From 1983e747ee2368186cef348fd31e9e5163f56634 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 24 七月 2023 13:53:29 +0800
Subject: [PATCH] liftUpdate
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 3547 ++++++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 2,548 insertions(+), 999 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 a0c3c1e..7ac4a23 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3,52 +3,38 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
-import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
-import com.core.common.DateUtils;
+import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
-import com.zy.asrs.mapper.BasCrnErrorMapper;
-import com.zy.asrs.mapper.WaitPakinMapper;
-import com.zy.asrs.mapper.WrkMastMapper;
+import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
-import com.zy.asrs.utils.VersionUtils;
-import com.zy.common.model.LocTypeDto;
-import com.zy.common.model.MatDto;
-import com.zy.common.model.SearchLocParam;
-import com.zy.common.model.StartupDto;
+import com.zy.common.model.*;
+import com.zy.common.model.enums.NavigationMapType;
+import com.zy.common.model.enums.WrkChargeType;
import com.zy.common.service.CommonService;
-import com.zy.common.utils.CollectionUtils;
-import com.zy.common.utils.HttpHandler;
+import com.zy.common.service.erp.ErpService;
+import com.zy.common.utils.*;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
+import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
-import com.zy.core.model.CrnSlave;
-import com.zy.core.model.DevpSlave;
-import com.zy.core.model.LedSlave;
-import com.zy.core.model.Task;
-import com.zy.core.model.command.CrnCommand;
-import com.zy.core.model.command.LedCommand;
-import com.zy.core.model.protocol.CrnProtocol;
-import com.zy.core.model.protocol.StaProtocol;
+import com.zy.core.model.*;
+import com.zy.core.model.command.*;
+import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
-import com.zy.core.thread.BarcodeThread;
-import com.zy.core.thread.LedThread;
+import com.zy.core.thread.*;
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;
-import java.util.ArrayList;
-import java.util.Date;
-import java.util.List;
-import java.util.Set;
+import java.util.*;
import java.util.stream.Collectors;
/**
@@ -60,60 +46,66 @@
@Transactional
public class MainServiceImpl {
- public static final long COMMAND_TIMEOUT = 5 * 1000;
-
- @Autowired
- private CommonService commonService;
+ @Value("${wms.url}")
+ private String wmsUrl;
@Autowired
private SlaveProperties slaveProperties;
@Autowired
private WrkMastMapper wrkMastMapper;
@Autowired
- private WrkDetlService wrkDetlService;
+ private WrkMastService wrkMastService;
@Autowired
- private WaitPakinMapper waitPakinMapper;
+ private WrkDetlService wrkDetlService;
@Autowired
private LocMastService locMastService;
@Autowired
- private StaDescService staDescService;
+ private LocDetlService locDetlService;
@Autowired
- private BasCrnpService basCrnpService;
+ private StaDescService staDescService;
@Autowired
private BasDevpService basDevpService;
@Autowired
- private LocDetlService locDetlService;
- @Autowired
private BasErrLogService basErrLogService;
@Autowired
+ private BasSteErrLogService basSteErrLogService;
+ @Autowired
+ private BasShuttleService basShuttleService;
+ @Autowired
+ private BasShuttleErrLogService basShuttleErrLogService;
+ @Autowired
+ private BasShuttleErrService basShuttleErrService;
+ @Autowired
private BasCrnErrorMapper basCrnErrorMapper;
- @Value("${wms.url}")
- private String wmsUrl;
+ @Autowired
+ private BasSteService basSteService;
+ @Autowired
+ private WrkChargeService wrkChargeService;
+ @Autowired
+ private BasSteErrService basSteErrService;
+ @Autowired
+ private CommonService commonService;
+ @Autowired
+ private WrkChargeMapper wrkChargeMapper;
+ @Autowired
+ private BasMapService basMapService;
+ @Autowired
+ private ErpService erpService;
+ @Autowired
+ private OrderMapper orderMapper;
+ @Autowired
+ private OrderDetlMapper orderDetlMapper;
+ @Autowired
+ private RedisUtil redisUtil;
/**
* 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
*/
- @Async
public void generateStoreWrkFile() {
// 鏍规嵁杈撻�佺嚎plc閬嶅巻
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鍏ュ簱鍙�
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());
- if (barcodeThread == null) {
- continue;
- }
- 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{}", inSta.getBarcode(), barcode);
- if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
- continue;
- }
- } else {
- continue;
- }
-
// 鑾峰彇鍏ュ簱绔欎俊鎭�
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
@@ -122,34 +114,110 @@
} else {
staProtocol = staProtocol.clone();
}
+ Short workNo = staProtocol.getWorkNo();
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "寮傚父锛�";
+ if (staProtocol.isFrontErr()) {
+ errMsg = errMsg+"鍓嶈秴闄愶紱";
+ back = true;
+ }
+ if (staProtocol.isBackErr()) {
+ errMsg = errMsg+"鍚庤秴闄�";
+ back = true;
+ }
+ if (staProtocol.isHighErr()) {
+ errMsg = errMsg+"楂樿秴闄�";
+ back = true;
+ }
+ if (staProtocol.isLeftErr()) {
+ errMsg = errMsg+"宸﹁秴闄�";
+ back = true;
+ }
+ if (staProtocol.isRightErr()) {
+ errMsg = errMsg+"鍙宠秴闄�";
+ back = true;
+ }
+ if (staProtocol.isWeightErr()) {
+ errMsg = errMsg+"瓒呴噸";
+ back = true;
+ }
+ if (staProtocol.isBarcodeErr()) {
+ errMsg = errMsg+"鎵爜澶辫触";
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ if (ledThread != null) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
+ }
+ continue;
+ }
+
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading()
&& staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
- && staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
+ && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
+ ) {
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
- if (wrkMast != null) {
- log.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
+ if (barcodeThread == null) {
continue;
}
-// // 鑾峰彇鍏ュ簱閫氱煡妗�
-// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
-// if (waitPakins.isEmpty()) {
-// log.error("鏃犳鍏ュ簱鏉＄爜鏁版嵁銆傛潯鐮佸彿={}", barcode);
+ String barcode = barcodeThread.getBarcode();
+ if(!Cools.isEmpty(barcode)) {
+// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
+ if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)|| "00000000".equals(barcode)) {
+// staProtocol.setWorkNo((short) 32002);
+// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ 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));
+ }
+ continue;
+ }
+ } else {
+// staProtocol.setWorkNo((short) 32002);
+// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ 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));
+ }
+ continue;
+ }
+
+ // 杩囨护鐩樼偣/鎷ｆ枡/骞舵澘浠诲姟
+// if (null != wrkMastMapper.selectPickStepByBarcode(barcode)) {
+// continue;
+// }
+
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+// WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
+// if (wrkMast != null) {
+// News.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
// continue;
// }
try {
-
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-
SearchLocParam param = new SearchLocParam();
param.setBarcode(barcode);
param.setIoType(1);
param.setSourceStaNo(inSta.getStaNo());
- param.setLocType1(locTypeDto.getLocType1());
+// param.setLocType1(locTypeDto.getLocType1());
String response = new HttpHandler.Builder()
.setUri(wmsUrl)
.setPath("/rpc/pakin/loc/v1")
@@ -157,97 +225,66 @@
.build()
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
-
+ // plc 澶勭悊
barcodeThread.setBarcode("");
staProtocol.setWorkNo(dto.getWorkNo().shortValue());
staProtocol.setStaNo(dto.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");
}
- } 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);
+
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
+ if (wrkMast == null) { continue; }
+
+ // 鏇存柊宸ヤ綔涓绘。
+ wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ News.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
+ }
+
+ } else if (code == 500){
+ if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+ if (!Cools.isEmpty(errorMsg)) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+ }
+ }
+ News.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);
+ } else if (code == 700) {
+ staProtocol.setWorkNo((short) 32002);
+ staProtocol.setRollback102(1);//102绔欏洖閫�淇″彿
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ if (ledThread != null) {
+ String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+ }
}
-
-
-// // 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();
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
-
}
-
-
}
}
-
}
/**
* wms鍏ュ簱
* 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�� 1 ==>> 2
*/
- @Async
+ @Deprecated
public void generateStoreWrkFile0() {
// 鏍规嵁杈撻�佺嚎plc閬嶅巻
for (DevpSlave devp : slaveProperties.getDevp()) {
@@ -261,10 +298,61 @@
} else {
staProtocol = staProtocol.clone();
}
+ Short workNo = staProtocol.getWorkNo();
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
+ if (staProtocol.isAutoing() && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
&& staProtocol.isPakMk()) {
+
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "";
+ if (staProtocol.isFrontErr()) {
+ errMsg = "鍓嶈秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isBackErr()) {
+ errMsg = "鍚庤秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isHighErr()) {
+ errMsg = "楂樿秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isLeftErr()) {
+ errMsg = "宸﹁秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isRightErr()) {
+ errMsg = "鍙宠秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isWeightErr()) {
+ errMsg = "瓒呴噸";
+ back = true;
+ }
+ if (!back && staProtocol.isBarcodeErr()) {
+ errMsg = "鎵爜澶辫触";
+ back = true;
+ }
+
+ // 閫�鍥�
+ if (back) {
+ News.warn("鎵爜鍏ュ簱澶辫触锛寋}鍏ュ簱绔欏洜{}寮傚父锛屾墭鐩樺凡琚��鍥�", inSta.getStaNo(), errMsg);
+ staProtocol.setWorkNo((short) 32002);
+ staProtocol.setStaNo(inSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ if (ledThread != null) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
+ }
+ continue;
+ }
+
// 鍒ゆ柇閲嶅宸ヤ綔妗�
WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
if (wrkMast == null) { continue; }
@@ -281,42 +369,23 @@
wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
wrkMast.setModiTime(new Date());
if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
+ News.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
}
} else {
- 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());
+ News.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());
}
-
}
-
-
}
}
-
}
/**
* 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
*/
- @Async
- public void stnToCrnStnPick(){
+ public synchronized void stnToCrnStnPick(){
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
- for (DevpSlave.Sta pickSta : devp.getPickSta()) {
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
- if (barcodeThread == null) {
- continue;
- }
- 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)) {
- continue;
- }
- } else {
- continue;
- }
+ for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
// 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
@@ -326,146 +395,932 @@
} else {
staProtocol = staProtocol.clone();
}
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){
- WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
- if (wrkMast == null) {
- // 鏃犳嫞鏂欐暟鎹�
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ // 0 - 9990 鎴栬�� 9996
+ && (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990)
+ && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
+ && staProtocol.isPakMk()){
+
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
+// if (barcodeThread == null) {
+// continue;
+// }
+
+ WrkMast wrkMast = null;
+ if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
+ wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
+ if (null == wrkMast) {
+ continue;
+ }
+ } else {
continue;
}
+// if (staProtocol.getWorkNo() == 9996) {
+// String barcode = barcodeThread.getBarcode();
+// if(!Cools.isEmpty(barcode)) {
+// News.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)) {
+// staProtocol.setWorkNo((short) 32002);
+// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//
