From 26583d39c1f57f8e2080006f3920f43f2cc68dea Mon Sep 17 00:00:00 2001
From: zhou zhou <3272660260@qq.com>
Date: 星期二, 23 十二月 2025 13:01:19 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 301 +++++++++++++++++++++++++++++++++++---------------
1 files changed, 211 insertions(+), 90 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 0853960..b52333f 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -4,6 +4,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
+import com.baomidou.mybatisplus.plugins.Page;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.exception.CoolException;
@@ -42,6 +43,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
@@ -94,6 +96,10 @@
private WrkMastService wrkMastService;
@Autowired
private BasRgvMapService basRgvMapService;
+ @Autowired
+ private BasCrnOptService crnOptService;
+ @Autowired
+ private MainServiceImpl mainService;
@Value("${wms.url}")
private String wmsUrl;
@@ -150,7 +156,7 @@
errMsg = "鍙宠秴闄�";
back = true;
}
- if (!back && staProtocol.getWeight() > 1000) {
+ if (!back && staProtocol.getWeight() > 15000) {
errMsg = "瓒呴噸鎴栨湭璇诲彇";
back = true;
}
@@ -180,13 +186,14 @@
if (!staProtocol.isPakMk()) {
continue;
}
- staProtocol.setWorkNo(wrkNo);
+ staProtocol.setWorkNo(wrkNo);//閫�鍥� 宸ヤ綔鍙�:10000
News.info("{}PLC鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg, wrkNo);
- 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());
+ break;//瓒呴檺鎵樼洏閫�鍥炰笉鐢熸垚宸ヤ綔妗�
}
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
@@ -196,12 +203,16 @@
&& !staProtocol.isEmptyMk()
&& staProtocol.isPakMk()
&& staProtocol.getWorkNo()==9999) {
- if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
+ if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode) || "ERROR\r\u0000\u0000".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);
+ if (ledThread != null){
+ String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯" + barcode;
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3,errorMsg));
+ }
staProtocol.setWorkNo(wrkNo);
News.info("{}barcode鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg, wrkNo);
- wrkNo++;
+// wrkNo++;
staProtocol.setStaNo(inSta.getBackSta().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -220,6 +231,13 @@
// }
News.error(barcode + "鏉＄爜宸插瓨鍦ㄧ姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,璇锋煡鐪媁CS杈撻�佺嚎鐣岄潰,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "鏉＄爜宸插瓨鍦ㄧ姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑浠诲姟,宸ヤ綔鍙�=" + wrkMast.getWrkNo()));
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(wrkMast.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");
+ }
continue;
// barcodeThread.setBarcode("");
// staProtocol.setWorkNo(wrkMast.getWrkNo());
@@ -308,7 +326,7 @@
continue;
}
staProtocol.setWorkNo(wrkNo);
- wrkNo++;
+// wrkNo++;
staProtocol.setStaNo(inSta.getBackSta().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -320,7 +338,7 @@
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);
+ 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);
}
@@ -334,7 +352,7 @@
}
}
-// News.infoNoLog(""+mark+" - 0"+" - 缁勬墭 ===銆嬫墽琛屽畬鎴�");
+ News.infoNoLog(""+mark+" - 0"+" - 缁勬墭 ===銆嬫墽琛屽畬鎴�");
}
@@ -465,7 +483,7 @@
// 閫�鍥�
// if (back) {
// log.info("errmsg: " + errMsg);
-//// 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);
+// 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);
// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
// if (!staProtocol.isLoading()) {
// continue;
@@ -500,7 +518,7 @@
//
//
// if (!Cools.isEmpty(barcode)) {
-//// News.info(""+mark+" - 1"+" - {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
+// News.info(""+mark+" - 1"+" - {}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;
// }
@@ -517,7 +535,7 @@
staProtocol = staProtocol.clone();
}
-// // 鍏ュ嚭搴撴ā寮忓垽鏂�
+ // 鍏ュ嚭搴撴ā寮忓垽鏂�
// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
@@ -611,9 +629,9 @@
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
staProtocol.setWorkNo(wrkMast.getWrkNo());
- if(staProtocol.getSiteId() < 400){
+// if(staProtocol.getSiteId() < 400){
staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
- }
+// }
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());
@@ -1195,14 +1213,18 @@
} else {
staProtocol = staProtocol.clone();
}
- StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() - 1);
