From 1eee1c2af23940a6c2af5b519b65bdd1e7b4ac49 Mon Sep 17 00:00:00 2001
From: pang.jiabao <pang_jiabao@163.com>
Date: 星期二, 02 九月 2025 14:17:29 +0800
Subject: [PATCH] 去除多于代码，取消许可证校验
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 369 +++-------------------------------------------------
1 files changed, 24 insertions(+), 345 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 2185d01..b8e30ff 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -10,8 +10,6 @@
import com.zy.asrs.service.BasCircularShuttleService;
import com.zy.asrs.service.BasDevpPositionService;
import com.zy.asrs.service.WrkMastService;
-import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
-import com.zy.asrs.utils.TimeCalculatorUtils;
import com.zy.common.service.CommonService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
@@ -25,7 +23,6 @@
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.RgvThread;
-import com.zy.system.entity.license.LicenseVerify;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -75,286 +72,6 @@
@Value("${wms.reportSwitchAuto}")
private boolean reportSwitchAuto;
- /*
- * 楠岃瘉璁稿彲璇佹槸鍚︽湁鏁�
- * */
- public synchronized boolean licenseVerify() {
- try{
-// if (true) {
-// return true;
-// }
- return new LicenseVerify().verify();
- } catch (Exception e){
- log.info("璁稿彲璇侀獙璇佸け璐ワ紒锛佸紓甯革細{}",e.getMessage());
- }
- return false;
- }
-
-
- /**
- * 绔欑偣浠诲姟妫�娴� 鏇存柊灏忚溅浣嶇疆淇℃伅
- */
- public synchronized void updateStePositionNearby() {
- try {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 9L).eq("rgv_no",0));
- if (wrkMasts.isEmpty()) {
- return;
- }
- List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
- if (basDevpPositions.isEmpty()) {
- log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�");
- return;
- }
- List<Integer> siteList = SortTheExecutionOfTheCarUtil.WrkMastExtractSites(wrkMasts);
- List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
- Integer siteNo = SortTheExecutionOfTheCarUtil.ObtainDenseAreasFirstPlace(siteList, devpList);
- if (siteNo == null) {
- log.error("灏辫繎瀵嗛泦鍘熷垯鑾峰彇绔欑偣澶辫触");
- return;
- }
- Long sitePosition = 0L;
- for (BasDevpPosition basDevpPosition : basDevpPositions) {
- if (basDevpPosition.getDevNo().equals(siteNo)) {
- sitePosition = basDevpPosition.getPlcPosition();
- }
- }
- List<List<Long>> rgvPositionList = new ArrayList<>();
- for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- continue;
- }
- List<Long> rgvPosition = new ArrayList<>();
- rgvPosition.add(rgvProtocol.getRgvNo().longValue());
- rgvPosition.add(rgvProtocol.getRgvPos());
- rgvPositionList.add(rgvPosition);
- }
- Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition, perimeter);
- if (rgvNo == -1) {
- log.info("鏇存柊灏忚溅鎺掑簭淇℃伅寮傚父={}", rgvNo);
- return;
- }
- List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0).orderBy("rgv_id", true));
- if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
- return;
- }
-
- int[][] ints = new int[basCircularShuttleList.size()][2];
- for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
- ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
- }
-// String[] oldList = new String[ints.length];
