From 377e207801eec0014b806394166a68caa52561ab Mon Sep 17 00:00:00 2001
From: Junjie <DELL@qq.com>
Date: 星期三, 07 一月 2026 10:09:20 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/model/command/StationCommand.java | 7
src/main/java/com/zy/core/utils/StationOperateProcessUtils.java | 9
src/main/java/com/zy/core/network/real/ZyStationV3RealConnect.java | 237 +++++++++
src/main/java/com/zy/core/utils/DualCrnOperateProcessUtils.java | 2
src/main/java/com/zy/core/ServerBootstrap.java | 3
src/main/java/com/zy/core/network/fake/ZyStationFakeConnect.java | 26
src/main/java/com/zy/asrs/controller/StationController.java | 5
src/main/java/com/zy/core/thread/StationThread.java | 3
src/main/java/com/zy/asrs/controller/ConsoleController.java | 1
src/main/java/com/zy/asrs/domain/vo/StationLatestDataVo.java | 3
src/main/java/com/zy/core/model/protocol/StationProtocol.java | 3
src/main/java/com/zy/core/network/entity/ZyStationStatusEntity.java | 3
src/main/java/com/zy/core/network/ZyStationConnectDriver.java | 18
src/main/java/com/zy/core/thread/impl/ZyStationThread.java | 4
src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java | 390 +++++++++++++++
src/main/webapp/components/DevpCard.js | 1
src/main/java/com/zy/core/enums/StationCommandType.java | 18
src/main/java/com/zy/core/network/fake/ZyStationFakeSegConnect.java | 733 +++++++++++++++++++++++++++++
src/main/java/com/zy/asrs/controller/BasStationOptController.java | 1
src/main/java/com/zy/core/plugin/FakeProcess.java | 20
20 files changed, 1,454 insertions(+), 33 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/BasStationOptController.java b/src/main/java/com/zy/asrs/controller/BasStationOptController.java
index 436c941..5ff4110 100644
--- a/src/main/java/com/zy/asrs/controller/BasStationOptController.java
+++ b/src/main/java/com/zy/asrs/controller/BasStationOptController.java
@@ -43,6 +43,7 @@
convert(param, wrapper);
allLike(BasStationOpt.class, param.keySet(), wrapper, condition);
if (!Cools.isEmpty(orderByField)){wrapper.orderBy(humpToLine(orderByField), "asc".equals(orderByType));}
+ wrapper.orderBy("send_time", false);
return R.ok(basStationOptService.selectPage(new Page<>(curr, limit), wrapper));
}
diff --git a/src/main/java/com/zy/asrs/controller/ConsoleController.java b/src/main/java/com/zy/asrs/controller/ConsoleController.java
index 466a081..320bf62 100644
--- a/src/main/java/com/zy/asrs/controller/ConsoleController.java
+++ b/src/main/java/com/zy/asrs/controller/ConsoleController.java
@@ -116,6 +116,7 @@
vo.setEmptyMk(stationProtocol.isEmptyMk()); // 鏄惁绌烘澘
vo.setFullPlt(stationProtocol.isFullPlt()); // 鏄惁婊℃澘
vo.setRunBlock(stationProtocol.isRunBlock());// 杩愯鍫靛
+ vo.setEnableIn(stationProtocol.isEnableIn());// 鍚姩鍏ュ簱
vo.setPalletHeight(stationProtocol.getPalletHeight()); // 鎵樼洏楂樺害
vo.setError(stationProtocol.getError()); // 閿欒鐮�
vo.setBarcode(stationProtocol.getBarcode()); // 鏉＄爜
diff --git a/src/main/java/com/zy/asrs/controller/StationController.java b/src/main/java/com/zy/asrs/controller/StationController.java
index 0a25edb..c90f325 100644
--- a/src/main/java/com/zy/asrs/controller/StationController.java