+// // led 寮傚父鏄剧ず
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+// if (ledThread != null) {
+// String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+// }
+// continue;
+// }
+// } else {
+// staProtocol.setWorkNo((short) 32002);
+// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//
+// // led 寮傚父鏄剧ず
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+// if (ledThread != null) {
+// String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+// }
+// continue;
+// }
+// wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
+// if (null == wrkMast) {
+// News.error("{}鏉＄爜閿欒锛屾殏鏃犳嫞鏂欎换鍔★紒", barcode);
+// }
+// }
if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
|| Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
continue;
}
- // 鎷ｃ�佺洏銆佸苟 浣滀笟绔欒浆鎹�
-// int stnNo = 0;
-// if (wrkMast.getStaNo() == 109) {
-// stnNo = 127;
-// } else if (wrkMast.getStaNo() == 113) {
-// stnNo = 128;
-// } else {
-// log.error("{}鍙蜂换鍔℃暟鎹紓甯革紒", wrkMast.getWrkNo());
-// }
- // 鑾峰彇鐩爣绔�
- Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
- .eq("type_no", wrkMast.getIoType() - 50)
- .eq("stn_no", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
- .eq("crn_no", wrkMast.getCrnNo()); // 鍫嗗灈鏈哄彿
- StaDesc staDesc = staDescService.selectOne(wrapper);
- if (Cools.isEmpty(staDesc)) {
- log.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
- continue;
- }
-
try {
- // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
- if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
- }
- // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
- if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
+ // 璁块棶 WMS 鑾峰彇鍏ュ簱搴撲綅
+ LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+ SearchLocParam param = new SearchLocParam();
+ param.setWrkNo(wrkMast.getWrkNo());
+ param.setIoType(wrkMast.getIoType());
+ param.setSourceStaNo(pickSta.getStaNo());
+// param.setLocType1(locTypeDto.getLocType1());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+
+// // 鑾峰彇鐩爣绔�
+// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
+// .eq("type_no", wrkMast.getIoType() - 50)
+// .eq("stn_no", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
+// .eq("crn_no", dto.getCrnNo()); // 鍫嗗灈鏈哄彿
+// StaDesc staDesc = staDescService.selectOne(wrapper);
+// if (Cools.isEmpty(staDesc)) {
+// News.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
+// continue;
+// }
+// // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
+// Integer staNo = staDesc.getCrnStn();
+
+ // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
+// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
+// throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
+// }
+ // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
+ if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
+ throw new CoolException(wrkMast.getWrkNo() + "淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
+ }
+
+ String sourceLocNo = wrkMast.getSourceLocNo().trim();
+ // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
+ wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
+ wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
+ wrkMast.setSourceStaNo(pickSta.getStaNo()); // 婧愮珯
+ wrkMast.setStaNo(dto.getStaNo()); // 鐩爣绔�
+ wrkMast.setCrnNo(dto.getCrnNo());
+ wrkMast.setLocNo(dto.getLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
+ wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ throw new CoolException(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
+ }
+ if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
+ throw new CoolException(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
+ }
+
+ // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ if (!result) {
+ News.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());
+ }
+
+ } else if (code == 500){
+ if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+ if (!Cools.isEmpty(errorMsg)) {
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+ }
+ }
+ News.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);
+ } else {
+ staProtocol.setWorkNo((short) 32002);
+ staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+// String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+ }
}
- // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
- Integer staNo = staDesc.getCrnStn();
- // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
- wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
- wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 婧愮珯
- wrkMast.setStaNo(staNo); // 鐩爣绔�
- wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
- wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
- }
- // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
- LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
- locMast.setLocSts("Q");
- locMast.setModiTime(new Date());
- if (!locMastService.updateById(locMast)) {
- throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
- }
} catch (Exception e) {
e.printStackTrace();
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- continue;
- }
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, 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());
}
}
-
}
}
}
/**
- * 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
+ * 鍒濆鍖栧疄鏃跺湴鍥�
*/
- @Async
- public void crnStnToOutStn() {
- for (CrnSlave crnSlave : slaveProperties.getCrn()) {
- // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
- for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ public synchronized void initRealtimeBasMap() {
+ for (int i = 1; i <= 4; i++) {//鎬诲叡鍥涘眰妤�
+ Object data = redisUtil.get("realtimeBasMap_" + i);
+ if (data == null) {//redis鍦板浘鏁版嵁涓虹┖锛屼粠鏁版嵁搴撲腑鑾峰彇
+ BasMap basMap = basMapService.selectLatestMap(i);
+ if (basMap == null) {
+ //鏁版嵁搴撲腑涔熶笉瀛樺湪鍦板浘鏁版嵁锛屼粠鍦板浘鏂囦欢涓幏鍙�
+ //杞藉叆鍦板浘
+ NavigateMapData mapData = new NavigateMapData(i);
+ List<List<MapNode>> lists = mapData.getJsonData(-1, null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
+
+ //瀛樺叆鏁版嵁搴�
+ basMap = new BasMap();
+ basMap.setData(JSON.toJSONString(lists));
+ basMap.setCreateTime(new Date());
+ basMap.setUpdateTime(new Date());
+ basMap.setLev(i);
+
+ if (!basMapService.insert(basMap)) {
+ log.info("鍦板浘鏁版嵁瀛樺偍澶辫触");
+ }
+ }
+
+ //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
+ redisUtil.set("realtimeBasMap_" + i, JSON.toJSONString(basMap));
+ }
+ }
+ }
+
+ /**
+ * 浠巖edis涓噸鍚换鍔�
+ */
+ public synchronized void restartTaskFromRedis() {
+ HashMap<Object, Object> map = redisUtil.getRedis();
+ for (Object key : map.keySet()) {
+ if (key.toString().contains("lift_wrk_no_")) {//鎻愬崌鏈轰换鍔�
+ LiftRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), LiftRedisCommand.class);
+ if (redisCommand == null) {
+ continue;
+ }
+
+ Short liftNo = redisCommand.getLiftNo();
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
+ if (!liftProtocol.isIdle()) {
+ continue;
+ }
+
+ //鎻愬崌鏈哄浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
+ liftProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗘彁鍗囨満绾跨▼鍒嗛厤浠诲姟鍙�
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
+
+ }else if(key.toString().contains("shuttle_wrk_no_")){//鍥涘悜绌挎杞︿换鍔�
+ ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class);
+ if (redisCommand == null) {
+ continue;
+ }
+
+ Short shuttleNo = redisCommand.getShuttleNo();
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+ if (!shuttleProtocol.isIdle()) {
+ continue;
+ }
+
+ //鍥涘悜绌挎杞﹀浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
+ shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗗洓鍚戠┛姊溅绾跨▼鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
+ }
+ }
+
+ }
+
+ /**
+ * 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
+ */
+ public synchronized void shuttleIoInExecute() {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鍏ュ簱绔�
+ for (DevpSlave.StaRack staRack : devp.getRackInStn()) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(staRack.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�
- WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
- if (wrkMast == null) {
- continue;
- }
- // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
- if (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();
- if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
- // 绉诲姩涓�
- continue;
- }
- // 鍒ゆ柇鍫嗗灈鏈虹姸鎬佺瓑寰呯‘璁�
- if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
- && crnProtocol.statusType == CrnStatusType.WAITING
- && crnProtocol.forkPosType == CrnForkPosType.HOME) {
+ Short workNo = staProtocol.getWorkNo();
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢锛岃嚜鍔ㄣ�佹湁鐗┿�佸洓鍚戠┛姊溅鍙彇淇″彿
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable()) {
+ WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
+ if (wrkMast != null) {
+ if (wrkMast.getWrkSts() == 4 || wrkMast.getWrkSts() == 8) {
+ ShuttleThread shuttleThread = null;
+ ShuttleProtocol shuttleProtocol = null;
+ HashMap<String, Object> searchIdleShuttle = null;
- // 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+
+ if (wrkMast.getWrkSts() == 4) {
+ if (wrkMast.getShuttleNo() == null) {
+ //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅
+ searchIdleShuttle = this.searchIdleShuttle(wrkMast);
+ shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
+ wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
+ wrkMastMapper.updateById(wrkMast);
+ shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (!shuttleProtocol.isIdle()) {
+ continue;
+ }
+ }else {
+ //鐩存帴浣跨敤浠诲姟淇濆瓨涓殑灏忚溅
+ shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (!shuttleProtocol.isIdle(workNo)) {
+ continue;
+ }
+ }
+ }else if(wrkMast.getWrkSts() == 8){//鐘舵��8锛岄渶瑕佸悜灏忚溅涓嬪彂鍛戒护浠庢彁鍗囨満绉诲姩鍑哄幓锛岄渶瑕佸垽鏂彁鍗囨満鐘舵槸鍚︾┖闂层�佹彁鍗囨満鏄惁鍒拌揪鐩爣妤煎眰銆佺洰鏍囨ゼ灞傜珯鐐规槸鍚﹀瓨鍦ㄣ�佺洰鏍囨ゼ灞傜珯鐐规槸鍚︾粰鍑烘彁鍗囨満鍒颁綅淇″彿
+ //鐘舵��8锛岀瓑寰呭懡浠よ繘琛屽叆搴撴惉杩愬姩浣�
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
+ if (!liftProtocol.isIdleNoTask()) {
+ try {
+ Thread.sleep(1000);//浼戠湢1s
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
+ continue;//鎻愬崌鏈哄繖
+ }
+ //鍒ゆ柇鎻愬崌鏈轰换鍔″彿鍜屽綋鍓嶅伐浣滄。浠诲姟鍙锋槸鍚︿竴鑷�
+ if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
+ continue;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘ゼ灞傛槸鍚﹀埌浣嶏紝鍒ゆ柇绔欑偣鏄惁缁欏嚭鎻愬崌鏈哄埌浣嶄俊鍙�
+ String locNo = wrkMast.getLocNo();
+ int lev = Utils.getLev(locNo);//鐩爣浜岀淮鐮佹墍鍦ㄦゼ灞�
+ int liftLev = liftProtocol.getLev().intValue();//鎻愬崌鏈烘墍鍦ㄦゼ灞�
+ if (liftLev != lev) {
+ continue;//鎻愬崌鏈轰笉鍦ㄧ洰鏍囨ゼ灞傝烦杩�
+ }
+
+ Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
+ //鑾峰彇鐩爣绔欎俊鎭�
+ StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
+ if (staProtocol1 == null) {
+ continue;//绔欑偣淇℃伅涓嶅瓨鍦�
+ }
+ if (!staProtocol1.isLiftArrival()) {
+ continue;//绔欑偣鎻愬崌鏈哄埌浣嶄俊鍙穎alse
+ }
+
+ Integer shuttleNo = wrkMast.getShuttleNo();//鍥涘悜绌挎杞﹀彿
+ shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (!shuttleProtocol.isIdle(workNo)) {
+ continue;
+ }
+ }
+
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
+
+ //鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍒嗛厤婧愬簱浣�
+ shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
+
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//鍏ュ嚭搴撴ā寮�
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ assignCommand.setSourceLocNo(currentLocNo);//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+
+ String locNo = wrkMast.getLocNo();//褰撳墠宸ヤ綔妗ｅ簱浣嶅彿
+ Integer currentLev = wrkMast.getWrkSts() == 4 ? Utils.getLev(currentLocNo) : liftProtocol.getLev();//灏忚溅褰撳墠灞傞珮
+
+ //鎻愬崌鏈哄彛绔欑偣搴撲綅鍙�
+ String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);
+
+ if (wrkMast.getWrkSts() == 4) {
+ if (currentLev == Utils.getLev(locNo)) {
+ //灏忚溅鍜岀洰鏍囧湪鍚屼竴妤煎眰
+ //鐩存帴璁＄畻杞﹀埌鎻愬崌鏈哄彇璐у啀鍒板簱浣嶈矾寰勬寚浠�
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
+ if (commands == null) {
+ continue;//鎵句笉鍒拌矾寰勭瓑寰呬笅涓�娆�
+ }
+ assignCommand.setCommands(commands);
+ //鍒嗛厤鐩爣搴撲綅
+ shuttleProtocol.setLocNo(wrkMast.getLocNo());
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(wrkMast.getLocNo());
+ wrkMast.setWrkSts(9L);//灏忚溅鍏ュ簱涓�
+ }else {
+ //灏忚溅鍜岀洰鏍囦笉鍦ㄥ悓涓�妤煎眰
+ //灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
+ if (commands == null) {
+ continue;//鏈壘鍒拌矾寰�
+ }
+
+ //鑾峰彇褰撳墠灏忚溅鎵�鍦ㄦゼ灞傜殑绔欑偣淇℃伅
+ BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
+ Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
+