-// for (int[] rgv : ints){
-// oldList[rgv[0]-1] = Arrays.toString(rgv);
-// }
- int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
-// String[] newList = new String[rgvList.length];
-// for (int[] rgv : rgvList){
-// newList[rgv[0]-1] = Arrays.toString(rgv);
-// }
-
-// log.info("鏇存柊灏忚溅鎺掑簭淇℃伅锛氬師濮嬪皬杞﹀彿rgvNo={},灏忚溅閲嶆柊鎺掑簭淇℃伅={},灏忚溅鍘熷鎺掑簭淇℃伅={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
- for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
- int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
- basCircularShuttle.setRgvId(rgv[1]);
- basCircularShuttleService.updateById(basCircularShuttle);
- }
-
- } catch (Exception e) {
- log.error("鑷姩鏇存柊灏忚溅鎺掑簭淇℃伅澶辫触锛屽紓甯革細" + e);
- }
- }
-
- /**
- * 绔欑偣浠诲姟妫�娴� 鏇存柊灏忚溅浣嶇疆淇℃伅
- */
- public synchronized void updateStePosition() {
- try {
- boolean sign = false;
- Integer rgvNo = 0;
- List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
- for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
- if (basCircularShuttle.getStatus() != 0){
- sign = true;
- continue;
- }
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- sign = true;
- } else if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM)) {
- sign = true;
- } else {
- rgvNo = basCircularShuttle.getRgvNo();
- break;
- }
- }
- if (sign && rgvNo != 0) {
- int[][] ints = new int[basCircularShuttleList.size()][2];
- for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
- ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
- }
-// String[] oldList = new String[ints.length];
-// for (int[] rgv : ints){
-// oldList[rgv[0]-1] = Arrays.toString(rgv);
-// }
- int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
-// String[] newList = new String[rgvList.length];
-// for (int[] rgv : rgvList){
-// newList[rgv[0]-1] = Arrays.toString(rgv);
-// }
-
-// log.info("鏇存柊灏忚溅鎺掑簭淇℃伅锛氬師濮嬪皬杞﹀彿rgvNo={},灏忚溅閲嶆柊鎺掑簭淇℃伅={},灏忚溅鍘熷鎺掑簭淇℃伅={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
- for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
- int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
- basCircularShuttle.setRgvId(rgv[1]);
- basCircularShuttleService.updateById(basCircularShuttle);
- }
- }
-
- } catch (Exception e) {
- log.error("鑷姩鏇存柊灏忚溅鎺掑簭淇℃伅澶辫触锛屽紓甯革細" + e);
- }
- }
-
- /**
- * 绔欑偣浠诲姟妫�娴� 涓嬪彂灏忚溅鍙栨斁浠诲姟
- */
- public synchronized void DevpTaskNoRun() {
- try {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", 0).eq("wrk_sts",9).orderBy("modi_time", true));
- if (wrkMasts.isEmpty()) {
- return;
- }
- long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMasts.get(0).getModiTime(), new Date());
- if (differenceInSeconds <= 100) {
- return;
- }
-
- BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- return;
- }
- List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
- Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos(), perimeter);
- BasDevpPosition[] basDevpPositionsList = SortTheExecutionOfTheCarUtil.devpNoSort(basDevpPositions, devNo);
- BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
- List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
- //涓嬪彂浠诲姟
- taskDown(wrkMastLists);
- } catch (Exception e) {