+++ b/src/main/java/com/zy/asrs/controller/StationController.java
@@ -1,10 +1,9 @@
package com.zy.asrs.controller;
-import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.service.BasDevpService;
+import com.zy.core.enums.StationCommandType;
import com.zy.core.model.StationObjModel;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
@@ -68,7 +67,7 @@
return R.error("绾跨▼涓嶅瓨鍦�");
}
- StationCommand command = stationThread.getMoveCommand(taskNo, stationId, targetStationId, 0);
+ StationCommand command = stationThread.getCommand(StationCommandType.MOVE, taskNo, stationId, targetStationId, 0);
MessageQueue.offer(SlaveType.Devp, devpNo, new Task(2, command));
return R.ok();
}
diff --git a/src/main/java/com/zy/asrs/domain/vo/StationLatestDataVo.java b/src/main/java/com/zy/asrs/domain/vo/StationLatestDataVo.java
index 3d4807b..59fc320 100644
--- a/src/main/java/com/zy/asrs/domain/vo/StationLatestDataVo.java
+++ b/src/main/java/com/zy/asrs/domain/vo/StationLatestDataVo.java
@@ -35,6 +35,9 @@
// 杩愯闃诲
private boolean runBlock;
+ // 鍚姩鍏ュ簱
+ private boolean enableIn;
+
// 鎵樼洏楂樺害
private Integer palletHeight;
diff --git a/src/main/java/com/zy/core/ServerBootstrap.java b/src/main/java/com/zy/core/ServerBootstrap.java
index 4912e40..62c22f5 100644
--- a/src/main/java/com/zy/core/ServerBootstrap.java
+++ b/src/main/java/com/zy/core/ServerBootstrap.java
@@ -11,6 +11,7 @@
import com.zy.core.thread.impl.ZySiemensCrnThread;
import com.zy.core.thread.impl.ZySiemensDualCrnThread;
import com.zy.core.thread.impl.ZyStationThread;
+import com.zy.core.thread.impl.ZyStationV3Thread;
import com.zy.core.thread.impl.ZyRgvThread;
import lombok.extern.slf4j.Slf4j;
@@ -134,6 +135,8 @@
ThreadHandler thread = null;
if (deviceConfig.getThreadImpl().equals("ZyStationThread")) {
thread = new ZyStationThread(deviceConfig, redisUtil);
+ } else if (deviceConfig.getThreadImpl().equals("ZyStationV3Thread")) {
+ thread = new ZyStationV3Thread(deviceConfig, redisUtil);
} else {
throw new CoolException("鏈煡鐨勭嚎绋嬪疄鐜�");
}
diff --git a/src/main/java/com/zy/core/enums/StationCommandType.java b/src/main/java/com/zy/core/enums/StationCommandType.java
new file mode 100644
index 0000000..e1890ab
--- /dev/null
+++ b/src/main/java/com/zy/core/enums/StationCommandType.java
@@ -0,0 +1,18 @@
+package com.zy.core.enums;
+
+import lombok.Getter;
+
+@Getter
+public enum StationCommandType {
+ MOVE("MOVE", "绉诲姩"),
+ WRITE_INFO("WRITE_INFO", "淇℃伅鍐欏叆"),
+ RESET("RESET", "澶嶄綅");
+
+ private final String code;
+ private final String desc;
+
+ StationCommandType(String code, String desc) {
+ this.code = code;
+ this.desc = desc;
+ }
+}
diff --git a/src/main/java/com/zy/core/model/command/StationCommand.java b/src/main/java/com/zy/core/model/command/StationCommand.java
index af12e44..825fea0 100644
--- a/src/main/java/com/zy/core/model/command/StationCommand.java
+++ b/src/main/java/com/zy/core/model/command/StationCommand.java
@@ -1,6 +1,9 @@
package com.zy.core.model.command;
import lombok.Data;
+import java.util.List;
+
+import com.zy.core.enums.StationCommandType;
@Data
public class StationCommand {
@@ -14,4 +17,8 @@
// 鎵樼洏澶у皬锛屽鏃犵壒娈婃儏鍐碉紝榛樿0
private Integer palletSize;