+ //澧炲姞绉诲姩杩涙彁鍗囨満鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
+ commands.add(moveCommand);
+
+ //鍒嗛厤鐩爣搴撲綅
+ shuttleProtocol.setLocNo(liftSiteLocNo);
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(liftSiteLocNo);
+ assignCommand.setCommands(commands);
+ wrkMast.setWrkSts(5L);//灏忚溅杩佺Щ鐘舵��
+ }
+ } else if (wrkMast.getWrkSts() == 8) {
+ //鐩存帴璁＄畻杞﹀埌鎻愬崌鏈哄彇璐у啀鍒板簱浣嶈矾寰勬寚浠�
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
+ if (commands == null) {
+ continue;//鎵句笉鍒拌矾寰勭瓑寰呬笅涓�娆�
+ }
+
+ //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
+ Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//绔欑偣鍙�
+ BasDevp basDevp = basDevpService.selectById(staNo);
+
+ short startCode = liftProtocol.getBarcode();//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
+ Short distCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈哄彛绔欑偣浜岀淮鐮�
+ Short runDirection = ShuttleRunDirection.BOTTOM.id;//杩愯鏂瑰悜
+ //鑾峰彇鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, null, null, 500);
+ commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
+
+ assignCommand.setCommands(commands);
+ //鍒嗛厤鐩爣搴撲綅
+ shuttleProtocol.setLocNo(wrkMast.getLocNo());
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(wrkMast.getLocNo());
+ wrkMast.setWrkSts(9L);//灏忚溅鍏ュ簱涓�
+ }
+
+// if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
+// //鍚屼竴灞傜洿鎺ュ彇璐ф棤闇�缁忚繃鎻愬崌鏈�
+// //鐩存帴璁＄畻杞﹀埌鎻愬崌鏈哄彇璐у啀鍒板簱浣嶈矾寰勬寚浠�
+// List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
+// if (commands == null) {
+// continue;//鎵句笉鍒拌矾寰勭瓑寰呬笅涓�娆�
+// }
+// if (wrkMast.getWrkSts() == 8) {
+// //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
+// Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//绔欑偣鍙�
+// BasDevp basDevp = basDevpService.selectById(staNo);
+//
+// short startCode = liftProtocol.getBarcode();//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
+// Short distCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈哄彛绔欑偣浜岀淮鐮�
+// Short runDirection = ShuttleRunDirection.BOTTOM.id;//杩愯鏂瑰悜
+// //鑾峰彇鍛戒护
+// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, startCode, 1600, 500);
+// commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
+// }
+// assignCommand.setCommands(commands);
+// //鍒嗛厤鐩爣搴撲綅
+// shuttleProtocol.setLocNo(wrkMast.getLocNo());
+// //鐩爣搴撲綅
+// assignCommand.setLocNo(wrkMast.getLocNo());
+// wrkMast.setWrkSts(9L);//灏忚溅鍏ュ簱涓�
+// }else {
+// //涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿
+//
+// //灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
+// List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
+// if (commands == null) {
+// continue;//鏈壘鍒拌矾寰�
+// }
+//
+// //鑾峰彇褰撳墠灏忚溅鎵�鍦ㄦゼ灞傜殑绔欑偣淇℃伅
+// BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
+// Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
+//
+// //澧炲姞绉诲姩杩涙彁鍗囨満鍛戒护
+// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, endStartCode, 1600, 500);
+// commands.add(moveCommand);
+//
+// //鍒嗛厤鐩爣搴撲綅
+// shuttleProtocol.setLocNo(liftSiteLocNo);
+// //鐩爣搴撲綅
+// assignCommand.setLocNo(liftSiteLocNo);
+// assignCommand.setCommands(commands);
+// wrkMast.setWrkSts(5L);//灏忚溅杩佺Щ鐘舵��
+// }
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+
+ }
+ }
+
+ }
+ }
+
+ }
+
+ //鑾峰彇璧风偣-缁堢偣鎸囦护
+ public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
+ //鑾峰彇灏忚溅绉诲姩閫熷害
+ BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
+ Integer runSpeed = 1000;
+ if (basShuttle != null) {
+ Integer runSpeed1 = basShuttle.getRunSpeed();
+ if (runSpeed1 != null) {
+ runSpeed = runSpeed1;
+ }
+ }
+
+ //璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
+ List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(startLocNo)));
+ List<ShuttleCommand> commands = new ArrayList<>();
+ if (calc == null) {
+ return null;
+ }
+ if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//妫�娴嬬┛姊溅琛岃蛋璺緞锛屾槸鍚﹀瓨鍦ㄥ叾浠栧皬杞︼紝濡傛湁鍏朵粬灏忚溅鍒欒繘琛岃皟绂�
+ return null;
+ }
+ List<NavigateNode> allNode = new ArrayList<>();
+ allNode.addAll(calc);
+
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
+ //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
+ for (ArrayList<NavigateNode> nodes : data) {
+ //寮�濮嬭矾寰�
+ NavigateNode startPath = nodes.get(0);
+
+ //涓棿璺緞
+ NavigateNode middlePath = null;
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short middleCodeNum = null;
+ Integer middleToDistDistance = null;//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ if (nodes.size() > 10) {//涓鐮佷紶鍊掓暟绗笁涓�
+ //涓棿璺緞
+ middlePath = nodes.get(nodes.size() - 3);
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
+ middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ } else if (nodes.size() > 5) {//涓鐮佷紶鍊掓暟绗簩涓�
+ //涓棿璺緞
+ middlePath = nodes.get(nodes.size() - 2);
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
+ middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ }
+
+ //鐩爣璺緞
+ NavigateNode endPath = nodes.get(nodes.size() - 1);
+ Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
+ commands.add(command);
+ }
+
+ assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
+ navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+
+ return commands;
+ }
+
+ //鑾峰彇璧风偣-涓偣-缁堢偣鎸囦护
+ public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
+ //鑾峰彇灏忚溅绉诲姩閫熷害
+ BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
+ Integer runSpeed = 1000;
+ if (basShuttle != null) {
+ Integer runSpeed1 = basShuttle.getRunSpeed();
+ if (runSpeed1 != null) {
+ runSpeed = runSpeed1;
+ }
+ }
+
+ List<NavigateNode> allNode = new ArrayList<>();
+
+ //璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
+ List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, NavigationMapType.NORMAL.id, null);//灏忚溅鏃犺揣锛岃蛋姝ｅ父搴撲綅閫氶亾
+ List<ShuttleCommand> commands = new ArrayList<>();
+
+ if (calc != null) {
+ if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//妫�娴嬬┛姊溅琛岃蛋璺緞锛屾槸鍚﹀瓨鍦ㄥ叾浠栧皬杞︼紝濡傛湁鍏朵粬灏忚溅鍒欒繘琛岃皟绂�
+ return null;
+ }
+
+ allNode.addAll(calc);
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
+ //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
+ for (ArrayList<NavigateNode> nodes : data) {
+ //寮�濮嬭矾寰�
+ NavigateNode startPath = nodes.get(0);
+
+ //涓棿璺緞
+ NavigateNode middlePath = null;
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short middleCodeNum = null;
+ Integer middleToDistDistance = null;//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ if (nodes.size() > 10) {//涓鐮佷紶鍊掓暟绗笁涓�
+ //涓棿璺緞
+ middlePath = nodes.get(nodes.size() - 3);
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
+ middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ } else if (nodes.size() > 5) {//涓鐮佷紶鍊掓暟绗簩涓�
+ //涓棿璺緞
+ middlePath = nodes.get(nodes.size() - 2);
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
+ middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ }
+
+ //鐩爣璺緞
+ NavigateNode endPath = nodes.get(nodes.size() - 1);
+ Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
+ commands.add(command);
+ }
+ }
+
+ //灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉￠《鍗囨寚浠�
+ commands.add(shuttleThread.getPalletCommand((short) 1));
+
+ //璁＄畻灏忚溅涓偣鍒扮粓鐐规墍闇�鍛戒护
+ List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, NavigationMapType.DFX.id, null);//灏忚溅鏈夎揣锛岃蛋绂佺敤杩嘍FX搴撲綅鐨勫湴鍥鹃�氶亾
+ if (calc2 == null) {
+ return null;
+ }
+ if (!Utils.checkShuttlePath(calc2, shuttleThread.getSlave().getId())) {//妫�娴嬬┛姊溅琛岃蛋璺緞锛屾槸鍚﹀瓨鍦ㄥ叾浠栧皬杞︼紝濡傛湁鍏朵粬灏忚溅鍒欒繘琛岃皟绂�
+ return null;
+ }
+ allNode.addAll(calc2);
+
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
+ for (ArrayList<NavigateNode> nodes : data2) {
+ //寮�濮嬭矾寰�
+ NavigateNode startPath = nodes.get(0);
+
+ //涓棿璺緞
+ NavigateNode middlePath = null;
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short middleCodeNum = null;
+ Integer middleToDistDistance = null;//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ if (nodes.size() > 10) {//涓鐮佷紶鍊掓暟绗笁涓�
+ //涓棿璺緞
+ middlePath = nodes.get(nodes.size() - 3);
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
+ middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ } else if (nodes.size() > 5) {//涓鐮佷紶鍊掓暟绗簩涓�
+ //涓棿璺緞
+ middlePath = nodes.get(nodes.size() - 2);
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
+ middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ }
+
+ //鐩爣璺緞
+ NavigateNode endPath = nodes.get(nodes.size() - 1);
+ Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
+ commands.add(moveCommand);
+ }
+
+ //灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉℃墭鐩樹笅闄嶆寚浠�
+ commands.add(shuttleThread.getPalletCommand((short) 2));
+
+ assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
+ navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+
+ return commands;
+ }
+
+ /**
+ * 鍑哄簱 ===>> 鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
+ */
+ public synchronized void shuttleIoOutExecute() {
+ for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
+ //鎻愬彇涓�鏉″緟鍑哄簱浠诲姟
+ if (wrkMast != null) {
+ String outStaLocNo = null;//鍑哄簱绔欑偣搴撲綅鍙�
+ //鑾峰彇鍑哄簱绔欑偣
+ for (DevpSlave devpSlave : slaveProperties.getDevp()) {
+ for (DevpSlave.StaRack staOutRack : devpSlave.getRackOutStn()) {
+ if (staOutRack.getStaNo().equals(wrkMast.getStaNo())) {
+ //鍑哄簱绔欑偣鍜屽伐浣滄。鍑哄簱绔欑偣涓�鑷�
+ outStaLocNo = CommonUtils.getLocNoFromRBL(staOutRack.getRow(), staOutRack.getBay(), staOutRack.getLev());
+ }
+ }
+
+ }
+
+ if (wrkMast.getWrkSts() == 21
+ || wrkMast.getWrkSts() == 25
+ || wrkMast.getWrkSts() == 31) {
+ ShuttleThread shuttleThread = null;
+ HashMap<String, Object> searchIdleShuttle = null;
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+
+ if (wrkMast.getWrkSts() == 21) {
+ if (wrkMast.getShuttleNo() == null) {
+ //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅
+ searchIdleShuttle = this.searchIdleShuttle(wrkMast);
+ shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
+ if (shuttleThread == null) {
+ continue;
+ }
+ wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
+ wrkMastMapper.updateById(wrkMast);
+ }else {
+ //鐩存帴浣跨敤浠诲姟淇濆瓨涓殑灏忚溅
+ shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ }
+ }else if(wrkMast.getWrkSts() == 25) {//鐘舵��25锛岄渶瑕佸悜灏忚溅涓嬪彂鍛戒护浠庢彁鍗囨満绉诲姩鍑哄幓锛岄渶瑕佸垽鏂彁鍗囨満鐘舵槸鍚︾┖闂层�佹彁鍗囨満鏄惁鍒拌揪鐩爣妤煎眰銆佺洰鏍囨ゼ灞傜珯鐐规槸鍚﹀瓨鍦ㄣ�佺洰鏍囨ゼ灞傜珯鐐规槸鍚︾粰鍑烘彁鍗囨満鍒颁綅淇″彿
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
+ if (!liftProtocol.isIdleNoTask()) {
+ try {
+ Thread.sleep(1000);//浼戠湢1s
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
+ continue;//鎻愬崌鏈哄繖
+ }
+ //鍒ゆ柇鎻愬崌鏈轰换鍔″彿鍜屽綋鍓嶅伐浣滄。浠诲姟鍙锋槸鍚︿竴鑷�
+ if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
continue;
}
- // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
- wrkMast.setWrkSts(14L);
- wrkMast.setCrnEndTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) != 0) {
- // 澶嶄綅鍫嗗灈鏈�
- crnThread.setResetFlag(true);
- } else {
- log.error("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
+ //鍒ゆ柇鎻愬崌鏈烘ゼ灞傛槸鍚﹀埌浣嶏紝鍒ゆ柇绔欑偣鏄惁缁欏嚭鎻愬崌鏈哄埌浣嶄俊鍙�
+ String locNo = wrkMast.getSourceLocNo();
+ int lev = Utils.getLev(locNo);//鐩爣浜岀淮鐮佹墍鍦ㄦゼ灞�
+ Short liftLev = liftProtocol.getLev();//鎻愬崌鏈烘墍鍦ㄦゼ灞�
+ if (liftLev == null) {//鎻愬崌鏈哄彲鑳藉湪杈撻�佺嚎妤煎眰
+ continue;
+ }
+ if (liftLev.intValue() != lev) {
+ continue;//鎻愬崌鏈轰笉鍦ㄧ洰鏍囨ゼ灞傝烦杩�
}
+ Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ //鑾峰彇鐩爣绔欎俊鎭�
+ StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
+ if (staProtocol1 == null) {
+ continue;//绔欑偣淇℃伅涓嶅瓨鍦�
+ }
+ if (!staProtocol1.isLiftArrival()) {
+ continue;//绔欑偣鎻愬崌鏈哄埌浣嶄俊鍙穎alse
+ }
+
+ //缁х画瀹屾垚涔嬪墠灏忚溅鏈畬鎴愮殑浠诲姟
+ shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ } else if (wrkMast.getWrkSts() == 31) {
+ //缁х画瀹屾垚涔嬪墠灏忚溅鏈畬鎴愮殑浠诲姟
+ shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ }
+
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (outStaLocNo == null) {
+ continue;
+ }
+
+ if (wrkMast.getWrkSts() == 21) {
+
+ if (!shuttleProtocol.isIdle()) {
+ continue;
+ }
+
+ //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+
+ //灏忚溅褰撳墠灞傞珮
+ Integer currentLev = Utils.getLev(currentLocNo);
+ //褰撳墠妤煎眰鎻愬崌鏈鸿緭閫佺珯鐐瑰簱浣嶅彿
+ String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ //鍥涘悜绌挎杞﹀彿
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
+ //浠诲姟鍙�
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍏ュ嚭搴撴ā寮�
+ assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
+ assignCommand.setSourceLocNo(currentLocNo);
+
+ //鍒ゆ柇灏忚溅鍜屽簱浣嶆槸鍚﹀湪鍚屼竴灞�
