From 1b7967093be5c6af64571a37bd9bbce27be11686 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期五, 12 四月 2024 08:33:37 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 415 +++++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 317 insertions(+), 98 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 724a297..b1ab546 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -46,6 +46,7 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;
+import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
/**
@@ -184,6 +185,13 @@
if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
+ staProtocol.setWorkNo(wrkNo);
+ News.info("{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
+ wrkNo++;
+ staProtocol.setStaNo(inSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ log.error("杈撻�佺嚎涓嬪彂1锛�"+wrkNo+","+inSta.getBackSta());
continue;
}
// 鍒ゆ柇閲嶅宸ヤ綔妗�
@@ -198,7 +206,7 @@
}
WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
.eq("barcode", barcode)
- .in("io_type", 107,103));
+ .in("io_type", 107,103,57));
if (!Cools.isEmpty(checkPick)) {
continue;
}
@@ -221,27 +229,31 @@
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
barcodeThread.setBarcode("");
staProtocol.setWorkNo(dto.getWorkNo());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
+ staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
log.error("杈撻�佺嚎涓嬪彂2锛�"+dto.getWorkNo()+","+dto.getStaNo());
+
+ ledThread.errorReset();
+ log.error("缁勬墭璇锋眰鍚嶭ED閿欒娓呴櫎");
+
if (!result) {
News.error(methodName + ":鏇存柊plc绔欑偣淇℃伅澶辫触");
throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
}
} else {
-// staProtocol.setWorkNo(wrkNo);
-// wrkNo++;
-// staProtocol.setStaNo(inSta.getBackSta().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ staProtocol.setWorkNo(wrkNo);
+ wrkNo++;
+ staProtocol.setStaNo(inSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//
// if (ledThread != null) {
-// String errorMsg = jsonObject.getString("msg");
-// if (!Cools.isEmpty(errorMsg)) {
-// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
-// }
+ String errorMsg = jsonObject.getString("msg");
+ if (!Cools.isEmpty(errorMsg)) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+ }
// }
// News.error(methodName + ":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);
}
@@ -392,7 +404,7 @@
StaDesc staDesc = staDescService.selectOne(wrapper);
if (Cools.isEmpty(staDesc)) {
News.error(""+mark+" - 2"+" - 鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
- staProtocol.setWorkNo(9989);
+ staProtocol.setWorkNo(wrkNo++);
staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -402,7 +414,7 @@
// led 寮傚父鏄剧ず
if (ledThread != null) {
String errorMsg = "姝や负鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱.璇锋斁鍦�"+pickSta.getBackSta().shortValue()+"绔欑偣";
- MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errorMsg));
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
}
continue;
}
@@ -449,7 +461,7 @@
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
staProtocol.setWorkNo(wrkMast.getWrkNo());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ staProtocol.setStaNo((short) 161);
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
log.error("杈撻�佺嚎涓嬪彂5锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
@@ -466,6 +478,170 @@
}
// News.infoNoLog(""+mark+" - 0"+" - 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱 ===銆嬫墽琛屽畬鎴�");
+ }
+
+
+ //鐩樼偣鍐嶅叆搴�
+ public synchronized void stnToCrnStnPick2(){
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta pickSta : devp.getPickSta()) {
+ // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && !staProtocol.isEmptyMk()
+// && staProtocol.getWorkNo() > 0
+ && 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;
+ }
+ String barcode = barcodeThread.getBarcode();
+ if(!Cools.isEmpty(barcode)) {
+// log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
+ if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
+ staProtocol.setWorkNo(wrkNo++);
+ 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(wrkNo++);
+ 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 wrkMast = wrkMastMapper.selectPickStep2(barcode);
+ if (wrkMast == null) {
+ // 鏃犵洏鐐规暟鎹�
+ continue;
+ }
+
+ // 鍑哄簱纭淇″彿浣�
+// if ((Cools.isEmpty(wrkMast.getInvWh()) || wrkMast.getInvWh().equals("N")) && wrkMast.getIoType() != 107) {
+// continue;
+// }
+// if ( wrkMast.getIoType() != 107 || Cools.isEmpty(wrkMast.getStaNo())
+// || Cools.isEmpty(wrkMast.getSourceStaNo())) {
+// continue;
+// }
+
+ // 鑾峰彇搴撲綅鍙�
+ try {
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", wrkMast.getSourceLocNo()));
+ LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(barcode);
+ param.setIoType(107);
+ param.setSourceStaNo(pickSta.getStaNo()); //浣滀笟绔欑偣
+ if (!Cools.isEmpty(locMast)){
+ param.setLocType1(locMast.getLocType1());
+ }else {