- log.error("鑷姩涓嬪彂灏忚溅鍙栨斁浠诲姟澶辫触锛屽紓甯革細" + e);
- }
- }
-
- //鑾峰彇灏忚溅鍙栨斁浠诲姟鍒楄〃澶辫触
- public synchronized List<List<WrkMast>> getWrkMastLists(BasDevpPosition[] basDevpPositionsListUN) {
- List<List<WrkMast>> wrkMastLists = new ArrayList<>();
- try {
- List<WrkMast> wrkMastlistA = new ArrayList<>();
- List<WrkMast> wrkMastlistB = new ArrayList<>();
- for (BasDevpPosition basDevpPosition : basDevpPositionsListUN) {
- List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_ssta_no", basDevpPosition.getDevNo()).eq("rgv_no", 0).orderBy("modi_time", true));
- for (WrkMast wrkMast : wrkMastList) {
- if (!Cools.isEmpty(wrkMast)) {
- if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
- wrkMastlistA.add(wrkMast);
- } else {
- wrkMastlistB.add(wrkMast);
- }
- }
- }
- }
- wrkMastLists.add(wrkMastlistA);
- wrkMastLists.add(wrkMastlistB);
- return wrkMastLists;
- } catch (Exception e) {
- log.error("鑾峰彇灏忚溅鍙栨斁浠诲姟鍒楄〃澶辫触锛屽紓甯革細" + e);
- return wrkMastLists;
- }
- }
-
- public synchronized void taskDown(List<List<WrkMast>> wrkMastLists) {
- long rgvId = 0;
- runRgv:
- for (List<WrkMast> wrkMastList : wrkMastLists) {
- for (WrkMast wrkMast : wrkMastList) {
- while (rgvId <= rgvCount) {
- rgvId++;
-// log.info("瀛樺湪浠诲姟锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(wrkMast));
- if (rgvId > rgvCount) {
- break runRgv;
- }
- BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
- if (basCircularShuttle.getStatus() != 0){
- continue ;
- }
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- continue;
- }
-
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts",10));
- if (!wrkMasts.isEmpty()) {
- continue;
- }
- if (rgvProtocol.modeType == RgvModeType.AUTO
- && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
- && rgvProtocol.getTaskNo1() == 0
- && rgvProtocol.getAlarm() == 0) {
-// if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) {
-// double finalVelocity = 0.0; // 鏈�缁堥�熷害 (m/s)
-// double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration);
-// BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
-// if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
-// List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
-// if (basDevpPositions.isEmpty()) {
-// log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�,RGV浠诲姟涓嬪彂澶辫触锛岃鑱旂郴绠＄悊鍛橈紒锛侊紒");
-// break runRgv;
-// }
-// List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
-//
-// if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
-// continue;
-// }
-// }
-// }
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
- rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setSourceStaNo1(wrkMast.getRgvSstaNo().shortValue()); //宸ヤ綅1璧风偣
- rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
- //
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- break runRgv;
- }
- log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
-
- wrkMast.setRgvNo(rgvProtocol.getRgvNo());
- wrkMast.setWrkSts(10L);
- wrkMast.setAppeTime(new Date());
- try {
- wrkMastService.updateById(wrkMast);
- break;
- } catch (Exception e) {
- log.error("鏇存柊灏忚溅浠诲姟澶辫触,浠诲姟鍙凤細" + wrkMast.getWrkNo());
- }