+ if (currentLev == Utils.getLev(wrkMast.getSourceLocNo())) {
+ //鍚屼竴灞�(灏嗗皬杞︾Щ鍔ㄥ埌璐х墿浣嶇疆)
+
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
+ if (commands == null) {
+ //鏈壘鍒拌矾寰勶紝绛夊緟涓嬩竴娆�
+ continue;
+ }
+
+ //鍒嗛厤鐩爣搴撲綅
+ shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
+ //鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍒嗛厤婧愬簱浣�
+ shuttleProtocol.setSourceLocNo(currentLocNo);
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(wrkMast.getSourceLocNo());
+ assignCommand.setCommands(commands);
+ wrkMast.setWrkSts(26L);//灏忚溅鎼繍涓�
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }else {
+ //涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿(灏嗗皬杞︾Щ鍔ㄥ埌鎻愬崌鏈轰綅缃�)
+
+ //灏忚溅鍒版彁鍗囨満鍙ｆ寚浠�
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
+ if (commands == null) {
+ if (!currentLocNo.equals(liftSiteLocNo)) {//褰撳墠浣嶇疆涔熶笉鍦ㄦ彁鍗囨満鍙�
+ continue;//鏈壘鍒拌矾寰�
+ }
+ commands = new ArrayList<>();
+ }
+ shuttleProtocol.setLocNo(liftSiteLocNo);
+ //鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍒嗛厤婧愬簱浣�
+ shuttleProtocol.setSourceLocNo(currentLocNo);
+
+ //鑾峰彇褰撳墠灏忚溅鎵�鍦ㄦゼ灞傜殑绔欑偣淇℃伅
+ BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
+ Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
+
+ //澧炲姞绉诲姩杩涙彁鍗囨満鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
+ commands.add(moveCommand);
+
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(liftSiteLocNo);
+ assignCommand.setCommands(commands);
+ wrkMast.setWrkSts(22L);//灏忚溅杩佺Щ鐘舵��
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+ } else if (wrkMast.getWrkSts() == 25) {
+ if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
+ continue;
+ }
+
+ wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
+
+ //褰撳墠妤煎眰鎻愬崌鏈鸿緭閫佺珯鐐瑰簱浣嶅彿
+ String liftSiteLocNo = Utils.levToOutInStaLocNo(liftProtocol.getLev().intValue());
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ //鍥涘悜绌挎杞﹀彿
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
+ //浠诲姟鍙�
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍏ュ嚭搴撴ā寮�
+ assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
+ assignCommand.setSourceLocNo(liftSiteLocNo);
+
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
+ if (commands == null) {
+ continue;//鏈壘鍒拌矾寰�
+ }
+
+ //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
+ short startCode = liftProtocol.getBarcode();//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
+ Short distCode = commands.get(0).getStartCodeNum();//鐩爣浜岀淮鐮�
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, commands.get(0).getRunDirection(), null, null, 500);
+ commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
+
+ //鍒嗛厤鐩爣搴撲綅
+ shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
+ //鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍒嗛厤婧愬簱浣�
+ shuttleProtocol.setSourceLocNo(liftSiteLocNo);
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(wrkMast.getSourceLocNo());
+ assignCommand.setCommands(commands);
+ wrkMast.setWrkSts(26L);//灏忚溅鎼繍涓�
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
}
}
@@ -474,245 +1329,688 @@
}
/**
- * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
+ * 鎼滅储绌洪棽涓旀渶杩戠殑鍥涘悜绌挎杞�(浠ュ伐浣滄。鐩爣搴撲綅涓哄熀鐐硅绠楁渶杩戜笖绌洪棽鐨勮溅)
*/
- public synchronized void crnIoExecute(){
- 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;
- }
- // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
- if (crnProtocol.getLastIo().equals("I")) {
- if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc(crn, crnProtocol); // 鍏ュ簱
- crnProtocol.setLastIo("O");
- } else if (basCrnp.getOutEnable().equals("Y")) {
- this.locToCrnStn(crn, crnProtocol); // 鍑哄簱
- crnProtocol.setLastIo("I");
- }
- }
- // 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
- else if (crnProtocol.getLastIo().equals("O")) {
- if (basCrnp.getOutEnable().equals("Y")) {
- this.locToCrnStn(crn, crnProtocol); // 鍑哄簱
- crnProtocol.setLastIo("I");
- } else if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc(crn, crnProtocol); // 鍏ュ簱
- crnProtocol.setLastIo("O");
- }
- }
- }
- // 搴撲綅绉昏浆
- this.locToLoc(crn, crnProtocol);
+ public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
+ HashMap<String, Object> map = new HashMap<>();
+ String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//搴撲綅鍙�
+ LocMast locMast = locMastService.queryByLoc(locNo);//鎵惧埌搴撲綅璁板綍
+ int lev = Utils.getLev(locNo);//褰撳墠宸ヤ綔妗ｅ簱浣嶅眰楂�
+ ShuttleThread recentShuttle = null;//褰撳墠璺濈鏈�杩戠殑鍥涘悜绌挎杞︾嚎绋�
+
+ ArrayList<ShuttleThread> sameLev = new ArrayList<>();//鐩稿悓妤煎眰鐨勭┛姊溅
+ ArrayList<ShuttleThread> diffLev = new ArrayList<>();//涓嶅悓妤煎眰鐨勭┛姊溅
+
+ //鍒ゆ柇鍏朵粬绌洪棽绌挎杞︽槸鍚︾浠诲姟鏈�杩�
+ String distLocNo = null;//鐩爣鍦扮偣锛屽叆搴�=銆嬫彁鍗囨満鍙ｏ紝鍑哄簱=銆嬭揣鐗╁簱浣嶅彿
+ if (wrkMast.getIoType() == 1) {
+ //鍏ュ簱
+ distLocNo = Utils.levToOutInStaLocNo(lev);
+ }else if(wrkMast.getIoType() == 101){
+ //鍑哄簱
+ distLocNo = locNo;
+ } else if (wrkMast.getIoType() == 11) {
+ //搴撲綅绉昏浆
+ distLocNo = wrkMast.getSourceLocNo();
}
- }
- /**
- * 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
- */
- public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
- 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());
+ //鍒ゆ柇褰撳墠浠诲姟鎵�鍦ㄦゼ灞傛槸鍚︽湁鍏朵粬浠诲姟宸茬粡鍒嗛厤浜嗗皬杞︼紝濡傛湁鍒欑洿鎺ョ敤璇ュ皬杞�(涓�灞傛ゼ浠呭垎閰嶄竴鍙拌溅)
+ List<WrkMast> wrkMasts = wrkMastService.selectShuttleWrkByLev(lev);//鍒ゆ柇褰撳墠绌挎杞︽ゼ灞傛槸鍚﹀凡鏈夊垎閰嶈溅杈嗙殑浠诲姟锛屽鏋滄湁鍒欏垎閰嶈繖杈嗚溅
+ if (wrkMasts.size() > 0) {
+ //瀛樺湪鍏朵粬浠诲姟锛屽垎閰嶈繖杈嗚溅
+ WrkMast wrkMast1 = wrkMasts.get(0);
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast1.getShuttleNo());
+
+ map.put("sameLay", true);//鍚屽眰
+ map.put("result", shuttleThread);
+ return map;
+ }
+
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
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());
+ if (!shuttleProtocol.isIdle()) {
continue;
}
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+ String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
+ if (shuttleLocNo == null) {
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) {
- return;
+ if (shuttleLocNo.equals(distLocNo)) {
+ //杞﹁締褰撳墠浣嶇疆宸茬粡鏄洰鏍囧簱浣嶏紝鏃犻渶璁＄畻
+ map.put("sameLay", true);//鍚屽眰
+ map.put("result", shuttleThread);
+ return map;
}
- // 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 {
+ int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//搴撲綅鍙峰搴斿眰楂�
+ if (lev == shuttleLocNoLey) {
+ //宸ヤ綔妗ｆゼ灞傜浉鍚岀殑绌挎杞�
+ sameLev.add(shuttleThread);
+ }else {
+ //宸ヤ綔妗ｄ笉鍚屾ゼ灞傜殑绌挎杞�
+ diffLev.add(shuttleThread);
+ }
-// 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());
+ Integer recentAllDistance = 9999999;
+ if (sameLev.size() > 0) {
+ //鍚屼竴妤煎眰鏈夌┖闂茬┛姊溅锛屽垯鍙湪宸ヤ綔妗ｆゼ灞傚鎵�
+ //瀵绘壘绂讳换鍔℃渶杩戠殑绌挎杞�
+ for (ShuttleThread shuttleThread : sameLev) {
+ //褰撳墠绌挎杞﹀簱浣嶅彿
+ String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
+ //褰撳墠绌挎杞︾嚎绋嬪埌鐩爣鍦扮偣璺濈
+ List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)));//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ if (currentShuttlePath == null) {
+ continue;
+ }
+ Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ if (currentAllDistance < recentAllDistance) {
+ //濡傛灉褰撳墠妤煎眰鐨勮溅璺緞鏇村皬锛屽垯鏇存柊鏈�杩戠┛姊溅
+ recentShuttle = shuttleThread;
}
}
- }
- }
- /**
- * 鍑哄簱 ===>> 搴撲綅鍒板爢鍨涙満绔�
- */
- public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
- for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
- // 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());
- if (wrkMast == null) {
- continue;
- }
- // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
- if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
- log.error("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());
- continue;
- }
- // 鑾峰彇婧愬簱浣嶄俊鎭�
- LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
- if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
- log.error("鍑哄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(), sourceSta.getLocSts());
- continue;
- }
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃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("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());
- 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()) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ map.put("sameLay", true);//鍚屽眰
+ map.put("result", recentShuttle);
+ }else {
+ //鍚屼竴妤煎眰锛屾病鏈夌┖闂茬┛姊溅锛屽彧鑳戒粠鍏朵粬妤煎眰璋冨害
+ //瀵绘壘绂讳换鍔℃渶杩戠殑绌挎杞�
+ for (ShuttleThread shuttleThread : diffLev) {
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+ //褰撳墠绌挎杞﹀簱浣嶅彿
+ String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
+ int currentLev = Utils.getLev(currentLocNo);
+ List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//鍒ゆ柇褰撳墠绌挎杞︽ゼ灞傛槸鍚︽湁寰呭垎閰嶈溅杈嗙殑浠诲姟锛屽鏋滄湁鍒欎笉鍒嗛厤杩欒締杞�
+ if (wrkMasts1.size() > 0) {
+ //瀛樺湪鍏朵粬浠诲姟锛岃烦杩囪繖杈嗚溅
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.getSourceLocNo())) {
- String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
- 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());
+ //褰撳墠绌挎杞︾嚎绋嬪埌褰撳墠杞﹀瓙鎵�鍦ㄦゼ灞傜殑鎻愬崌鏈哄彛璺濈
+ List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), currentLev));//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ if (currentShuttlePath == null) {
+ continue;
+ }
+
+ Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ if (currentAllDistance < recentAllDistance) {
+ //濡傛灉褰撳墠妤煎眰鐨勮溅璺緞鏇村皬锛屽垯鏇存柊鏈�杩戠┛姊溅
+ recentShuttle = shuttleThread;
+ }
+ }
+
+ map.put("sameLay", false);//涓嶅悓灞�
+ map.put("result", recentShuttle);
+ }
+ return map;
+ }
+
+ /**
+ * 鍥涘悜绌挎杞︿换鍔″畬鎴�
+ */
+ public synchronized void shuttleFinished() {
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︿俊鎭�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ //鍥涘悜绌挎杞︾姸鎬佷负绛夊緟纭銆佸皬杞﹀浜庣┖闂茬姸鎬�
+ if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //浠诲姟瀹屾垚绛夊緟纭
+ && shuttleProtocol.getTaskNo() != 0
+ && shuttleProtocol.getBusyStatus() == 0
+ ) {
+ //鏍囪澶嶄綅
+ shuttleProtocol.setPakMk(true);
+
+ ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();
+
+ //灏嗕换鍔℃。鏍囪涓哄畬鎴�
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
+ ShuttleAssignCommand moveAssignCommand = null;//閬胯鍛戒护
+ if (wrkMast != null) {
+ switch (wrkMast.getWrkSts().intValue()) {
+ case 9://9.灏忚溅鍏ュ簱鎼繍涓� ==> 14.鍏ュ簱瀹屾垚
+ wrkMast.setWrkSts(14L);
+ //浠诲姟鍙锋竻闆�
+ shuttleProtocol.setTaskNo((short) 0);
+ break;
+ case 5://5.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙� ==> 6.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴�
+ wrkMast.setWrkSts(6L);
+ break;
+ case 22://22.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙� ==> 23.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴�
+ wrkMast.setWrkSts(23L);
+ break;
+ case 26://26.灏忚溅鍑哄簱鎼繍涓� ==> 27.灏忚溅鍑哄簱鎼繍瀹屾垚
+ //浠诲姟鎵ц瀹屽悗锛屽皬杞﹁繘鍏ョЩ寮�鎻愬崌鏈哄彛绔欑偣浣嶇疆锛屼互鍏嶅潬钀�
+ //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
+ int distLev = Utils.getLev(wrkMast.getSourceLocNo());//閬胯妤煎眰
+ String startLocNo = "180020" + distLev;
+ moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
+ if (moveAssignCommand == null) {//璋冨害灏忚溅鍛戒护涓虹┖
+ continue;
+ }
+
+ wrkMast.setWrkSts(27L);
+ //浠诲姟鍙锋竻闆�
+ shuttleProtocol.setTaskNo((short) 0);
+ break;
+ default:
+ }
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ //婧愬簱浣嶆竻闆�
+ shuttleProtocol.setSourceLocNo(null);
+ //鐩爣搴撲綅娓呴浂
+ shuttleProtocol.setLocNo(null);
+ //浠诲姟鎸囦护娓呴浂
+ shuttleProtocol.setAssignCommand(null);
+ News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
+
+ if (wrkMast.getWrkSts() == 27) {
+ if (moveAssignCommand != null) {
+ try {
+ Thread.sleep(4000);
+ //涓嬪彂浠诲姟
+ shuttleProtocol.setPakMk(true);
+ MessageQueue.offer(SlaveType.Shuttle, shuttleThread.getSlave().getId(), new Task(3, moveAssignCommand));
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
}
}
- 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");
- wrkMastMapper.updateById(wrkMast);
- // 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�)
- moveLocForDeepLoc(slave, shallowLoc);
+
+ } else {
+ News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
+ }
+ }
+
+ if (assignCommand != null) {
+ if (assignCommand.getTaskMode().intValue() == ShuttleTaskModeType.AVOID.id) {
+ //閬胯浠诲姟
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ //浠诲姟鍙锋竻闆�
+ shuttleProtocol.setTaskNo((short) 0);
+ //婧愬簱浣嶆竻闆�
+ shuttleProtocol.setSourceLocNo(null);
+ //鐩爣搴撲綅娓呴浂
+ shuttleProtocol.setLocNo(null);
+ //浠诲姟鎸囦护娓呴浂
+ shuttleProtocol.setAssignCommand(null);
+ News.info("鍥涘悜绌挎杞﹂伩璁╀换鍔″凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
+ }
+ }