+ param.setLocType1(locTypeDto.getLocType1());
+ }
+
+ String response = "";
+ log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ try {
+ response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin2/loc/v1")
+ .setJson(JSON.toJSONString(param))
+// .setTimeout(15, TimeUnit.SECONDS)
+ .build()
+ .doPost();
+ } catch(Exception e){
+ log.error("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ log.error("stnToCrnStnPick2===>>鐩樼偣鏌ュ簱浣嶅叆搴撴帴鍙ｅけ璐�", e);
+ e.printStackTrace();
+ continue;
+ }
+ log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"涓嬪彂鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS杩斿洖缁撴灉===>>" + response);
+ if(response.equals("")) {
+ continue;
+ }
+ JSONObject jsonObject = JSON.parseObject(response);
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+ Integer code = jsonObject.getInteger("code");
+ if (code == 200) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+ if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
+ log.error("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶅け璐�===>>" + jsonObject.toJSONString());
+ } else {
+ log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶆垚鍔�===>>" + jsonObject.toJSONString());
+ try {
+ // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo((short)161);
+ 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());
+ }
+ log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撲换鍔′笅鍙戞垚鍔�===>>" + staProtocol);
+
+ ledThread.errorReset();
+ log.error("鐩樼偣鍚巐ed閿欒鍒犻櫎");
+
+ } catch (Exception e) {
+ log.error("鐩樼偣鍐嶅叆搴撳け璐�===>>" + e);
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ } else {
+ staProtocol.setWorkNo(wrkNo++);
+ staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+ if (!Cools.isEmpty(errorMsg)) {
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+ }
+ }
+ 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/pakin2/loc/v1", JSON.toJSONString(param), response);
+ }
+ } catch (Exception e) {
+ log.error("stnToCrnStnPick2===>>fail", e);
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+
+ }
+
+ }
+
+ }
}
/**
@@ -505,7 +681,7 @@
if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
&& crnProtocol.statusType == CrnStatusType.WAITING
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
- News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛�");
+ News.error("鍫嗗灈鏈哄嚭搴撳畬鎴� - 寮�濮嬫墽琛�");
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
@@ -521,6 +697,7 @@
wrkMast.setCrnEndTime(new Date());
if (wrkMastMapper.updateById(wrkMast) != 0) {
// 澶嶄綅鍫嗗灈鏈�
+ News.error("鍑哄簱浠诲姟瀹屾垚涓嬪彂鍫嗗灈鏈哄浣�", wrkMast.getWrkNo());
crnThread.setResetFlag(true);
} else {
News.error(""+mark+" - 1"+" - 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());
@@ -1400,7 +1577,7 @@
ledCommand.setLocNo(dto.getLocNo());
ledCommand.setStaNo(dto.getStaNo());
commands.add(ledCommand);
- MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, commands));
+ MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(1, commands));
// ledThread.errorReset();
}
} else {
@@ -1413,12 +1590,12 @@
// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
// }
//
-// if (ledThread != null) {
-// String errorMsg = jsonObject.getString("msg");
-// if (!Cools.isEmpty(errorMsg)) {
-// MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
-// }
-// }
+ if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+ if (!Cools.isEmpty(errorMsg)) {
+ MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
+ }
+ }
// News.error(""+mark+" - 3"+" - 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) {
@@ -1440,7 +1617,6 @@
* 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
*/
public synchronized void ledExecute(Integer mark) {
-
for (LedSlave led : slaveProperties.getLed()) {
// 鑾峰彇杈撻�佺嚎plc绾跨▼
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
@@ -1458,11 +1634,7 @@
}
// 鑾峰彇宸ヤ綔妗ｆ暟鎹�
WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
-// if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
- if (null == wrkMast) {
- continue;
- }
- News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛�:鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�");
+ if (null == wrkMast) { continue; }
wrkMasts.add(wrkMast);
// 缁勮鍛戒护
LedCommand ledCommand = new LedCommand();
@@ -1493,16 +1665,34 @@
ledCommand.setEmptyMk(true);
break;
default:
- News.error(""+mark+" - 1"+" - 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());
-// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
+ ledCommand.setBarcode(wrkMast.getBarcode());
if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
- wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
+
+ wrkDetls.forEach(wrkDetl -> {
+ Double total = 0.0;
+ EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
+ LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
+ if (Cools.isEmpty(locDetl)) {
