From 30438080e4b44e7b5f68c41f66e42fbff99bd021 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 12 八月 2020 10:07:37 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 159 ++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 121 insertions(+), 38 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 ff24995..b7a1369 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -12,8 +12,7 @@
import com.zy.common.model.StartupDto;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.CrnStatusType;
-import com.zy.core.enums.SlaveType;
+import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.Task;
@@ -142,7 +141,7 @@
staProtocol.setStaNo(startupDto.getStaNo());
staProtocol.setPakMk(false);
staProtocol.setInreq1(false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task<>(4, staProtocol));
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
if (!result) {
throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
}
@@ -221,7 +220,7 @@
staProtocol.setStaNo(wrkMast.getStaNo());
staProtocol.setPakMk(false);
staProtocol.setInreq1(false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task<>(4, staProtocol));
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
if (!result) {
throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
}
@@ -261,9 +260,9 @@
continue;
}
// 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触 todo:luxiaotao
- if (crnProtocol.mode == 3 && crnProtocol.getTaskNo() == wrkMast.getWrkNo()
+ if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
&& crnProtocol.statusType == CrnStatusType.IDLE
- && crnProtocol.forkPos==0) {
+ && crnProtocol.forkPosType == CrnForkPosType.HOME) {
wrkMast.setWrkSts(14L);
wrkMast.setCrnEndTime(new Date());
if (wrkMastMapper.updateById(wrkMast) == 0) {
@@ -276,14 +275,14 @@
// 1.澶嶄綅鍫嗗灈鏈� 鏇存柊鍫嗗灈鏈轰俊鎭� 涓� 涓嬪彂plc鍛戒护 todo:luxiaotao
crnProtocol.setStatus(CrnStatusType.IDLE);
crnProtocol.setTaskNo((short)0);
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task<>(4, crnProtocol))) {
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(4, crnProtocol))) {
throw new CoolException("鏇存柊鍫嗗灈鏈轰俊鎭け璐�");
}
// 2.涓嬪彂绔欑偣淇℃伅
staProtocol.setWorkNo(wrkMast.getWrkNo());
staProtocol.setStaNo(wrkMast.getStaNo());
- if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task<>(4, staProtocol))) {
+ if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol))) {
throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
}
}
@@ -327,8 +326,7 @@
}
}
// 搴撲綅绉昏浆
- this.locToLoc();
-
+ this.locToLoc(crn);
}
}
@@ -371,15 +369,28 @@
}
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, slave.getId());
-// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
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.setDestinationPosX(locMast.getRow1().shortValue()); // 鎺�
- crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鍒�
- crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task<>(2, crnCommand))) {
+ crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.PAKIN); // 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 {
+ // 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());
+ }
}
}
}
@@ -419,11 +430,27 @@
&& staProtocol.getWorkNo() == 0) {
// 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) 1); // 浠诲姟瀹屾垚纭浣�
-
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task<>(2, crnCommand))) {
+ crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.PAKOUT); // 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());
+ }
}
}
}
@@ -432,39 +459,95 @@
/**
* 搴撲綅绉昏浆
*/
- private void locToLoc(){
-
+ private void locToLoc(CrnSlave slave){
+ // 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")) {
+ 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));
+ }
}
/**
- * 鎵ц瀵瑰伐浣滄。鐨勫叆搴撳畬鎴�
+ * 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
*/
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();
-
+ // 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.taskFinish == 1 && 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);
+ // 鍑哄簱 + 鎷ｆ枡/鐩樼偣/骞舵澘鍑哄簱涓細12.鍚婅溅鍑哄簱涓� ==> 14.鍑哄簱瀹屾垚
+ } else if (wrkMast.getWrkSts() == 12) {
+ wrkMast.setWrkSts(14L);
+ }
+ 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) {
+ // 鍛戒护涓嬪彂鍖� -------------------------------------------------------------------------
+ // 澶嶄綅
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(3, new CrnCommand()))) {
+ log.error("鍫嗗灈鏈哄浣嶅懡浠や笅鍙戝け璐ワ紝宸ヤ綔鍙�={}", wrkMast.getWrkNo());
+ }
+ }
+ }
}
}
/**
- * 鏇存柊鍫嗗灈鏈虹Щ鍔ㄦ椂宸ヤ綔妗ｇ姸鎬�
+ * 鍫嗗灈鏈哄紓甯镐俊鎭褰�
*/
- public void updateCrnMove() {
- 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();
- // todo
- if (crnProtocol.getStatusType() == CrnStatusType.FETCH_POSITION) {
+ public void recCrnErr(){
- WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
-
-
- }
-
-
- }
}
+
+
+
}
--
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