+
+ }
+
+ //鍥涘悜绌挎杞︾姸鎬佷负鍏呯數鐘舵��
+ if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id //鍏呯數鏍囪瘑
+ && shuttleProtocol.getTaskNo() != 0) {
+ //鏌ヨ鏄惁鏈夊厖鐢典换鍔�
+ WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
+ if (wrkCharge != null) {
+ switch (wrkCharge.getWrkSts().intValue()) {
+ case 52://鍥涘悜绌挎杞﹁縼绉诲埌鎻愬崌鏈哄彛
+ wrkCharge.setWrkSts(53L);//杩佺Щ瀹屾垚
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
+ break;
+ case 56://灏忚溅鍘诲厖鐢垫々涓�
+ wrkCharge.setWrkSts(57L);//鍒拌揪鍏呯數妗�
+ break;
+ default:
+ }
+
+ if (wrkChargeMapper.updateById(wrkCharge) > 0) {
+ if (wrkCharge.getWrkSts() == 60) {
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
}
- log.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛�", wrkMast.getWrkNo());
+ if (wrkCharge.getWrkSts() != 57) {
+ //浠诲姟鍙锋竻闆�
+ shuttleProtocol.setTaskNo((short) 0);
+ //婧愬簱浣嶆竻闆�
+ shuttleProtocol.setSourceLocNo(null);
+ //鐩爣搴撲綅娓呴浂
+ shuttleProtocol.setLocNo(null);
+ //鏍囪澶嶄綅
+ shuttleProtocol.setPakMk(true);
+ //浠诲姟鎸囦护娓呴浂
+ shuttleProtocol.setAssignCommand(null);
+ }
+ News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
+ } else {
+ News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
+ }
+ }
+ }
+
+ }
+ }
+
+ /**
+ * 鎻愬崌鏈轰换鍔�
+ */
+ public synchronized void liftIoExecute() {
+ for (LiftSlave liftSlave : slaveProperties.getLift()) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
+
+
+// if (!liftProtocol.isIdle()) {
+// continue;
+// }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庣┖闂茬姸鎬侊紝娌℃湁鍒ゆ柇浠诲姟鍙凤紝鍙兘鎻愬崌鏈哄浜庣┖闂诧紝浣嗘槸杩樻湁浠诲姟鏈畬鎴�
+ if (!liftProtocol.isIdleNoTask()) {
+ continue;
+ }
+
+ //鎼滅储鏄惁鏈夊緟澶勭悊鐨勪换鍔�
+ List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep262327();
+ if (wrkMasts.size() == 0) {
+ continue;
+ }
+
+ for (WrkMast wrkMast : wrkMasts) {
+ //鎼滅储鏄惁鏈夊叾浠栦换鍔″崰鐢ㄤ簡鎻愬崌鏈猴紝濡傛灉鍗犵敤鎻愬崌鏈虹殑浠诲姟鍜屽綋鍓嶄换鍔＄浉鍚岋紝鍒欒繍琛屾墽琛�
+ WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
+ if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
+ continue;
+ }
+
+ //鍛戒护list
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+
+ DevpThread devpThread = null;
+ Integer devpId = null;
+ for (DevpSlave devp : slaveProperties.getDevp()){
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ devpId = devp.getId();
+ }
+
+ if (wrkMast.getWrkSts() == 2) {//2.璁惧涓婅蛋
+ if (liftProtocol.getTaskNo().intValue() != 0) {
+ //瀛樺湪鏈畬鎴愪换鍔″彿
continue;
}
+ if (liftProtocol.getPlatShuttleCheck()) {
+ //鎻愬崌鏈烘鏃舵湁鍥涘悜杞︼紝鍙兘鏈夋湭瀹屾垚鐨勪换鍔★紝绂佹鍒嗛厤鏂颁换鍔�
+ continue;
+ }
+
+ //鑾峰彇鐩爣绔�
+ StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());
+ if (staProtocol.isLoading() || !staProtocol.isInEnable()) {//鐩爣绔欐湁鐗╋紝涓嶅彲鍏ワ紝绂佹鍒嗛厤浠诲姟
+ continue;
+ }
+
+ //宸ヤ綔妗ｇ洰鏍囧簱浣嶅彿
+ String wrkMastLocNo = wrkMast.getLocNo();
+ //宸ヤ綔妗ｇ洰鏍囧簱浣嶆ゼ灞�
+ int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
+
+ Integer levTmp = wrkMastLocNoLey;
+ if (wrkMastLocNoLey >= 2) {
+ levTmp += 1;
+ }
+ Integer distStaNo = Utils.levToOutInStaNo(levTmp);
+
+ if (liftProtocol.getPositionArrivalFeedback().intValue() != LiftLevType.TWO.realLev.intValue()) {
+ //鎻愬崌鏈轰笉鍦ㄨ緭閫佺嚎妤煎眰锛岃幏鍙栧埌杈撻�佺嚎灞傜殑鎻愬崌鏈哄懡浠�
+ LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
+ commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
+ }
+
+ //杈撻�佺嚎灏嗚揣鐗╄繍杩涙潵(鏃犺揣姝ｈ浆)
+ LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 3);
+ command2.setOperaStaNo((short) 102);//鎿嶄綔102绔�
+ command2.setRotationDire(1);//缁欒緭閫佺嚎涓嬪彂閾炬潯杞姩淇″彿锛屾杞�
+ command2.setDevpId(devpId);
+ command2.setStaNo(distStaNo.shortValue());//璁剧疆鐩爣绔�
+ commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //鎻愬崌鏈哄墠寰�鐩爣妤煎眰(宸ヤ綔妗ｇ洰鏍囨ゼ灞�)
+ LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), levTmp);
+ commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓(姝ｈ浆)
+ //杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓
+ LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
+ command4.setOperaStaNo(distStaNo.shortValue());//鎿嶄綔鐩爣妤煎眰绔欑偣
+ command4.setRotationDire(1);//缁欒緭閫佺嚎涓嬪彂閾炬潯杞姩淇″彿锛屾杞�
+ command4.setDevpId(devpId);
+ command4.setStaNo(distStaNo.shortValue());//璁剧疆鐩爣绔�
+ commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //缁欐彁鍗囨満鍒嗛厤浠诲姟
+ liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
+
+ wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//璁剧疆鎻愬崌鏈哄彿鐢ㄤ簬閿佸畾鎻愬崌鏈洪槻姝㈣鍏朵粬浠诲姟鍗犵敤
+ wrkMast.setWrkSts(3L);//3.鎻愬崌鏈烘惉杩愪腑
+ } else if (wrkMast.getWrkSts() == 6) {//6.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴� => 7.鎻愬崌鏈鸿縼绉诲皬杞︿腑
+ if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
+ //鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛屼笖鎻愬崌鏈轰换鍔″彿鍜屽綋鍓嶅伐浣滄。浠诲姟鍙蜂笉涓�鑷�
+ continue;
+ }
+ liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//璁剧疆鍥涘悜绌挎杞﹀彿
+
+ //鍒ゆ柇灏忚溅鏄惁鍦ㄦ彁鍗囨満鍐咃紝涓斿浜庣┖闂茬姸鎬�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+ if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
+ continue;//灏忚溅鐘舵�佸繖
+ }
+ if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
+ continue;//灏忚溅褰撳墠浜岀淮鐮佸拰鎻愬崌鏈哄唴閮ㄤ簩缁寸爜涓嶄竴鑷达紝涓嶅厑璁告墽琛�
+ }
+ if (!liftProtocol.getPlatShuttleCheck()) {
+ //鎻愬崌鏈烘湭妫�娴嬪埌灏忚溅锛岀姝㈡墽琛�
+ continue;
+ }
+
+ //宸ヤ綔妗ｇ洰鏍囧簱浣嶅彿
+ String wrkMastLocNo = wrkMast.getLocNo();
+ //宸ヤ綔妗ｇ洰鏍囧簱浣嶆ゼ灞�
+ int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
+ if (wrkMastLocNoLey >= 2) {
+ wrkMastLocNoLey++;
+ }
+
+ //鎻愬崌鏈哄墠寰�鐩爣妤煎眰(宸ヤ綔妗ｇ洰鏍囨ゼ灞�)
+ LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
+ commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //缁欐彁鍗囨満鍒嗛厤浠诲姟
+ liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
+
+ wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//璁剧疆鎻愬崌鏈哄彿鐢ㄤ簬閿佸畾鎻愬崌鏈洪槻姝㈣鍏朵粬浠诲姟鍗犵敤
+ wrkMast.setWrkSts(7L);//6.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴� => 7.鎻愬崌鏈鸿縼绉诲皬杞︿腑
+ } else if(wrkMast.getWrkSts() == 23) {//23.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴� => 24.鎻愬崌鏈鸿縼绉诲皬杞︿腑
+ if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
+ //鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛屼笖鎻愬崌鏈轰换鍔″彿鍜屽綋鍓嶅伐浣滄。浠诲姟鍙蜂笉涓�鑷�
+ continue;
+ }
+ liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//璁剧疆鍥涘悜绌挎杞﹀彿
+
+ //鍒ゆ柇灏忚溅鏄惁鍦ㄦ彁鍗囨満鍐咃紝涓斿浜庣┖闂茬姸鎬�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
+ continue;//灏忚溅鐘舵�佸繖
+ }
+ if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
+ continue;//灏忚溅褰撳墠浜岀淮鐮佸拰鎻愬崌鏈哄唴閮ㄤ簩缁寸爜涓嶄竴鑷达紝涓嶅厑璁告墽琛�
+ }
+ if (!liftProtocol.getPlatShuttleCheck()) {
+ //鎻愬崌鏈烘湭妫�娴嬪埌灏忚溅锛岀姝㈡墽琛�
+ continue;
+ }
+
+ //宸ヤ綔妗ｇ洰鏍囧簱浣嶅彿
+ String wrkMastLocNo = wrkMast.getSourceLocNo();
+ //宸ヤ綔妗ｇ洰鏍囧簱浣嶆ゼ灞�
+ int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
+ if (wrkMastLocNoLey >= 2) {
+ wrkMastLocNoLey++;
+ }
+
+ //鎻愬崌鏈哄墠寰�鐩爣妤煎眰(宸ヤ綔妗ｇ洰鏍囨ゼ灞�)
+ LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
+ commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //缁欐彁鍗囨満鍒嗛厤浠诲姟
+ liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
+
+ wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//璁剧疆鎻愬崌鏈哄彿鐢ㄤ簬閿佸畾鎻愬崌鏈洪槻姝㈣鍏朵粬浠诲姟鍗犵敤
+ wrkMast.setWrkSts(24L);//23.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴� => 24.鎻愬崌鏈鸿縼绉诲皬杞︿腑
+ } else if (wrkMast.getWrkSts() == 27) {//27.灏忚溅鍑哄簱鎼繍瀹屾垚
+ if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
+ //鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛屼笖鎻愬崌鏈轰换鍔″彿鍜屽綋鍓嶅伐浣滄。浠诲姟鍙蜂笉涓�鑷�
+ continue;
+ }
+ if (liftProtocol.getPlatShuttleCheck()) {
+ //鎻愬崌鏈烘鏃舵湁鍥涘悜杞︼紝鍙兘鏈夋湭瀹屾垚鐨勪换鍔★紝绂佹鍒嗛厤鏂颁换鍔�
+ continue;
+ }
+
+ //宸ヤ綔妗ｆ簮搴撲綅鍙�
+ String wrkMastLocNo = wrkMast.getSourceLocNo();
+ //宸ヤ綔妗ｆ簮搴撲綅妤煎眰
+ int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
+
+ //鎻愬崌鏈哄綋鍓嶆ゼ灞�
+ int liftLev = liftProtocol.getLev().intValue();
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀埌浣�
+ StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey >= 2 ? wrkMastLocNoLey + 1 : wrkMastLocNoLey));//璧峰绔欑偣
+ if (liftLev != wrkMastLocNoLey && !staProtocol.isLiftArrival()) {
+ //鎻愬崌鏈轰笉鍦ㄥ伐浣滄。婧愬簱浣嶆ゼ灞傦紝璋冨害鎻愬崌鏈�
+ LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
+ commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
+ }
+
+ //杈撻�佺嚎灏嗚揣鐗╄繍杩涙潵(鏃犺揣鍙嶈浆)
+ LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 4);
+ command2.setOperaStaNo(staProtocol.getSiteId().shortValue());//杈撻�佺嚎鎿嶄綔绔欑偣鍙�
+ command2.setRotationDire(2);//缁欒緭閫佺嚎涓嬪彂閾炬潯杞姩淇″彿锛屽弽杞�
+ command2.setDevpId(devpId);//杈撻�佺嚎ID
+ command2.setStaNo((short) 104);//鍐欏叆鍑哄簱鐩爣绔�104
+ commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //鎻愬崌鏈哄墠寰�鍑哄簱鍙ｏ紝杈撻�佺嚎妤煎眰
+ LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
+ command3.setDevpId(devpId);//杈撻�佺嚎ID
+ commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓(鍙嶈浆)
+ //杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓
+ LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
+ command4.setOperaStaNo((short) 102);//鎿嶄綔102绔�
+ command4.setRotationDire(2);//缁欒緭閫佺嚎涓嬪彂閾炬潯杞姩淇″彿锛屽弽杞�
+ command4.setDevpId(devpId);//杈撻�佺嚎ID
+ commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //鎻愬崌鏈洪摼鏉℃墽琛屽畬姣曞悗锛岀粰102绔欏啓鍏ヨ祫鏂�
+ LiftCommand command5 = liftThread.getResetCommand();
+ command5.setDevpId(devpId);//杈撻�佺嚎ID
+ command5.setOperaStaNo((short) 102);//鎿嶄綔102绔�
+ command5.setStaNo((short) 104);//鍐欏叆鍑哄簱鐩爣绔�104
+ command5.setRotationDire(0);//閾炬潯杞姩鍋滄
+ commands.add(command5);
+
+ //缁欐彁鍗囨満鍒嗛厤浠诲姟
+ liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
+
+ wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//璁剧疆鎻愬崌鏈哄彿鐢ㄤ簬閿佸畾鎻愬崌鏈洪槻姝㈣鍏朵粬浠诲姟鍗犵敤
+ wrkMast.setWrkSts(28L);//28.鎻愬崌鏈烘惉杩愪腑
}
- // 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) {
- return;
+ //鎵�闇�鍛戒护缁勫悎瀹屾瘯锛屾洿鏂版暟鎹簱锛屾彁浜ゅ埌绾跨▼鍘诲伐浣�
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(liftProtocol.getTaskNo());
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+
+ }
+ }
+
+ /**
+ * 鎻愬崌鏈轰换鍔″畬鎴�
+ */
+ public synchronized void liftFinished() {
+ for (LiftSlave liftSlave : slaveProperties.getLift()) {
+ //鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
+
+ //鎻愬崌鏈轰负绛夊緟纭涓旂┖闂�
+ if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
+ && liftProtocol.getTaskNo() != 0
+ && !liftProtocol.getRunning()
+ ) {
+
+ DevpThread devpThread = null;
+ Integer devpId = null;
+ for (DevpSlave devp : slaveProperties.getDevp()){
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ devpId = devp.getId();
}
- // 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(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(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(crnStn.getLev().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 {
- // 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();
- wrkMast.setWrkSts(12L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("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={}", wrkMast.getWrkNo());
+ //灏嗕换鍔℃。鏍囪涓哄畬鎴�
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
+ if (wrkMast != null) {
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀埌杈句换鍔℃ゼ灞�
+ String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
+ int lev = Utils.getLev(locNo);//浠诲姟鐩爣妤煎眰
+
+ //鏍囪澶嶄綅
+ liftProtocol.setPakMk(true);
+
+ switch (wrkMast.getWrkSts().intValue()) {
+ case 3://3.鎻愬崌鏈烘惉杩愪腑 ==> 4.鎻愬崌鏈烘惉杩愬畬鎴�
+ if (liftProtocol.getLev().intValue() != lev) {
+ continue;//鎻愬崌鏈烘病鏈夊埌杈剧洰鏍�
+ }
+ //缁欑洰鏍囩珯璁剧疆宸ヤ綔鍙�
+ StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//鐩爣绔�
+ staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol));
+ if (!result) {
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ }
+ wrkMast.setWrkSts(4L);
+ //浠诲姟鍙锋竻闆�
+ liftProtocol.setTaskNo((short) 0);
+ wrkMast.setLiftNo(null);//鎻愬崌鏈鸿В閿�
+ break;
+ case 7://7.鎻愬崌鏈鸿縼绉诲皬杞︿腑 ==> 8.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴�
+ if (liftProtocol.getLev().intValue() != lev) {
+ continue;//鎻愬崌鏈烘病鏈夊埌杈剧洰鏍�
+ }
+ wrkMast.setWrkSts(8L);
+ break;
+ case 24://24.鎻愬崌鏈鸿縼绉诲皬杞︿腑 ==> 25.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴�
+ if (liftProtocol.getLev().intValue() != lev) {
+ continue;//鎻愬崌鏈烘病鏈夊埌杈剧洰鏍�
+ }
+ wrkMast.setWrkSts(25L);
+ break;
+ case 28://28.鎻愬崌鏈烘惉杩愪腑 ==> 29.鎻愬崌鏈烘惉杩愬畬鎴�
+ if (liftProtocol.getPositionArrivalFeedback().intValue() != 2) {
+ continue;//鎻愬崌鏈烘槸鍚﹁揪鍒拌緭閫佺嚎妤煎眰
+ }
+ wrkMast.setWrkSts(29L);
+ wrkMast.setWrkSts(34L);//34.鍑哄簱瀹屾垚锛屾殏鏃跺厛鐩存帴瀹屾垚鍑哄簱宸ヤ綔妗ｏ紝鍚庣画闇�瑕佹牴鎹緭閫佺嚎缁欏嚭鐨勭姸鎬佹潵纭畾34.鍑哄簱瀹屾垚鐘舵��
+ //浠诲姟鍙锋竻闆�
+ liftProtocol.setTaskNo((short) 0);
+ wrkMast.setLiftNo(null);//鎻愬崌鏈鸿В閿�
+ break;
+ default:
+ }
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
+ //浠诲姟鎸囦护娓呴浂
+ liftProtocol.setAssignCommand(null);