+ StaProtocol staProtocol1 = staProtocol.getSiteId()==101?devpThread.getStation().get(crnStn.getStaNo() + 1):devpThread.getStation().get(crnStn.getStaNo() - 1);
+// StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() - 1);
+// StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() + 1);
if (staProtocol1 == null) {
News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol);
break;
} else {
staProtocol1 = staProtocol1.clone();
}
- StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() - 2);
+ StaProtocol staProtocol2 = staProtocol.getSiteId()==101?devpThread.getStation().get(crnStn.getStaNo() + 2):devpThread.getStation().get(crnStn.getStaNo());
+// StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() - 2);
+// StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() + 2);
if (staProtocol2 == null) {
News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol);
break;
@@ -1210,7 +1232,7 @@
staProtocol2 = staProtocol2.clone();
}
//鍑哄叆鍙ｈ緭閫佺嚎鍙厑璁稿瓨鍦ㄤ竴涓墭鐩�
- if(staProtocol.isLoading() || staProtocol1.isLoading() || staProtocol2.isLoading() ) {
+ if(staProtocol.isLoading() || staProtocol1.isLoading() || staProtocol2.isLoading() || staProtocol.getWorkNo() != 0 || staProtocol1.getWorkNo() != 0 || staProtocol2.getWorkNo() != 0) {
break;
}
@@ -1541,7 +1563,10 @@
// 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
-
+ if (crnProtocol.getTaskNo() == 9999){
+ crnThread.setResetFlag(true);
+ continue;
+ }
// 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
if (wrkMast == null) {
@@ -1768,7 +1793,7 @@
LedCommand ledCommand = new LedCommand();
ledCommand.setWorkNo(dto.getWorkNo());
ledCommand.setIoType(1);
- ledCommand.setTitle("鍏ㄦ澘鍏ュ簱");
+ ledCommand.setTitle("绌烘澘鍏ュ簱");
ledCommand.setLocNo(dto.getLocNo());
ledCommand.setStaNo(dto.getStaNo());
commands.add(ledCommand);
@@ -1805,7 +1830,7 @@
}
}
}
-// News.infoNoLog(""+mark+" - 0"+" - 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐ф墽琛屽畬鎴�");
+ News.infoNoLog(""+mark+" - 0"+" - 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐ф墽琛屽畬鎴�");
}
/**
@@ -2095,79 +2120,85 @@
if (null == loc) {
News.error("" + mark + "moveLocForDeepLoc" + " - 1" + " - 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());
- 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());
+// 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());
+ }else {
+ mainService.createMoveWrkMast(crn, shallowLoc, loc);
}
- // 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) {
- News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 2" + " - 淇濆瓨宸ヤ綔妗ｅけ璐�");
- 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.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)) {
- News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 3" + " - 淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
- 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)) {
- News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 4" + " - 鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
- throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
- }
- } else {
- News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 5" + " - 婧愬簱浣嶅嚭搴撳け璐�");
- 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)) {
- News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 6" + " - 鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
- throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
- }
- } else {
- News.errorNoLog("" + mark + "moveLocForDeepLoc" + " - 7" + " - 绉昏浆澶辫触");
- throw new CoolException("绉昏浆澶辫触");
- }
+
} catch (Exception e) {
News.error("" + mark + "moveLocForDeepLoc" + " - 8" + " - 鍙屾繁搴撲綅闃诲锛屽娴呭簱浣嶈繘琛岀Щ杞け璐�", e);
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+
+ }
+ }
+
+ @Transactional(rollbackFor = Exception.class,propagation = Propagation.REQUIRES_NEW)
+ public synchronized void createMoveWrkMast(CrnSlave crn, LocMast shallowLoc, LocMast loc) {
+ // 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.getLocSts().equals("F") ? "Y" : "N"); // 婊℃澘锛歒
+ 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) {
+ News.errorNoLog("" + "moveLocForDeepLoc" + " - 2" + " - 淇濆瓨宸ヤ綔妗ｅけ璐�");
+ 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.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)) {