- break runRgv;
- } else {
- break runRgv;
- }
- }
- }
- }
- }
public synchronized void rgvTheHandlingTaskIsIssued() {
try {
@@ -365,9 +82,11 @@
return;
}
+ List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0));
+
LinkedList<RgvProtocol> rgvProtocolList = new LinkedList<>();
- for (int i = 1; i <= 5; i++) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, i);
+ for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
continue;
@@ -378,12 +97,9 @@
runRgv:
for (WrkMast wrkMast : wrkMasts) {
Integer rgvSstaNo = wrkMast.getRgvSstaNo();
- // 1090锛�1089,1086,1083 鎸�1083绔欑偣浣嶇疆璁＄畻锛岃兘鍙�1083锛屽氨鑳藉彇1090锛�1089锛�1086锛岄伩鍏嶄换鍔″欢杩熶笅鍙戞柟妗堜竴鐩寸粰1083鍙�
- if (rgvSstaNo == 1090 || rgvSstaNo == 1089 || rgvSstaNo == 1086 || rgvSstaNo == 1105) {
- rgvSstaNo = 1083;
- }
BasDevpPosition basDevpPositions = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", rgvSstaNo)); // 绔欑偣
long position = basDevpPositions.getPlcPosition(); // 璧峰绔欎綅缃�
+ position += 50; // 灏忚溅鍙栬揣瀹氫綅绮惧害 +- 50,绔欑偣浣嶇疆10000锛屽皬杞﹀湪10050涔熸槸鍙互鍙栫殑
TreeMap<Long, RgvProtocol> map = new TreeMap<>();
for (RgvProtocol rgvProtocol : rgvProtocolList) {
long distance;
@@ -394,11 +110,12 @@
}
map.put(distance, rgvProtocol);
}
+ position -= 50;
// log.info("鍙栬揣绔欑偣锛歿}锛屽悗闈㈠皬杞︽帓搴�", basDevpPositions.getDevNo());
// StringBuilder sb = new StringBuilder();
// for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
// RgvProtocol rgvProtocol = rgvProtocolMap.getValue();
-// sb.append("[").append(rgvProtocol.getRgvNo()).append(",").append(rgvProtocol.getStatusType().desc).append("]");
+// sb.append("[").append(rgvProtocol.getRgvNo()).append(",").append(rgvProtocol.getRgvPos()).append(",").append(rgvProtocol.getStatusType().desc).append("]");
// }
// log.info(sb.toString());
@@ -406,7 +123,6 @@
RgvProtocol rgvProtocol = rgvProtocolMap.getValue(); // 鏈�杩戣窛绂诲皬杞�
// log.info("鍙栬揣绔欑偣锛歿}锛屽悗闈㈡渶杩戝皬杞︼細{},鐘舵��:{}", basDevpPositions.getDevNo(), rgvProtocol.getRgvNo(), rgvProtocol.getStatusType().desc);
int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 10));
- if(wrkMast.getIoType() == 10 || wrkMast.getIoType() == 110 || wrkMast.getSourceStaNo() == 1034) {
if (rgvProtocol.modeType == RgvModeType.AUTO
&& (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
&& rgvProtocol.getTaskNo1() == 0
@@ -441,64 +157,23 @@
// 褰撳墠rgv浠诲姟鐩爣绔欑偣
BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo()));
long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 褰撳墠rgv浠诲姟鐩爣绔欑偣浣嶇疆
- if(rgvProtocol.getRgvPos() < rgvDstaNoPosition) { // 灏忚溅褰撳墠浣嶇疆 < rgv鐩爣浣嶇疆
- if(!(rgvProtocol.getRgvPos() < position && position < rgvDstaNoPosition)) { // 杩欎釜浠诲姟浣嶇疆鏄湪褰撳墠rgv浣嶇疆鍓嶉潰骞朵笖杩欎釜浠诲姟璧风偣鍦ㄥ綋鍓峳gv鐩爣绔欑偣涔嬪悗
+ // 鑾峰彇RGV褰撳墠浣嶇疆鍜岀姸鎬�
+ long currentRgvPos = rgvProtocol.getRgvPos();
+ int rgvStatus = rgvProtocol.getStatusType().id;
+
+ // 瀹氫箟娴姩鑼冨洿锛堜粎鍋滈潬鐘舵�侀�傜敤锛�
+ long posTolerance = (rgvStatus == 0 || rgvStatus == 2 || rgvStatus == 3 || rgvStatus == 6 || rgvStatus == 7 || rgvStatus == 8 || rgvStatus == 100) ? 50 : 0;
+ if(currentRgvPos < rgvDstaNoPosition + posTolerance) { // 灏忚溅褰撳墠浣嶇疆 < rgv鐩爣浣嶇疆
+ if(!(currentRgvPos - posTolerance < position && position < rgvDstaNoPosition + posTolerance)) { // 杩欎釜浠诲姟浣嶇疆鏄湪褰撳墠rgv浣嶇疆鍓嶉潰骞朵笖杩欎釜浠诲姟璧风偣鍦ㄥ綋鍓峳gv鐩爣绔欑偣涔嬪悗