+ News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬併�傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
+ } else {
+ News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
}
}
+
+ //鏌ヨ鏄惁鏈夊厖鐢典换鍔�
+ WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
+ if (wrkCharge != null) {
+ //鏍囪澶嶄綅
+ liftProtocol.setPakMk(true);
+
+ switch (wrkCharge.getWrkSts().intValue()) {
+ case 54://鎻愬崌鏈烘惉杩愪腑
+ wrkCharge.setWrkSts(55L);//鎻愬崌鏈烘惉杩愬畬鎴�
+ break;
+ default:
+ }
+
+ if (wrkChargeMapper.updateById(wrkCharge) > 0) {
+ //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
+ //浠诲姟鍙锋竻闆�
+ liftProtocol.setTaskNo((short) 0);
+ //鏍囪澶嶄綅
+ liftProtocol.setPakMk(true);
+ //浠诲姟鎸囦护娓呴浂
+ liftProtocol.setAssignCommand(null);
+ News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
+ } else {
+ News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
+ }
+ }
+
+ //涓嶆槸鍏ュ嚭搴撹皟搴︿换鍔°�佸伐浣滄。浠诲姟锛岃繘琛屾彁鍗囨満鐨勫浣�
+ if (liftProtocol.getAssignCommand() != null) {
+ //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
+ //鍒ゆ柇鏄惁涓哄洓鍚戠┛姊溅璋冨害鎻愬崌鏈猴紝濡傛槸鍒欐棤闇�娓呯悊浠诲姟鍙�
+ if (!liftProtocol.getSecurityMk()) {
+ //浠诲姟鍙锋竻闆�
+ liftProtocol.setTaskNo((short) 0);
+ }
+ //鏍囪澶嶄綅
+ liftProtocol.setPakMk(true);
+ //浠诲姟鎸囦护娓呴浂
+ liftProtocol.setAssignCommand(null);
+ News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
+ }
+
}
}
}
@@ -720,234 +2018,363 @@
/**
* 搴撲綅绉昏浆
*/
- public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
- // 鑾峰彇宸ヤ綔妗ｄ俊鎭�
- WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
- if (null == wrkMast) {
- return;
- }
- // 鑾峰彇婧愬簱浣嶄俊鎭�
- LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
- if (null == sourceSta) {
- log.error("宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈡簮搴撲綅澶辫触锛佸伐浣滃彿={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
- return;
- }
- // 婧愬簱浣� 搴撲綅鐘舵�佸垽鏂�
- if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) {
- return;
- }
- // 鑾峰彇鐩爣搴撲綅淇℃伅
- LocMast sta = locMastService.selectById(wrkMast.getLocNo());
- if (null == sta) {
- log.error("宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈢洰鏍囧簱浣嶅け璐ワ紒宸ヤ綔鍙�={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
- return;
- }
- // 鑾峰彇鍫嗗灈鏈轰俊鎭� 骞� 鍒ゆ柇鏄惁鍙叆鍑�
- BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
- if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
+ public synchronized void locToLocExecute() {
+ //鑾峰彇鍑哄叆搴撳伐浣滄。
+ List<WrkMast> wrkMasts = wrkMastMapper.selectInOutWrkMast();
+ if (wrkMasts.size() > 0) {
+ //鏈夊嚭鍏ュ簱浠诲姟锛屽繀椤荤瓑寰呬换鍔℃墽琛屽畬姣曞啀鎵ц搴撲綅绉昏浆
return;
}
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
- return;
- }
+ //鏌ヨ搴撲綅绉昏浆宸ヤ綔妗�
+ List<WrkMast> wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast();
+ for (WrkMast wrkMast : wrkMasts1) {
- // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (wrkMastMapper.selectLocMoving(slave.getId()) != null) {
- return;
- }
-
- // 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(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(sta.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 {
- // 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();
- wrkMast.setWrkSts(12L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("銆愬簱浣嶇Щ杞�� 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={}", wrkMast.getWrkNo());
- }
- }
-
- }
-
- /**
- * 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
- */
- @Async
- public 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());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- 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) {
- // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
- WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
- if (wrkMast == null) {
- log.error("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
- 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�
- crnThread.setResetFlag(true);
- }
-
- }
- }
- }
-
- /**
- * 鍫嗗灈鏈哄紓甯镐俊鎭褰�
- */
- @Async
- public void recCrnErr(){
- Date now = new Date();
- 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) {
+ boolean step1 = this.locToLocExecuteStep1(wrkMast);//缁戝畾灏忚溅
+ if (!step1) {
continue;
}
- if (true) {
-// if (crnProtocol.getModeType() != CrnModeType.STOP) {
- // 鏈変换鍔�
- if (crnProtocol.getTaskNo() != 0) {
- BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
- // 鏈夊紓甯�
- if (latest == null) {
- if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
- WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
- if (wrkMast == null) {
- continue;
- }
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
- String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
- BasErrLog basErrLog = new BasErrLog(
- null, // 缂栧彿
- wrkMast.getWrkNo(), // 宸ヤ綔鍙�
- now, // 鍙戠敓鏃堕棿
- null, // 缁撴潫鏃堕棿
- wrkMast.getWrkSts(), // 宸ヤ綔鐘舵��
- wrkMast.getIoType(), // 鍏ュ嚭搴撶被鍨�
- crn.getId(), // 鍫嗗灈鏈�
- null, // plc
- wrkMast.getLocNo(), // 鐩爣搴撲綅
- wrkMast.getStaNo(), // 鐩爣绔�
- wrkMast.getSourceStaNo(), // 婧愮珯
- wrkMast.getSourceLocNo(), // 婧愬簱浣�
- wrkMast.getBarcode(), // 鏉＄爜
- (int) crnProtocol.getAlarm(), // 寮傚父鐮�
- errName, // 寮傚父
- 1, // 寮傚父鎯呭喌
- now, // 娣诲姞鏃堕棿
- null, // 娣诲姞浜哄憳
- now, // 淇敼鏃堕棿
- null, // 淇敼浜哄憳
- "浠诲姟涓紓甯�" // 澶囨敞
- );
- if (!basErrLogService.insert(basErrLog)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
- }
- }
- } else {
- // 寮傚父淇
- if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
- latest.setEndTime(now);
- latest.setUpdateTime(now);
- latest.setStatus(2);
- if (!basErrLogService.updateById(latest)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
- }
- }
- }
- // 鏃犱换鍔�
- } else {
- BasErrLog latest = basErrLogService.findLatest(crn.getId());
- // 鏈夊紓甯�
- if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
- // 璁板綍鏂板紓甯�
- if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
- String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
- BasErrLog basErrLog = new BasErrLog(
- null, // 缂栧彿
- null, // 宸ヤ綔鍙�
- now, // 鍙戠敓鏃堕棿
- null, // 缁撴潫鏃堕棿
- null, // 宸ヤ綔鐘舵��
- null, // 鍏ュ嚭搴撶被鍨�
- crn.getId(), // 鍫嗗灈鏈�
- null, // plc
- null, // 鐩爣搴撲綅
- null, // 鐩爣绔�
- null, // 婧愮珯
- null, // 婧愬簱浣�
- null, // 鏉＄爜
- (int)crnProtocol.getAlarm(), // 寮傚父鐮�
- errName, // 寮傚父
- 1, // 寮傚父鎯呭喌
- now, // 娣诲姞鏃堕棿
- null, // 娣诲姞浜哄憳
- now, // 淇敼鏃堕棿
- null, // 淇敼浜哄憳
- "鏃犱换鍔″紓甯�" // 澶囨敞
- );
- if (!basErrLogService.insert(basErrLog)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
- }
- }
- // 鏃犲紓甯�
- } else {
- // 寮傚父淇
- if (latest != null && latest.getStatus() == 1) {
- latest.setEndTime(now);
- latest.setUpdateTime(now);
- latest.setStatus(2);
- if (!basErrLogService.updateById(latest)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
- }
- }
- }
- }
+
+ boolean step2 = this.locToLocExecuteStep2(wrkMast);//璋冨害灏忚溅鍒扮洰鏍囨ゼ灞�
+ if (!step2) {
+ continue;
+ }
+
+ boolean step3 = this.locToLocExecuteStep3(wrkMast);//鍚屾ゼ灞傚簱浣嶇Щ杞�
+ if (!step3) {
+ continue;
}
}
}
+ /**
+ * 缁戝畾灏忚溅骞惰皟搴﹁溅
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean locToLocExecuteStep1(WrkMast wrkMast) {
+ if (wrkMast.getShuttleNo() == null) {//缁欏簱浣嶇Щ杞粦瀹氱┛姊溅鍙�
+ //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅
+ HashMap<String,Object> searchIdleShuttle = this.searchIdleShuttle(wrkMast);
+ ShuttleThread shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
+ if (shuttleThread == null) {
+ //娌℃湁鎵惧埌绌洪棽绌挎杞�
+ return false;
+ }
+ wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
+ wrkMastMapper.updateById(wrkMast);
+ }
+ return true;
+ }
+
+ /**
+ * 璋冨害灏忚溅鍒扮洰鏍囨ゼ灞�
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean locToLocExecuteStep2(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == 1 && wrkMast.getShuttleNo() != null) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
+ return false;//灏忚溅澶勪簬涓嶇┖闂茬姸鎬�
+ }
+
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();//灏忚溅褰撳墠搴撲綅鍙�
+ int shuttleLev = Utils.getLev(currentLocNo);//灏忚溅鎵�鍦ㄦゼ灞�
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+
+ //鍒ゆ柇灏忚溅鏄惁鍐嶇洰鏍囨ゼ灞�
+ if (shuttleLev != Utils.getLev(wrkMast.getLocNo())) {
+ //灏忚溅鍜岀洰鏍囦笉鍦ㄥ悓涓�妤煎眰
+
+ //鎻愬崌鏈哄彛绔欑偣搴撲綅鍙�
+ String liftSiteLocNo = Utils.levToOutInStaLocNo(shuttleLev);
+
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//鍏ュ嚭搴撴ā寮�
+ assignCommand.setSourceLocNo(currentLocNo);//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+
+ //灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(shuttleProtocol.getLocNo(), liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
+ if (commands == null) {
+ return false;//鏈壘鍒拌矾寰�
+ }
+
+ //鑾峰彇褰撳墠灏忚溅鎵�鍦ㄦゼ灞傜殑绔欑偣淇℃伅
+ BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
+ Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
+
+ //澧炲姞绉诲姩杩涙彁鍗囨満鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
+ commands.add(moveCommand);
+
+ //鍒嗛厤鐩爣搴撲綅
+ shuttleProtocol.setLocNo(liftSiteLocNo);
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(liftSiteLocNo);
+ assignCommand.setCommands(commands);
+ wrkMast.setWrkSts(5L);//灏忚溅杩佺Щ鐘舵��
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+ }
+ return true;
+ }
+
+ /**
+ * 鍚屾ゼ灞傚簱浣嶇Щ杞�
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean locToLocExecuteStep3(WrkMast wrkMast) {
+ if (wrkMast.getShuttleNo() == null) {
+ return false;
+ }
+
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
+ return false;//灏忚溅澶勪簬涓嶇┖闂茬姸鎬�
+ }
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+
+ DevpThread devpThread = null;
+ for (DevpSlave devp : slaveProperties.getDevp()){
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁鍦ㄥ伐浣滄。浠诲姟鐩爣妤煎眰
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();//灏忚溅褰撳墠搴撲綅鍙�
+ int shuttleLev = Utils.getLev(currentLocNo);//灏忚溅鎵�鍦ㄦゼ灞�
+ if (shuttleLev != Utils.getLev(wrkMast.getLocNo())) {
+ return false;//涓嶅湪鍚屼竴妤煎眰
+ }
+
+ if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 8) {
+ //璋冨害灏忚溅鎵ц鍚屾ゼ灞傜Щ搴撲换鍔�
+
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//鍏ュ嚭搴撴ā寮�
+ assignCommand.setSourceLocNo(currentLocNo);//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+
+ List<ShuttleCommand> commands = new ArrayList<>();
+
+ if (wrkMast.getWrkSts() == 8) {//8.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴愶紝闇�瑕佸皢灏忚溅绉诲嚭鎻愬崌鏈�
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
+ if (!liftProtocol.isIdleNoTask()) {
+ return false;//鎻愬崌鏈哄繖
+ }
+ //鍒ゆ柇鎻愬崌鏈轰换鍔″彿鍜屽綋鍓嶅伐浣滄。浠诲姟鍙锋槸鍚︿竴鑷�
+ if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘ゼ灞傛槸鍚﹀埌浣嶏紝鍒ゆ柇绔欑偣鏄惁缁欏嚭鎻愬崌鏈哄埌浣嶄俊鍙�
+ String locNo = wrkMast.getLocNo();
+ int lev = Utils.getLev(locNo);//鐩爣浜岀淮鐮佹墍鍦ㄦゼ灞�
+ int liftLev = liftProtocol.getLev().intValue();//鎻愬崌鏈烘墍鍦ㄦゼ灞�
+ if (liftLev != lev) {
+ return false;//鎻愬崌鏈轰笉鍦ㄧ洰鏍囨ゼ灞傝烦杩�
+ }
+
+ Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
+ //鑾峰彇鐩爣绔欎俊鎭�
+ StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
+ if (staProtocol1 == null) {
+ return false;//绔欑偣淇℃伅涓嶅瓨鍦�
+ }
+ if (!staProtocol1.isLiftArrival()) {
+ return false;//绔欑偣鎻愬崌鏈哄埌浣嶄俊鍙穎alse
+ }
+
+ BasDevp basDevp = basDevpService.selectById(staNo);
+ short startCode = liftProtocol.getBarcode();//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
+ Short distCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈哄彛绔欑偣浜岀淮鐮�
+ Short runDirection = ShuttleRunDirection.BOTTOM.id;//杩愯鏂瑰悜
+ //鑾峰彇鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, null, null, 500);
+ commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
+
+ currentLocNo = basDevp.getLocNo();//浣跨敤杈撻�佺珯鐐瑰彛浣滀负璧风偣鍧愭爣
+ }
+
+ //鐩存帴璁＄畻杞﹀埌婧愬簱浣嶅埌鐩爣搴撲綅璺緞
+ List<ShuttleCommand> commands1 = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), wrkMast.getLocNo(), assignCommand, shuttleThread);
+ if (commands1 == null) {
+ return false;//鎵句笉鍒拌矾寰勭瓑寰呬笅涓�娆�
+ }
+ commands.addAll(commands1);
+
+ //鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍒嗛厤婧愬簱浣�
+ shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
+
+ assignCommand.setCommands(commands);
+ //鍒嗛厤鐩爣搴撲綅
+ shuttleProtocol.setLocNo(wrkMast.getLocNo());
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(wrkMast.getLocNo());
+ wrkMast.setWrkSts(9L);//灏忚溅鍏ュ簱涓�
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+
+ return true;
+ }
+
+ /**
+ * 寮傚父淇℃伅璁板綍
+ */
+ public void recErr() {
+ try {
+ this.recShuttleErr();
+ } catch (Exception e) {
+ News.error("recErr fail", e);
+ }
+ }
+
+ /**
+ * 鍥涘悜绌挎杞﹀紓甯镐俊鎭褰�
+ */
+ private void recShuttleErr() {