+ News.errorNoLog("" + "moveLocForDeepLoc" + " - 3" + " - 淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
+ 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)) {
+ News.errorNoLog("" + "moveLocForDeepLoc" + " - 4" + " - 鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
+ throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
+ }
+ } else {
+ News.errorNoLog("" + "moveLocForDeepLoc" + " - 5" + " - 婧愬簱浣嶅嚭搴撳け璐�");
+ 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)) {
+ News.errorNoLog("" + "moveLocForDeepLoc" + " - 6" + " - 鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
+ throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
+ }
+ } else {
+ News.errorNoLog("" + "moveLocForDeepLoc" + " - 7" + " - 绉昏浆澶辫触");
+ throw new CoolException("绉昏浆澶辫触");
}
}
@@ -2405,10 +2436,14 @@
public synchronized void autoEmptyOut() {
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol1 = devpThread.getStation().get(103);
+ if (staProtocol1.isAutoing()&&staProtocol1.isLoading()){
+ return;
+ }
List<Integer> list = new ArrayList<>();
- list.add(101);
+ list.add(103);//绌烘墭鐩樺嚭搴撶洰鏍囩珯闆嗗悎
Map<Integer, Integer> map = new HashMap<>();
- map.put(101, 102);
+ map.put(103, 103);
for (Integer site : list) {
WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", map.get(site)));
if (!Cools.isEmpty(wrkMast)) {
@@ -3193,4 +3228,90 @@
}
}
+ public synchronized void crnMove() {
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ continue;
+ }
+ BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
+ if (basCrnp == null) {
+ log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
+ continue;
+ }
+
+ if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
+
+// if ((crnProtocol.getCrnNo()==3 || crnProtocol.getCrnNo()==4) && crnProtocol.getBay()==0 && crnProtocol.getLevel() == 1) {
+// continue;
+// }
+// if ((crnProtocol.getCrnNo()==1 || crnProtocol.getCrnNo()==2) && crnProtocol.getBay()==1 && crnProtocol.getLevel() == 1) {
+// continue;
+// }
+ if (crnProtocol.getBay()==1 && crnProtocol.getLevel() == 1) {
+ continue;
+ }
+ Page<BasCrnOpt> basCrnOptPage = crnOptService.selectPage(new Page<>(1, 1), new EntityWrapper<BasCrnOpt>().eq("crn_no", crn.getId()).orderBy("send_time", false));
+ if (basCrnOptPage != null && basCrnOptPage.getRecords() != null && basCrnOptPage.getRecords().size() > 0) {
+ if (System.currentTimeMillis() - basCrnOptPage.getRecords().get(0).getSendTime().getTime() < 1000 * 60 * 3) {
+ continue;
+ }
+ } else {
+ if (System.currentTimeMillis() - crnProtocol.getLastCommandTime() < 1000 * 60 * 2) {
+ continue;
+ }
+ }
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ .eq("crn_no", crn.getId())
+ .notIn("wrk_sts", 5, 14, 15)
+ );
+ if (!wrkMasts.isEmpty()) {
+ continue;
+ }
+
+ CrnSlave.CrnStn crnStn = crn.getCrnInStn().get(0);
+
+ News.info("鍫嗗灈鏈烘棤浠诲姟鑷姩鍥炲叆搴撳彛寰呮満==>>" + crnProtocol.getCrnNo() + "鍙峰爢鍨涙満");
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ CrnCommand crnCommand = new CrnCommand();
+// if (crnProtocol.getCrnNo()==3 || crnProtocol.getCrnNo()==4){
+// crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+// crnCommand.setTaskNo((short) 9999); // 宸ヤ綔鍙�
+// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡: 鍫嗗灈鏈虹Щ鍔�
+// crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+// crnCommand.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+// crnCommand.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+// crnCommand.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+// crnCommand.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+// crnCommand.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
+// crnCommand.setCommand((short) 1);
+// }else {
+ crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo((short) 9999); // 宸ヤ綔鍙�
+ crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡: 鍫嗗灈鏈虹Щ鍔�
+ crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);//浣欏閿愰簰鍥炲師鐐逛换鍔℃ā寮�: 绔欎綅杞Щ
+ crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
+ crnCommand.setCommand((short) 1);//浠诲姟纭浣�
+// }
+ if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
+ News.error("鍫嗗灈鏈虹Щ鍔ㄥ懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
+ }
+ crnThread.setBackHpFlag(true);
+ try {
+ Thread.sleep(500);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ }
+ }
}
--
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