From 1291837c2bd406b605f454922bf61a9dd9ecda9b Mon Sep 17 00:00:00 2001
From: yxFwq <1>
Date: 星期一, 06 一月 2025 22:21:33 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 174 +++++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 125 insertions(+), 49 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 c366038..ec47558 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -105,6 +105,9 @@
@Value("${wms.url}")
private String wmsUrl;
+ @Value("${wms.rgvOpen}")
+ private boolean rgvOpen;
+
/**
* 缁勬墭
* 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 2
@@ -483,7 +486,7 @@
staProtocol.setStaNo(dto.getStaNo());
devpThread.setPakMk(staProtocol.getSiteId(), false);
// ledThread.errorReset();
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
if (!result) {
log.error("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());
}
@@ -2319,6 +2322,7 @@
param.setIoType(10);
param.setSourceStaNo(122);
param.setLocType1((short)1);
+ param.setRgvNo(rgvProtocol.getRgvNo());
String response = new HttpHandler.Builder()
.setUri(wmsUrl)
.setPath("/rpc/pakin/empty/loc/v1")
@@ -2364,7 +2368,8 @@
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
// 鍛戒护闆嗗悎
List<LedCommand> commands = new ArrayList<>();
- // 宸ヤ綔妗ｉ泦鍚�
+ String orderNo = null;
+ // 宸ヤ綔妗ｉ泦鍚�
List<WrkMast> wrkMasts = new ArrayList<>();
for (Integer staNo : led.getStaArr()) {
// 鑾峰彇鍙夎溅绔欑偣
@@ -2424,7 +2429,13 @@
// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
- wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl)));
+ if (Cools.isEmpty(wrkDetls)){
+ continue;
+ }
+ Integer count1 = wrkDetlService.count1();
+ Integer count2 = wrkDetlService.count2(wrkDetls.get(0).getOrderNo());
+ Integer count3 = wrkDetlService.count3();
+ wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl,count1,count2,count3)));
}
commands.add(ledCommand);
}
@@ -3379,6 +3390,26 @@
if (!staProtocol.isLoading()){
continue;
}
+ StaProtocol staProtocol120 = devpThread.getStation().get(120);
+ if (staProtocol120 == null) {
+ continue;
+ } else {
+ staProtocol120 = staProtocol120.clone();
+ }
+
+ if (staProtocol120.isLoading()){
+ continue;
+ }
+ StaProtocol staProtocol121 = devpThread.getStation().get(121);
+ if (staProtocol121 == null) {
+ continue;
+ } else {
+ staProtocol121 = staProtocol121.clone();
+ }
+
+ if (staProtocol121.isLoading()){
+ continue;
+ }
// if (!staProtocol.getWorkNo().equals(wrkMast131.getWrkNo())){
// log.info("绔欑偣宸ヤ綔鍙�={} 涓庤创鏍囧伐浣滃彿={} 涓嶄竴鑷达紝寮傚父锛�",staProtocol.getWorkNo(),wrkMast131.getWrkNo().shortValue());
// }
@@ -3736,6 +3767,19 @@
continue;
}
}
+ BasDevp basDevpS = basDevpService.selectById(wrkMastSta.getStaStart());
+ if (!basDevpS.getAutoing().equals("Y") || !basDevpS.getLoading().equals("Y") || basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){
+ continue;
+ }
+ StaProtocol staProtocols = devpThread.getStation().get(basDevpS.getDevNo());
+ if (staProtocols == null) {
+ log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氭湭鏌ヨ鍒扮珯鐐逛俊鎭細"+wrkMastSta);
+ continue;
+ }
+ if (!staProtocols.isAutoing() || !staProtocols.isLoading() || staProtocols.getWorkNo() != wrkMastSta.getWrkNo().intValue()){
+ continue;
+ }
+
log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
@@ -4206,57 +4250,85 @@
&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
-// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
-// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
- if (rgvProtocol.getRgvNo()==1){
- signRgv1 = false;
- }else {
- signRgv2 = false;
+ if (rgvProtocol.getRgvNo()!=1){
+ if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){
+ continue;
}
- }
- if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
- signRgv1 = false;
- continue;
- } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
- signRgv2 = false;
+ rgvAvoidanceXY(rgvProtocol.getRgvNo());
+// return;
continue;
}
+ if (!rgvProtocol.getRgvPosI().equals(108) && !rgvProtocol.getRgvPosI().equals(119)){
+ continue;
+ }
+ Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y();
+ if (count108Y==0){
+ continue;
+ }
+ Integer count108 = wrkMastStaMapper.selectAllWrkCount108();
+ if (count108==0){
+ continue;
+ }
+ rgvAvoidanceXY(rgvProtocol.getRgvNo());
+ continue;
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //鑾峰彇鍚堝苟骞叉秹椤�
+// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge);
+// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route ,route);
+// if (!wrkMastStaList.isEmpty()){
+// log.info("灏忚溅瀛樺湪鍙墽琛屼换鍔★紝璺宠繃閬胯锛侊紒4214");
+// return;
+// }
+// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
+//// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
+//// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
+// if (rgvProtocol.getRgvNo()==1){
+// signRgv1 = false;
+// }else {
+// signRgv2 = false;
+// }
+// }
+// if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
+// signRgv1 = false;
+// continue;
+// } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
+// signRgv2 = false;
+// continue;
+// }
}else {
signRgv = false;
break;
}
}
- if (signRgv && (signRgv1 || signRgv2)){
- for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- 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.getTaskNo2()==0
- && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
- && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
- ) {
- if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
- continue;
- } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
- continue;
- }
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- rgvAvoidanceXY(rgvProtocol.getRgvNo());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
-
- }
- }
- }
+// if (signRgv && (signRgv1 || signRgv2)){
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+// if (rgvProtocol == null) {
+// 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.getTaskNo2()==0
+// && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+// && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+// ) {
+// if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
+// continue;
+// } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
+// continue;
+// }
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// rgvAvoidanceXY(rgvProtocol.getRgvNo());
+// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+//
+// }
+// }
+// }
}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);
@@ -4312,7 +4384,7 @@
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( (short)101);
+ rgvCommand.setSourceStaNo1( (short)107);
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�
@@ -4334,7 +4406,7 @@
rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
rgvCommand.setTaskNo2((short)32222); // 宸ヤ綅2宸ヤ綔鍙�
rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 宸ヤ綅2浠诲姟妯″紡: 鍥炲師鐐�
- rgvCommand.setSourceStaNo2((short)117);
+ rgvCommand.setSourceStaNo2((short)113);
rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
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� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
@@ -4551,6 +4623,9 @@
* 灏忚溅鍦板浘鏇存柊 鏇存柊閿�
* */
public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
+ if (rgvOpen){
+ return true;
+ }
// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
//鏇存柊褰撳墠灏忚溅閿�
@@ -4566,7 +4641,8 @@
BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
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�
- basRgvMapOther.setEndRoute(lockEndRoute);
+ Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
+ basRgvMapOther.setEndRoute(lockEndRouteL);
basRgvMapMapper.updateById(basRgvMapOther);
return true;
}catch (Exception e){
--
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