+ Date now = new Date();
+ for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getTaskNo() != 0) {
+ //鏈変换鍔�
+ BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue());
+ // 鏈夊紓甯�
+ if (latest == null) {
+ if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
+ WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
+ if (wrkMast == null) {
+ continue;
+ }
+ BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
+ String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName();
+ BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
+ null, // 缂栧彿
+ wrkMast.getWrkNo(), // 宸ヤ綔鍙�
+ now, // 鍙戠敓鏃堕棿
+ null, // 缁撴潫鏃堕棿
+ wrkMast.getWrkSts(), // 宸ヤ綔鐘舵��
+ wrkMast.getIoType(), // 鍏ュ嚭搴撶被鍨�
+ shuttleSlave.getId(), // 鍥涘悜绌挎杞�
+ null, // plc
+ wrkMast.getLocNo(), // 鐩爣搴撲綅
+ wrkMast.getStaNo(), // 鐩爣绔�
+ wrkMast.getSourceStaNo(), // 婧愮珯
+ wrkMast.getSourceLocNo(), // 婧愬簱浣�
+ wrkMast.getBarcode(), // 鏉＄爜
+ (int) shuttleProtocol.getStatusErrorCode(), // 寮傚父鐮�
+ errName, // 寮傚父
+ 1, // 寮傚父鎯呭喌
+ now, // 娣诲姞鏃堕棿
+ null, // 娣诲姞浜哄憳
+ now, // 淇敼鏃堕棿
+ null, // 淇敼浜哄憳
+ "浠诲姟涓紓甯�" // 澶囨敞
+ );
+ if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
+ }
+ }
+ } else {
+ // 寮傚父淇
+ if (shuttleProtocol.getStatusErrorCode() == null || shuttleProtocol.getStatusErrorCode() == 0) {
+ latest.setEndTime(now);
+ latest.setUpdateTime(now);
+ latest.setStatus(2);
+ if (!basShuttleErrLogService.updateById(latest)) {
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
+ }
+ }
+ }
+ }else {
+ //鏃犱换鍔�
+ BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
+ // 鏈夊紓甯�
+ if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
+ // 璁板綍鏂板紓甯�
+ if (latest == null || (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
+ BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
+ String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName();
+ BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
+ null, // 缂栧彿
+ null, // 宸ヤ綔鍙�
+ now, // 鍙戠敓鏃堕棿
+ null, // 缁撴潫鏃堕棿
+ null, // 宸ヤ綔鐘舵��
+ null, // 鍏ュ嚭搴撶被鍨�
+ shuttleSlave.getId(), // 鍥涘悜绌挎杞�
+ null, // plc
+ null, // 鐩爣搴撲綅
+ null, // 鐩爣绔�
+ null, // 婧愮珯
+ null, // 婧愬簱浣�
+ null, // 鏉＄爜
+ (int)shuttleProtocol.getStatusErrorCode(), // 寮傚父鐮�
+ errName, // 寮傚父
+ 1, // 寮傚父鎯呭喌
+ now, // 娣诲姞鏃堕棿
+ null, // 娣诲姞浜哄憳
+ now, // 淇敼鏃堕棿
+ null, // 淇敼浜哄憳
+ "鏃犱换鍔″紓甯�" // 澶囨敞
+ );
+ if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
+ }
+ }
+ // 鏃犲紓甯�
+ } else {
+ // 寮傚父淇
+ if (latest != null && latest.getStatus() == 1) {
+ latest.setEndTime(now);
+ latest.setUpdateTime(now);
+ latest.setStatus(2);
+ if (!basShuttleErrLogService.updateById(latest)) {
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
+ }
+ }
+ }
+ }
+ }
+ }
// -------------------------------------------------------------------------------
/**
* 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(){
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻绌烘澘鍏ュ簱鍙�
@@ -961,16 +2388,38 @@
staProtocol = staProtocol.clone();
}
// 绔欑偣鏉′欢鍒ゆ柇
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
- && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999 || staProtocol.getWorkNo() == 9990 || staProtocol.getWorkNo() == 9997) && staProtocol.isPakMk()) {
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && staProtocol.isEmptyMk()
+ && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() >= 9990 || staProtocol.getWorkNo() <= 9999))
+ && staProtocol.isPakMk()) {
+
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ String barcode = null;
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
+ if (barcodeThread != null) {
+ String barcode0 = barcodeThread.getBarcode();
+ if(!Cools.isEmpty(barcode0)) {
+// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", emptyInSta.getBarcode(), barcode0);
+ if(!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
+ barcode = barcode0;
+ }
+ }
+ }
+
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
try {
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
SearchLocParam param = new SearchLocParam();
param.setIoType(10);
+ if (!Cools.isEmpty(barcode)) {
+ param.setBarcode(barcode);
+ }
param.setSourceStaNo(emptyInSta.getStaNo());
- param.setLocType1(locTypeDto.getLocType1());
+// param.setLocType1(locTypeDto.getLocType1());
String response = new HttpHandler.Builder()
.setUri(wmsUrl)
.setPath("/rpc/pakin/loc/v1")
@@ -978,7 +2427,8 @@
.build()
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
@@ -990,68 +2440,18 @@
throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
}
} 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);
+ if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+ if (!Cools.isEmpty(errorMsg)) {
+ MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
+ }
+ }
+ News.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);
}
} catch (Exception e) {
e.printStackTrace();
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
-
-
-
-
-// // 妫�绱㈠簱浣�
-// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-// StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null, locTypeDto, 0);
-// // 宸ヤ綔鍙�
-// int workNo = startupDto.getWorkNo();
-//
-// try {
-// // 鎻掑叆宸ヤ綔涓绘。
-// WrkMast 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(10); // 鍏ュ嚭搴撶姸鎬侊細10.绌烘澘鍏ュ簱
-// 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.setFullPlt("N"); // 婊℃澘
-// wrkMast.setPicking("N"); // 鎷ｆ枡
-// wrkMast.setExitMk("N"); // 閫�鍑�
-// wrkMast.setEmptyMk("Y"); // 绌烘澘
-// wrkMast.setLinkMis("N");
-//// wrkMast.setCtnType(sourceStaNo.getCtnType()); // 瀹瑰櫒绫诲瀷
-// // 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�");
-// }
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-//
-// // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
-// 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();
-// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
-// }
}
@@ -1063,7 +2463,6 @@
/**
* 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
*/
- @Async
public void ledExecute() {
for (LedSlave led : slaveProperties.getLed()) {
// 鑾峰彇杈撻�佺嚎plc绾跨▼
@@ -1087,6 +2486,7 @@
// 缁勮鍛戒护
LedCommand ledCommand = new LedCommand();
ledCommand.setWorkNo(wrkMast.getWrkNo());
+ ledCommand.setIoType(wrkMast.getIoType());
// 鍑哄簱妯″紡
switch (wrkMast.getIoType()) {
case 101:
@@ -1106,14 +2506,15 @@
ledCommand.setEmptyMk(true);
break;
default:
- log.error("浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
+ News.error("浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
break;
}
ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
+ ledCommand.setLocNo(wrkMast.getLocNo());
ledCommand.setStaNo(wrkMast.getStaNo());
- if (wrkMast.getIoType() != 110) {
+ if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
- wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatNo(), wrkDetl.getMatName(), wrkDetl.getQty())));
+ wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
}
commands.add(ledCommand);
}
@@ -1126,11 +2527,20 @@
}
// 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
if (!commands.isEmpty()) {
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
- 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());
- continue;
- } else {
- ledThread.setLedMk(false);
+ if (led.getId()>3){
+ if (!MessageQueue.offer(SlaveType.Led, led.getId()-3, new Task(1, commands))) {
+ 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()-3, led.getIp(), led.getPort());
+ continue;
+ }else {
+ ledThread.setLedMk(false);
+ }
+ }else {
+ if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
+ 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());
+ continue;
+ }else {
+ ledThread.setLedMk(false);
+ }
}
}
@@ -1158,36 +2568,9 @@
/**
* 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());
-// }
-// }
-// }
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
@@ -1198,246 +2581,412 @@
if (staProtocol == null) {
continue;
}
+ if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
+ reset = false;
+ break;
+ }
+ }
+ // 鑾峰彇led绾跨▼
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
+ // led鏄剧ず榛樿鍐呭
+ if (reset && !ledThread.isLedMk()) {
+ ledThread.setLedMk(true);
+ if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
+ News.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());
+ } else {
+
+ }
+ }
+ }
+ 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; }
if (staProtocol.getWorkNo() != 0) {
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 && !ledThread.isLedMk()) {
ledThread.setLedMk(true);
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());
- } else {
-
+ News.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());
}
}
}
}
/**
- * 鍥犲弻娣卞簱浣嶉樆濉烇紝瀵规祬搴撲綅杩涜绉昏浆锛堢珛鍗虫墽琛岀増)
- * tip锛氬悓姝�
+ * 鍥涘悜绌挎杞︾數閲忔娴� ===>> 鍙戣捣鍏呯數
*/
- private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){
- List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
- LocMast loc = null;
- for (Integer row : rows) {
- if (Utils.isDeepLoc(slaveProperties, row)) {
- loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
- if (null != loc) { break; }
- }
- }
- if (null == loc) {
- for (Integer row : rows) {
- if (Utils.isShallowLoc(slaveProperties, row)) {
- loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
- if (null != loc) { break; }
- }
- }
- }
- if (null == loc) {
- throw new CoolException("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
- }
-
- // 鑾峰彇宸ヤ綔鍙�
- int workNo = commonService.getWorkNo(0);
- // 淇濆瓨宸ヤ綔妗�
- WrkMast wrkMast = new WrkMast();
- wrkMast.setWrkNo(workNo);
- wrkMast.setIoTime(new Date());
- wrkMast.setWrkSts(11L); // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
- wrkMast.setIoType(11); // 鍏ュ嚭搴撶姸鎬侊細 11.搴撴牸绉昏浇
- wrkMast.setIoPri(13D);
- 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.setPicking("N"); // 鎷ｆ枡
- wrkMast.setExitMk("N"); // 閫�鍑�
- wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D")?"Y":"N"); // 绌烘澘
- wrkMast.setBarcode(shallowLoc.getBarcode()); // 鎵樼洏鐮�
- wrkMast.setLinkMis("N");
- wrkMast.setAppeTime(new Date());
- wrkMast.setModiTime(new Date());
- int res = wrkMastMapper.insert(wrkMast);
- if (res == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
- }
- // 宸ヤ綔妗ｆ槑缁嗕繚瀛�
- if (shallowLoc.getLocSts().equals("F")) {
- List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
- for (LocDetl locDetl : locDetls) {
- WrkDetl wrkDetl = new WrkDetl();
- wrkDetl.setWrkNo(workNo);
- wrkDetl.setIoTime(new Date());
- wrkDetl.setQty(locDetl.getQty());
- VersionUtils.setWrkDetl(wrkDetl, locDetl); // 鐗堟湰鎺у埗
- wrkDetl.setAppeTime(new Date());
- wrkDetl.setModiTime(new Date());
- if (!wrkDetlService.insert(wrkDetl)) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
- }
- }
- }
- // 淇敼婧愬簱浣嶇姸鎬�
- if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
- shallowLoc.setLocSts("R"); // R.鍑哄簱棰勭害
- shallowLoc.setModiTime(new Date());
- if (!locMastService.updateById(shallowLoc)){
- throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
- }
- } else {
- throw new CoolException("婧愬簱浣嶅嚭搴撳け璐�");
- }
- // 淇敼鐩爣搴撲綅鐘舵��
- if (loc.getLocSts().equals("O")) {
- loc.setLocSts("S"); // S.鍏ュ簱棰勭害
- loc.setModiTime(new Date());
- if (!locMastService.updateById(loc)) {
- throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
- }
- } else {
- throw new CoolException("绉昏浆澶辫触");
- }
-
- }
-
- /**
- * 鍫嗗灈鏈烘紨绀� ===>> 搴撲綅绉昏浆
- */
- public synchronized void crnDemoOfLocMove1(){
- for (CrnSlave crn : slaveProperties.getCrn()) {
- if (!crn.getDemo()) { continue; } // 蹇呴』涓烘紨绀虹姸鎬�
-
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) { continue; }
-
- // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- // 鑾峰彇绉诲簱宸ヤ綔妗ｄ俊鎭�
- WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
- if (null != wrkMast) { continue; }
-
- LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
- LocMast loc = locMastService.queryDemoLoc(crn.getId());
- if (null == sourceLoc || null == loc) { continue; }
-
- String sourceLocNo = sourceLoc.getLocNo();
- String locNo = loc.getLocNo();
-
- // 鑾峰彇宸ヤ綔鍙�
- int workNo = commonService.getWorkNo(0);
- // 淇濆瓨宸ヤ綔妗�
- wrkMast = new WrkMast();
- wrkMast.setWrkNo(workNo);
- wrkMast.setIoTime(new Date());
- wrkMast.setWrkSts(11L); // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
- wrkMast.setIoType(11); // 鍏ュ嚭搴撶姸鎬侊細 11.搴撴牸绉昏浇
- wrkMast.setIoPri(13D);
- wrkMast.setCrnNo(crn.getId());