+ total = wrkDetl.getAnfme();
+ } else {
+ total = locDetl.getAnfme();
+ }
+ if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
+ }
+ if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
+ }
+ if (wrkMast.getIoType() == 107) {
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
+ }
+ });
}
commands.add(ledCommand);
}
@@ -1513,32 +1703,11 @@
if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
continue;
}
-// 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
-// if (!commands.isEmpty()) {
-// if (led.getId() < 7) {
-// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
-// News.error(""+mark+" - 2"+" - {}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);
-// }
-// } else {
-// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
-// News.error(""+mark+" - 3"+" - {}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);
-// }
-// }
-//
-// }
// 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
if (!commands.isEmpty()) {
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
- 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());
+ if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
+ News.error("{}鍙稬ED鏄剧ず鍐呭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);
}
}
@@ -1548,7 +1717,6 @@
wrkMast.setOveMk("Y");
wrkMast.setModiTime(new Date());
if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.errorNoLog(""+mark+" - 4"+" - 鏇存柊宸ヤ綔妗ｅけ璐�");
throw new CoolException("鏇存柊宸ヤ綔妗ｅけ璐�");
}
}
@@ -1562,17 +1730,13 @@
}
}
-// News.infoNoLog(""+mark+" - 0"+" - 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣ㄦ墽琛屽畬鎴�");
}
/**
* 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
*/
- public synchronized void ledReset(Integer mark) {
-
-// News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛�:鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅");
+ public synchronized void ledReset() {
for (LedSlave led : slaveProperties.getLed()) {
-
// 鑾峰彇杈撻�佺嚎plc绾跨▼
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
// 鍛戒护闆嗗悎
@@ -1580,27 +1744,25 @@
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 && staProtocol.isLoading()) {
+ 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.getId());
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
// 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(""+mark+" - 1"+" - {}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 {
-
+ if (reset) {
+ if (ledThread == null) {
+ continue;
+ }
+ ledThread.errorReset();
+ if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
+ News.error("{}鍙稬ED鏄剧ず榛樿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());
}
}
}
-// News.infoNoLog(""+mark+" - 0"+" - 鎵ц瀹屾垚锛氬叾浠� ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅");
}
/**
@@ -2082,7 +2244,7 @@
String data = jsonObject.get("data").toString();
News.info((String) jsonObject.get("msg")+","+data);
} else {
- 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/auto/emptyOut/v1","", response);
+ News.warnNoLog("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/auto/emptyOut/v1","", response);
}
} catch (Exception e) {
e.printStackTrace();
@@ -2148,7 +2310,7 @@
/*
* 灏忚溅鍦板浘鏇存柊 鏇存柊閿�
* */
- public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
+ public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,String sign){
// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
//鏇存柊褰撳墠灏忚溅閿�
@@ -2156,15 +2318,21 @@
Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//鑾峰彇鏈�杩滅珯鐐�
Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //鑾峰彇鍚堝苟骞叉秹椤�
basRgvMapCurrent.setLockEndRoute(fallMerge);
- basRgvMapMapper.updateById(basRgvMapCurrent);
+ Integer i = basRgvMapMapper.updateById(basRgvMapCurrent);
+// if (i>0){
+ log.error("{}:==>{}:{}鍙疯溅鏇存柊缁撴潫閿�,{}",sign,new Date(),basRgvMapCurrent.getRgvNo(),JSON.toJSONString(basRgvMapCurrent));
+// }
//鏇存柊鍙︿竴鍙板皬杞﹀湴鍥�
- Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther();
+ Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther(basRgvMapCurrent.getRgvNo());
BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
basRgvMapOther.setEndRoute(lockEndRoute);
- basRgvMapMapper.updateById(basRgvMapOther);
+ Integer i1 = basRgvMapMapper.updateById(basRgvMapOther);
+// if (i1>0){
+ log.error("{}:==>{}:{}鍙疯溅鏇存柊缁撴潫浣嶇疆,{}",sign,new Date(),basRgvMapOther.getRgvNo(),JSON.toJSONString(basRgvMapOther));
+// }
return true;
}catch (Exception e){
log.error("灏忚溅鍦板浘鏇存柊鍑洪敊锛�");
@@ -2193,15 +2361,41 @@
}
// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
- && (rgvProtocol.getTaskNo1()==0 || rgvProtocol.getTaskNo1()==9999)
-
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE &&
+ rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+ && (rgvProtocol.getTaskNo1()==0)
+ &&rgvThread.isPakMk()
) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+
+ Integer rgvNoOther = basRgvMap.getRgvNoOther(rgvProtocol.getRgvNo());
+ RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther);
+ RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
+ if (rgvProtocolOther == null) {
+ continue;
+ }else {
+ rgvProtocolOther = rgvProtocolOther.clone();
+ }
+ if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocolOther.getModeType() == RgvModeType.AUTO
+ && rgvProtocolOther.getLoaded1()==0
+ && (rgvProtocolOther.getTaskNo1()==0)
+ &&rgvThreadOther.isPakMk()
+ ){
+ //瀵瑰伐浣滄。杩涜鍒ゆ柇
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+ if (rgvProtocol.getTaskNo1() >0 && rgvProtocol.getTaskNo1()<=9000){
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
+ rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2366");
+ }else if (rgvProtocol.getTaskNo1() == 0){
+ rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2366");
+ }
+
+ }
+
+
+
}
}
}catch (Exception e){
@@ -2246,7 +2440,8 @@
}
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+ rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2415");
+ rgvThread.setPakMk(true);
break;
}
WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
@@ -2278,6 +2473,19 @@
if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
continue;
}
+ }else {
+ log.error("rgv浠诲姟瀹屾垚缁欒緭閫佺嚎涓嬪彂鍛戒护,浣嗘湭鏌ヨ鍒板伐浣滄。");
+ // 涓嬪彂绔欑偣淇℃伅
+ Map<Integer,Integer> map = new HashMap<>();
+ map.put(101,102);map.put(112,111);
+ map.put(100,100);
+ staProtocol.setWorkNo(rgvProtocol.getTaskNo1().intValue());
+ staProtocol.setStaNo(map.get(rgvProtocol.getRgvPosI()).shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+// log.error("rgv浠诲姟瀹屾垚缁欒緭閫佺嚎涓嬪彂鍛戒护锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
+ if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
+ continue;
+ }
}
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
// boolean rgvComplete = true;
@@ -2285,11 +2493,17 @@
log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
break;
}
+ WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
+ wrkMast1.setUpdMk("Y");
+
+ wrkMastService.updateById(wrkMast1);
+
wrkMastSta.setWrkSts(3);
wrkMastStaMapper.updateById(wrkMastSta);
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+ rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
+ rgvThread.setPakMk(true);
}
else {
@@ -2327,6 +2541,7 @@
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
&& rgvProtocol.getModeType() == RgvModeType.AUTO
&& rgvProtocol.getLoaded1()==0
+ && rgvProtocol.getTaskNo1() == 0
) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
if (basRgvMap == null) {
@@ -2343,11 +2558,14 @@
boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
wrkEnable = true;
if (sign){
- boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
+ rgvThread.setPakMk(false);
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
if (signMap){
+ Thread.sleep(300);
wrkMastSta.setWrkSts(1);
try{
wrkMastStaMapper.updateById(wrkMastSta);
+ return;
}catch (Exception e){
log.error("鏇存柊灏忚溅浠诲姟澶辫触");
}
@@ -2527,21 +2745,22 @@
// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
&& rgvProtocol.getModeType() == RgvModeType.AUTO
-// && rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+ && rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
&& rgvProtocol.getTaskNo1()==0
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
// && rgvProtocol.getTaskNo2()==0
) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
continue;
}
- if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
- continue;
- } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157) ){
- continue;
- }
+// if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
+// continue;
+// } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157) ){
+// continue;
+// }
rgvAvoidanceXY(rgvProtocol.getRgvNo());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+ rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
}
}
}catch (Exception e){
@@ -2555,7 +2774,7 @@
* */
public synchronized boolean rgvAvoidanceXY(Integer rgvId){
BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
- if (basRgvMap.getStartRoute() == 100){
+ if (basRgvMap.getStartRoute() == 100 || basRgvMap.getStartRoute() == 101){
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
@@ -2565,7 +2784,7 @@
rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
//basRgvMap.getLockStartRoute().shortValue()
- rgvCommand.setSourceStaNo1( (short)100);
+ rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
//step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
@@ -2587,7 +2806,7 @@
rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
//basRgvMap.getLockStartRoute().shortValue()
- rgvCommand.setSourceStaNo1( (short)157);
+ rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
//step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
--
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