break; // 褰撳墠rgv鏀捐揣瀹屾垚鍚庯紝鍙互鍙栧綋鍓嶄换鍔�
}
} else {
- if(!(rgvProtocol.getRgvPos() < position || position < rgvDstaNoPosition)) {
+ if(!(currentRgvPos + posTolerance < position || position < rgvDstaNoPosition - posTolerance)) {
break;
}
}
}
}
- } else {
- if (rgvProtocol.modeType == RgvModeType.AUTO
- && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
- && rgvProtocol.getTaskNo1() == 0
- && rgvProtocol.getAlarm() == 0) {
- if (count != 0) {
- log.error("{}鍛煎彨灏忚溅锛歿}鍙峰皬杞︾┖闂诧紝浣嗗伐浣滄。鏄剧ず璇ュ皬杞︽湁浠诲姟",wrkMast.getWrkNo(),rgvProtocol.getRgvNo());
- break;
- }
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
- rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setSourceStaNo1(wrkMast.getRgvSstaNo().shortValue()); //宸ヤ綅1璧风偣
- rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
- break runRgv;
- }
- log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
- Date now = new Date();
- wrkMast.setRgvNo(rgvProtocol.getRgvNo());
- wrkMast.setWrkSts(10L);
- wrkMast.setRgvCreateTime(now);
- wrkMastService.updateById(wrkMast);
- break runRgv;
- } else if(rgvProtocol.modeType == RgvModeType.AUTO
- && rgvProtocol.getTaskNo1() != 0){ // 褰撳墠灏忚溅鏀捐揣鐩爣浣嶇疆鍦ㄥ綋鍓嶄换鍔″彇璐х偣涔嬪悗锛岃烦杩囦换鍔″垎閰嶏紝涓嶅啀鍒欏垽鏂笅涓皬杞︾洰鏍囦綅缃�
- WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1())); // 褰撳墠rgv浠诲姟
- if(wrkMast1!= null && !Cools.isEmpty(wrkMast1.getRgvDstaNo())) {
- // 褰撳墠rgv浠诲姟鐩爣绔欑偣
- BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo()));
- long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 褰撳墠rgv浠诲姟鐩爣绔欑偣浣嶇疆
- if(rgvProtocol.getRgvPos() < rgvDstaNoPosition) { // 灏忚溅褰撳墠浣嶇疆 < rgv鐩爣浣嶇疆
- if(!(rgvProtocol.getRgvPos() < position && position < rgvDstaNoPosition)) { // 杩欎釜浠诲姟浣嶇疆鏄湪褰撳墠rgv浣嶇疆鍓嶉潰骞朵笖杩欎釜浠诲姟璧风偣鍦ㄥ綋鍓峳gv鐩爣绔欑偣涔嬪悗
- break; // 褰撳墠rgv鏀捐揣瀹屾垚鍚庯紝鍙互鍙栧綋鍓嶄换鍔�
- }
- } else {
- if(!(rgvProtocol.getRgvPos() < position || position < rgvDstaNoPosition)) {
- break;
- }
- }
- }
- }
- }
}
}
} catch (Exception e) {
@@ -541,6 +216,9 @@
break;
}
wrkMast.setWrkSts(2L);
+ if (wrkMast.getIoType()==120){
+ wrkMast.setWrkSts(53L);
+ }
Date now = new Date();
wrkMast.setRgvFinishTime(now);
wrkMastService.updateById(wrkMast);
@@ -566,15 +244,16 @@
&& rgvProtocol.getModeType() == RgvModeType.AUTO
&& rgvProtocol.getTaskNo1() != 0
) {
- log.info("{}鍙峰皬杞﹀皬杞﹀彇璐ц秺浣嶏紝鐘舵�亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
- WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue())
+ .eq("rgv_no",rgvProtocol.getRgvNo()));
if (Cools.isEmpty(wrkMast)) {
- log.error("鏈煡鍒板皬杞︽墽琛屼换鍔★紒" + rgvProtocol.getTaskNo1());
+ log.error(rgvProtocol.getRgvNo() + "灏忚溅鍙栬揣瓒婁綅鏈煡鍒板皬杞︽墽琛屼换鍔★紒" + rgvProtocol.getTaskNo1());
continue;
} else if(wrkMast.getWrkSts() != 10) {
- log.warn("鎵ц浠诲姟鐘舵�佷笉绗﹀悎锛�" + rgvProtocol.getTaskNo1());
+ log.warn(rgvProtocol.getRgvNo() + "灏忚溅鍙栬揣瓒婁綅鎵ц浠诲姟鐘舵�佷笉绗﹀悎锛�" + rgvProtocol.getTaskNo1());
continue;
}
+ log.info("{}鍙峰皬杞﹀皬杞﹀彇璐ц秺浣嶏紝鐘舵�亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
if (!rgvComplete) {
log.error("灏忚溅鍙栬揣瓒婁綅,浠诲姟鍙栨秷,澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
--
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