- wrkMast.setSourceLocNo(sourceLocNo); // 婧愬簱浣�
- wrkMast.setLocNo(locNo); // 鐩爣搴撲綅
- wrkMast.setFullPlt("N"); // 婊℃澘锛歒
- wrkMast.setPicking("N"); // 鎷ｆ枡
- wrkMast.setExitMk("N"); // 閫�鍑�
- wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D")?"Y":"N"); // 绌烘澘
- wrkMast.setBarcode(sourceLoc.getBarcode()); // 鎵樼洏鐮�
- wrkMast.setLinkMis("N");
- wrkMast.setAppeTime(new Date());
- wrkMast.setModiTime(new Date());
- int res = wrkMastMapper.insert(wrkMast);
- if (res == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
- }
- // 宸ヤ綔妗ｆ槑缁嗕繚瀛�
-// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
-// for (LocDetl locDetl : locDetls) {
-// WrkDetl wrkDetl = new WrkDetl();
-// wrkDetl.setWrkNo(workNo);
-// wrkDetl.setIoTime(new Date());
-// wrkDetl.setAnfme(locDetl.getAnfme());
-// VersionUtils.setWrkDetl(wrkDetl, locDetl); // 鐗堟湰鎺у埗
-// wrkDetl.setAppeTime(new Date());
-// wrkDetl.setModiTime(new Date());
-// if (!wrkDetlService.insert(wrkDetl)) {
-// throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
-// }
-// }
- // 淇敼婧愬簱浣嶇姸鎬�
- if (sourceLoc.getLocSts().equals("D")) {
- sourceLoc.setLocSts("R"); // R.鍑哄簱棰勭害
- sourceLoc.setModiTime(new Date());
- if (!locMastService.updateById(sourceLoc)){
- throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
- }
- } else {
- throw new CoolException("婧愬簱浣嶅嚭搴撳け璐�");
- }
- // 淇敼鐩爣搴撲綅鐘舵��
- if (loc.getLocSts().equals("O")) {
- loc.setLocSts("S"); // S.鍏ュ簱棰勭害
- loc.setModiTime(new Date());
- if (!locMastService.updateById(loc)) {
- throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
- }
- } else {
- throw new CoolException("绉昏浆澶辫触");
- }
-
- }
-
- }
- }
-
- /**
- * 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��
- */
- public synchronized void crnIoWrkMast(){
- 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) {
+ public synchronized void loopShuttleCharge() {
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
continue;
}
- Date now = new Date();
- // 鍫嗗灈鏈烘鍦ㄨ繍琛�
- if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- // 鑾峰彇宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
- if (wrkMast == null) { continue; }
- // 鍏ュ簱
- if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 2) {
- log.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
- 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());
- }
- log.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
- }
- // 鍑哄簱銆佺Щ搴�
- if (wrkMast.getWrkSts() == 11) {
- log.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
- // 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�
- wrkMast.setWrkSts(12L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("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={}", wrkMast.getWrkNo());
- }
- log.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
- }
-
+ //鍒ゆ柇褰撳墠灏忚溅鏄惁婊¤冻闇�瑕佸厖鐢佃姹�
+ if (!shuttleProtocol.isRequireCharge()) {
+ continue;
}
+ WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue());
+ if (wrkCharge != null) {//宸叉湁鍏呯數浠诲姟
+ continue;
+ }
+
+ ShuttleChargeType shuttleCharge = null;
+ for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
+ if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
+ shuttleCharge = chargeType;
+ break;
+ }
+ }
+
+ if (shuttleCharge == null) {
+ continue;
+ }
+
+ String chargeLocNo = shuttleCharge.locNo;
+ wrkCharge = new WrkCharge();
+ wrkCharge.setShuttleNo(shuttle.getId());
+ wrkCharge.setCharge(shuttleCharge.id);
+ wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
+ wrkCharge.setWrkSts(51L); // 21.鍑嗗鍏呯數
+ wrkCharge.setIoPri((double) 10);
+ wrkCharge.setLocNo(chargeLocNo);
+ wrkCharge.setMemo("charge");
+ wrkCharge.setAppeTime(new Date());
+ if (!wrkChargeService.insert(wrkCharge)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟澶辫触!!!", shuttle.getId());
+ continue;
+ }
+
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//鍏呯數涓�
+ News.info("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟鎴愬姛!!!", shuttle.getId());
+ }
+ }
+
+ /**
+ * 鎵ц鍥涘悜绌挎杞﹀厖鐢典换鍔�
+ */
+ public synchronized void executeShuttleCharge() {
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
+ if (wrkCharge == null) {
+ continue;
+ }
+
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ //鑾峰彇鎻愬崌鏈�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
+ //鍏呯數搴撲綅鍙�
+ String chargeLocNo = wrkCharge.getLocNo();
+ //鍏呯數搴撲綅灞傞珮
+ Integer chargeLocNoLev = Utils.getLev(chargeLocNo);
+
+ if (wrkCharge.getWrkSts() == 51) {
+ //褰撳墠绌挎杞﹀簱浣嶅彿
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ if (currentLocNo == null) {
+ continue;
+ }
+ //灏忚溅褰撳墠灞傞珮
+ Integer currentLev = Utils.getLev(currentLocNo);
+
+ if (currentLev == chargeLocNoLev) {
+ //鍚屼竴灞傛棤闇�缁忚繃鎻愬崌鏈�
+ //鐩存帴璁＄畻杞﹀埌鍏呯數搴撲綅
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
+ //鑾峰彇灏忚溅鍒板厖鐢靛簱浣嶈矾寰勬寚浠�
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
+ if (commands == null) {
+ continue;//鏈壘鍒拌矾寰�
+ }
+ //杩涜鍏呯數涓�
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
+
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍏呯數
+ assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
+ assignCommand.setCharge(true);//鍏呯數浠诲姟
+
+ //鍒涘缓鍏呯數鎸囦护
+ ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//寮�濮嬪厖鐢�
+ commands.add(command);
+
+ //鎸囦护闆嗗垎閰�
+ assignCommand.setCommands(commands);
+
+ wrkCharge.setWrkSts(56L);//鍏呯數涓姸鎬�
+ if (wrkChargeMapper.updateById(wrkCharge) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }else {
+ //涓嶅悓灞傦紝璋冨害灏忚溅鍒板厖鐢垫々鐩爣灞�
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
+ //鑾峰彇灏忚溅褰撳墠妤煎眰鐨勭珯鐐瑰彿
+ String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);
+
+ //灏忚溅绉诲姩鍒版彁鍗囨満鍙ｇ珯鐐癸紝璁＄畻璺緞
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
+ if (commands == null) {
+ continue;//鏈壘鍒拌矾寰�
+ }
+
+ //鑾峰彇褰撳墠灏忚溅鎵�鍦ㄦゼ灞傜殑绔欑偣淇℃伅
+ BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
+ if (basDevp == null) {
+ continue;//鎵句笉鍒扮珯鐐逛俊鎭�
+ }
+ Short basDevpQrCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
+
+ //澧炲姞绉诲姩杩涙彁鍗囨満鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(basDevpQrCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, basDevpQrCode, 1600, 500);
+ commands.add(moveCommand);
+
+ //鍒嗛厤鐩爣搴撲綅
+ shuttleProtocol.setLocNo(chargeLocNo);
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍏呯數
+ assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
+ assignCommand.setCharge(true);//鍏呯數浠诲姟
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(chargeLocNo);
+ //婧愬簱浣�
+ assignCommand.setSourceLocNo(currentLocNo);
+ assignCommand.setCommands(commands);
+ wrkCharge.setWrkSts(52L);//灏忚溅杩佺Щ鐘舵��
+ if (wrkChargeMapper.updateById(wrkCharge) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+
+ }else if(wrkCharge.getWrkSts() == 53){
+ //灏忚溅宸茬粡杈惧埌鎻愬崌鏈哄唴
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庣┖闂茬姸鎬�
+ if (!liftProtocol.isIdle(wrkCharge.getWrkNo().shortValue())) {
+ continue;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁鍦ㄦ彁鍗囨満鍐�
+ if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
+ //灏忚溅涓嶅湪鎻愬崌鏈哄唴
+ continue;
+ }
+
+ //缁欐彁鍗囨満鍒嗛厤浠诲姟
+ liftProtocol.setTaskNo(wrkCharge.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
+ liftProtocol.setShuttleNo(wrkCharge.getShuttleNo().shortValue());//璁剧疆鍥涘悜绌挎杞﹀彿
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
+
+ //鍛戒护list
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+
+ //鎻愬崌鏈哄墠寰�鐩爣妤煎眰
+ //鑾峰彇鍏呯數搴撲綅鐩爣妤煎眰鍛戒护
+ LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev >= 2 ? chargeLocNoLev + 1 : chargeLocNoLev);
+ commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ wrkCharge.setWrkSts(54L);//鎻愬崌鏈烘惉杩愪腑
+ //鎵�闇�鍛戒护缁勫悎瀹屾瘯锛屾洿鏂版暟鎹簱锛屾彁浜ゅ埌绾跨▼鍘诲伐浣�
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(liftProtocol.getTaskNo());
+ if (wrkChargeMapper.updateById(wrkCharge) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ }
+
+ }else if(wrkCharge.getWrkSts() == 55){//55.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴�
+ //鐩存帴璁＄畻杞﹀埌鍏呯數搴撲綅
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
+ Short liftLev = liftProtocol.getLev();
+ if (liftLev == null) {
+ continue;
+ }
+ //鍒ゆ柇鎻愬崌鏈烘ゼ灞傛槸鍚﹀埌杈剧洰鏍囨ゼ灞�
+ if (liftLev.intValue() != chargeLocNoLev) {
+ continue;//娌℃湁鍒拌揪鐩爣妤煎眰
+ }
+
+ //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
+ Integer staNo = Utils.levToOutInStaNo(liftLev >= 2 ? liftLev + 1 : liftLev);//绔欑偣鍙�
+ BasDevp basDevp = basDevpService.selectById(staNo);
+ if (basDevp == null) {
+ continue;//绔欑偣涓嶅瓨鍦�
+ }
+
+ //鑾峰彇鎻愬崌鏈哄彛鍒板厖鐢靛簱浣嶈矾寰勬寚浠�
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(basDevp.getLocNo(), chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
+ if (commands == null) {
+ continue;//鏈壘鍒拌矾寰�
+ }
+
+ short startCode = liftProtocol.getBarcode();//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
+ Short distCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈哄彛绔欑偣浜岀淮鐮�
+ Short runDirection = ShuttleRunDirection.BOTTOM.id;//杩愯鏂瑰悜
+ //鑾峰彇鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, startCode, 1600, 500);
+ commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
+
+ //杩涜鍏呯數涓�
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
+
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍏呯數
+ assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
+ assignCommand.setCharge(true);//鍏呯數浠诲姟
+
+ //鍒涘缓鍏呯數鎸囦护
+ ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//寮�濮嬪厖鐢�
+ commands.add(command);
+
+ //鎸囦护闆嗗垎閰�
+ assignCommand.setCommands(commands);
+
+ wrkCharge.setWrkSts(56L);//鍏呯數涓姸鎬�
+ if (wrkChargeMapper.updateById(wrkCharge) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }else if (wrkCharge.getWrkSts() == 57) {//57.灏忚溅鍒拌揪鍏呯數妗�
+ //鍏呯數涓�
+ //鍒ゆ柇灏忚溅鏄惁鍏呮弧鐢甸噺锛屾弧鐢�1000鎴栫數鍘�54V浠ヤ笂
+ if (shuttleProtocol.getBatteryPower() == null || shuttleProtocol.getCurrentVoltage() == null) {
+ continue;
+ }
+ if (shuttleProtocol.getBatteryPower() >= 1000 && shuttleProtocol.getCurrentVoltage() >= 54000) {
+ //鍏呮弧锛屾柇寮�鍏呯數
+// List<ShuttleCommand> commands = new ArrayList<>();
+// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
+// assignCommand.setTaskMode((short) 0);
+// assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
+// assignCommand.setCharge(true);
+//
+// //鍒涘缓鍏呯數鎸囦护
+// ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//鏂紑鍏呯數
+// commands.add(command);
+//
+// //鎸囦护闆嗗垎閰�
+// assignCommand.setCommands(commands);
+//
+// shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
+
+ //灏嗗皬杞︾Щ鍔ㄥ埌绌洪棽鐨勫贩閬�
+ ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(shuttleProtocol.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), shuttleThread, null);
+ if (assignCommand == null) {
+ continue;
+ }
+
+ wrkCharge.setWrkSts(60L);//60.鍏呯數浠诲姟瀹屾垚
+ if (wrkChargeMapper.updateById(wrkCharge) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+
+ if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) {
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
+ }
+ }
+ }
+
+ }
+
+
+ /**
+ * 鍑哄叆搴撴ā寮忓垏鎹�
+ */
+ public synchronized void outAndIn() {
+ try {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ for (DevpSlave.Sta inSta : devp.getInSta()) {
+ Thread.sleep(500);
+ boolean a=true,b=true;
+ List<WrkMast> wrkMasts = wrkMastMapper.selectAll(inSta.getStaNo());
+ if (Cools.isEmpty(wrkMasts)){
+ b=false;
+ }else {
+ for (WrkMast wrkMast:wrkMasts){
+ if (wrkMast.getSourceStaNo() > wrkMast.getStaNo()){
+ a=false;
+ break;
+ }
+ }
+ }
+ switch (inSta.getStaNo()) {
+ case 102://1F
+ if (a && b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 11));
+ }else if (b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 12));
+ }else {
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 10));
+ }
+ break;
+ case 202://2F
+ if (a && b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 21));
+ }else if (b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 22));
+ }else {
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 20));
+ }
+ break;
+ case 302://3F
+ if (a && b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 31));
+ }else if (b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 32));
+ }else {
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 30));
+ }
+ break;
+ }
+ }
+ }
+
+ } catch (Exception e) {
+ e.printStackTrace();
}
}
--
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