandler.Builder()
+// .setUri(wmsUrl)
+// .setPath("/rpc/pakin/yk/loc/v33")
+// .setJson(JSON.toJSONString(param2))
+// .build()
+// .doPost();
+// JSONObject jsonObject2 = JSON.parseObject(response2);
+// if (jsonObject2.getInteger("code").equals(200)) {
+// log.info("鑷姩缁勬墭鎴愬姛锛侊紒");
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "鑷姩缁勬墭鎴愬姛"));
+// } else {
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "鑷姩缁勬墭澶辫触锛侊紒锛乥arcodeMat==>"+barcodeMat));
+// News.error(methodName + "==>缁勬墭澶辫触: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/yk/loc/v33", JSON.toJSONString(param), response2);
+// }
+// try{
+// Thread.sleep(500);
+// } catch (Exception e){
+//
+// }
+// }
+ else {
staProtocol.setWorkNo(wrkNo);
wrkNo++;
staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -530,7 +590,7 @@
String barcode = barcodeThread.getBarcode();
if(!Cools.isEmpty(barcode)) {
// log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
- if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
+ if("00000000".equals(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
staProtocol.setWorkNo(wrkNo++);
staProtocol.setStaNo(pickSta.getBackSta().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -620,7 +680,7 @@
log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶆垚鍔�===>>" + jsonObject.toJSONString());
try {
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setWorkNo(dto.getWorkNo());
staProtocol.setStaNo((short)161);
devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -794,7 +854,8 @@
// 搴撲綅绉昏浆
//mark - 3 - ....
this.locToLoc(crn, crnProtocol,mark);
-// this.crnRebackHp(crnProtocol, crnThread);
+ //棰勮皟搴�
+ this.crnRebackHp(crnProtocol, crnThread);
}
// News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂鎵ц瀹屾垚");
@@ -804,21 +865,17 @@
* 鍥炲師鐐癸紝鍫嗗灈鏈烘病鏈夋墽琛屼腑浠诲姟锛岃澶囧瓨鍦ㄥ叆搴撲换鍔℃椂鍙洖鍘熺偣
*/
public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
-// for (CrnSlave crn : slaveProperties.getCrn()) {
-// // 鑾峰彇鍫嗗灈鏈轰俊鎭�
-// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
-// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
-// if (crnProtocol == null) {
-// continue;
-// }
-// BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
-// if (basCrnp == null) {
-// log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
-// continue;
-// }
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
+ if (crnProtocol.getBay() == 1) {
return;
+ }
+ int x=1;
+ switch (crnProtocol.getCrnNo()){
+ case 1: x =1; break;
+ case 2: x =3; break;
+ case 3: x =5; break;
+ case 4: x =7; break;
+ case 5: x =9; break;
}
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�3,12
@@ -832,7 +889,7 @@
}
//杈撻�佺嚎娌℃湁鍏ュ簱浠诲姟锛岃繃婊�2
- if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
+ if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) != null) {
return;
}
News.info("鍫嗗灈鏈哄彫鍥炲師鐐�==>>" + crnProtocol.getCrnNo() + "鍙峰爢鍨涙満鏈夊叆搴撲换鍔�,鍙洖鍘熺偣");
@@ -841,10 +898,10 @@
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo((short) 9999); // 宸ヤ綔鍙�
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡: 鍥炲師鐐�
- crnCommand.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+ crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 浠诲姟妯″紡: 鍥炲師鐐�
+ crnCommand.setSourcePosX((short) x); // 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) 0); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
@@ -853,6 +910,7 @@
}
crnThread.setBackHpFlag(true);
}
+
// }
}
@@ -1020,6 +1078,12 @@
if (wrkMast == null) {
continue;
}
+ if (wrkMast.getIoType() == 107){
+ int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("io_type", wrkMast.getIoType()).eq("wrk_sts", 14));
+ if (count >= inventoryNumber) {
+ continue;
+ }
+ }
// 宸ヤ綔妗ｇ姸鎬佸垽鏂�
if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
News.error(""+mark+" - 2"+" - 1"+" - 鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
@@ -1057,8 +1121,16 @@
// continue;
}
// 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
- if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
- && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
+// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
+// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
+
+ 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;
+ }
+ }
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
// 鍫嗗灈鏈烘帶鍒惰繃婊�
@@ -1368,7 +1440,7 @@
}
// 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");
+ 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());
@@ -1767,13 +1839,13 @@
// 鑾峰彇鍙夎溅绔欑偣
StaProtocol staProtocol = devpThread.getStation().get(staNo);
if (staProtocol == null) { continue; }
- if (staProtocol.getWorkNo() != 0) {
+ if (staProtocol.getWorkNo() != 0 || staProtocol.isErr()) {
reset = false;
break;
}
}
// 鑾峰彇led绾跨▼
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
// led鏄剧ず榛樿鍐呭
if (reset) {
if (ledThread == null) {
@@ -1927,7 +1999,7 @@
wrkMast.setCrnNo(crn.getId());
wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 婧愬簱浣�
wrkMast.setLocNo(loc.getLocNo()); // 鐩爣搴撲綅
- wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 婊℃澘
+ wrkMast.setFullPlt(shallowLoc.getLocSts().equals("F") ? "Y" : "N"); // 婊℃澘
wrkMast.setPicking("N"); // 鎷ｆ枡
wrkMast.setExitMk("N"); // 閫�鍑�
wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 绌烘澘
@@ -2223,7 +2295,7 @@
public synchronized void autoEmptyOut() {
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
List<Integer> list = new ArrayList<>();
- list.add(101);list.add(112);
+ list.add(1108);list.add(112);
Map<Integer,Integer> map = new HashMap<>();
map.put(101,102);map.put(112,111);
for (Integer site:list){
@@ -2248,9 +2320,6 @@
return;
}
Short loctype1 = 1;
- if (site == 101){
- loctype1 = 2;
- }
LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
locTypeDto.setSiteId(site);
try {
@@ -2279,7 +2348,7 @@
public synchronized void autoEmptyIn() {
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
List<Integer> list = new ArrayList<>();
- list.add(153);list.add(157);
+ list.add(1038);
for (Integer site:list){
StaProtocol staProtocol = devpThread.getStation().get(site);
if (staProtocol == null) {
@@ -2296,9 +2365,6 @@
try {
Short loctype1 = 1;
- if (site == 153){
- loctype1 = 2;
- }
LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
locTypeDto.setSiteId(site);
@@ -2332,12 +2398,15 @@
* 灏忚溅鍦板浘鏇存柊 鏇存柊閿�
* */
public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,String sign){
+// log.info("灏忚溅鍦板浘鏇存柊锛乕鏍囪锛歿}];[BasRgvMap锛歿}];[staStart锛歿}];[staEnd锛歿}];",sign,JSON.toJSONString(basRgvMapCurrent),staStart,staEnd);
// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
//鏇存柊褰撳墠灏忚溅閿�
try{
Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//鑾峰彇鏈�杩滅珯鐐�
+// log.info("灏忚溅鍦板浘鏇存柊锛佽幏鍙栨渶杩滅珯鐐�;[farCurrentStaNo锛歿}]",farCurrentStaNo);
Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //鑾峰彇鍚堝苟骞叉秹椤�
+// log.info("灏忚溅鍦板浘鏇存柊锛佽幏鍙栧悎骞跺共娑夐」;[fallMerge锛歿}]",fallMerge);
basRgvMapCurrent.setLockEndRoute(fallMerge);
Integer i = basRgvMapMapper.updateById(basRgvMapCurrent);
// if (i>0){
@@ -2346,9 +2415,14 @@
//鏇存柊鍙︿竴鍙板皬杞﹀湴鍥�
Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther(basRgvMapCurrent.getRgvNo());
+// log.info("灏忚溅鍦板浘鏇存柊锛佸彟涓�鍙板皬杞﹀彿;[rgvNoOther锛歿}]",rgvNoOther);
+
BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
+// log.info("灏忚溅鍦板浘鏇存柊锛佸彟涓�鍙板皬杞�;[basRgvMapOther锛歿}]",JSON.toJSONString(basRgvMapOther));
+
List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
+// log.info("灏忚溅鍦板浘鏇存柊锛佸彟涓�鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�;[lockEndRoute锛歿}]",lockEndRoute);
basRgvMapOther.setEndRoute(lockEndRoute);
Integer i1 = basRgvMapMapper.updateById(basRgvMapOther);
// if (i1>0){
@@ -2356,7 +2430,7 @@
// }
return true;
}catch (Exception e){
- log.error("灏忚溅鍦板浘鏇存柊鍑洪敊锛�");
+ log.error("灏忚溅鍦板浘鏇存柊鍑洪敊锛佸紓甯稿師鍥狅細"+e);
return false;
}
}
@@ -2425,6 +2499,26 @@
}
}
+ /**
+ * 鑷姩鐢熸垚RGV鎺ラ┏浠诲姟锛堟绱㈠嚭鍏ュ彛浠诲姟锛岀敓鎴愬搴擱GV浠诲姟锛屾绱�4妤间换鍔★紝闈�3鍙峰爢鍨涙満锛屽垯鐢熸垚瀵瑰簲鎺ラ┏浠诲姟锛�
+ */
+// public synchronized void rgvCreateWrkMastSta(){
+// try{
+// for (DevpSlave devp : slaveProperties.getDevp()) {
+// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+// StaProtocol staProtocol = devpThread.getStation().get(1105);
+// if (staProtocol == null) {
+// continue;
+// } else {
+// staProtocol = staProtocol.clone();
+// }
+// if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+// continue;
+// }
+// }
+// }
+// }
+
/**
* 瀹屾垚灏忚溅浠诲姟
@@ -2454,17 +2548,17 @@
){
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;
- }
+// 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);
@@ -2494,22 +2588,31 @@
if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
continue;
}
- }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。");
- // 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());
- 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;
- }
}
- boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
-// boolean rgvComplete = true;
+// 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。");
+// // 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());
+// 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;
+// }
+// }
+ 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;
@@ -2540,7 +2643,7 @@
/**
* 鎵ц灏忚溅鎼繍浠诲姟
*/
- public synchronized void rgvRunWrkMastFullSta() {
+ public synchronized boolean rgvRunWrkMastFullSta() {
boolean wrkEnable = false;
try{
List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
@@ -2561,8 +2664,10 @@
// 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
+ && rgvProtocol.getLoaded1() == 0
&& rgvProtocol.getTaskNo1() == 0
+ && rgvProtocol.getTaskNo2() == 0
+ && rgvProtocol.getLoaded2() == 0
&& rgvThread.isPakMk()
) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
@@ -2574,42 +2679,71 @@
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){//1:婊＄増 3锛氬彇鏀�
- continue;
- }
+// 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){
- Thread.sleep(300);
- wrkMastSta.setWrkSts(1);
- try{
- wrkMastStaMapper.updateById(wrkMastSta);
- return;
- }catch (Exception e){
- log.error("鏇存柊灏忚溅浠诲姟澶辫触");
- }
- break;
+ 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;
}
}
}
- if (!wrkEnable){
- rgvRunWrkMastEmptyStaAvoidance();
- }
+// 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);
}
+ return wrkEnable;
}
/**
* 鎵ц灏忚溅鎼繍浠诲姟
@@ -2851,21 +2985,41 @@
* */
public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
try{
+ int startSta = wrkMastSta.getStaStart();
// 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(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 (!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((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 (!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;
+ }
}
}catch (Exception e){
return false;
@@ -2975,10 +3129,10 @@
/*
* 灏忚溅澶嶄綅
* */
- public synchronized boolean rgvComplete(Integer rgvId){
+ public synchronized boolean rgvComplete(Integer rgvId,Integer step){
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(step, new 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�={}",rgvId);
return false;
--
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