+ private List<Integer> navigatePath;
+
+ private StationCommandType commandType;
+
}
diff --git a/src/main/java/com/zy/core/model/protocol/StationProtocol.java b/src/main/java/com/zy/core/model/protocol/StationProtocol.java
index 645f225..566f8d9 100644
--- a/src/main/java/com/zy/core/model/protocol/StationProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/StationProtocol.java
@@ -40,6 +40,9 @@
// 杩愯闃诲
private boolean runBlock;
+ // 鍚姩鍏ュ簱
+ private boolean enableIn;
+
// 鎵樼洏楂樺害
private Integer palletHeight;
diff --git a/src/main/java/com/zy/core/network/ZyStationConnectDriver.java b/src/main/java/com/zy/core/network/ZyStationConnectDriver.java
index 185902d..78be50b 100644
--- a/src/main/java/com/zy/core/network/ZyStationConnectDriver.java
+++ b/src/main/java/com/zy/core/network/ZyStationConnectDriver.java
@@ -9,7 +9,9 @@
import com.zy.core.network.entity.ZyStationStatusEntity;
import java.util.List;
import com.zy.core.network.fake.ZyStationFakeConnect;
+import com.zy.core.network.fake.ZyStationFakeSegConnect;
import com.zy.core.network.real.ZyStationRealConnect;
+import com.zy.core.network.real.ZyStationV3RealConnect;
import lombok.extern.slf4j.Slf4j;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
@@ -23,6 +25,7 @@
public class ZyStationConnectDriver implements ThreadHandler {
private static final ZyStationFakeConnect zyStationFakeConnect = new ZyStationFakeConnect();
+ private static final ZyStationFakeSegConnect zyStationFakeSegConnect = new ZyStationFakeSegConnect();
private boolean connected = false;
private DeviceConfig deviceConfig;
@@ -44,10 +47,19 @@
@Override
public boolean connect() {
if (deviceConfig.getFake() == 0) {
- zyStationConnectApi = new ZyStationRealConnect(deviceConfig, redisUtil);
+ if ("ZyStationV3Thread".equals(deviceConfig.getThreadImpl())) {
+ zyStationConnectApi = new ZyStationV3RealConnect(deviceConfig, redisUtil);
+ } else {
+ zyStationConnectApi = new ZyStationRealConnect(deviceConfig, redisUtil);
+ }
} else {
- zyStationFakeConnect.addFakeConnect(deviceConfig, redisUtil);
- zyStationConnectApi = zyStationFakeConnect;
+ if ("ZyStationV3Thread".equals(deviceConfig.getThreadImpl())) {
+ zyStationFakeSegConnect.addFakeConnect(deviceConfig, redisUtil);
+ zyStationConnectApi = zyStationFakeSegConnect;
+ } else {
+ zyStationFakeConnect.addFakeConnect(deviceConfig, redisUtil);
+ zyStationConnectApi = zyStationFakeConnect;
+ }
}
boolean connect = zyStationConnectApi.connect();
diff --git a/src/main/java/com/zy/core/network/entity/ZyStationStatusEntity.java b/src/main/java/com/zy/core/network/entity/ZyStationStatusEntity.java
index 3959d31..48f9b3e 100644
--- a/src/main/java/com/zy/core/network/entity/ZyStationStatusEntity.java
+++ b/src/main/java/com/zy/core/network/entity/ZyStationStatusEntity.java
@@ -50,6 +50,9 @@
//杩愯鍫靛
private boolean runBlock = false;
+ //鍚姩鍏ュ簱
+ private boolean enableIn = false;
+
@Override
public ZyStationStatusEntity clone() {
try {
diff --git a/src/main/java/com/zy/core/network/fake/ZyStationFakeConnect.java b/src/main/java/com/zy/core/network/fake/ZyStationFakeConnect.java
index 419b417..99d4dd9 100644
--- a/src/main/java/com/zy/core/network/fake/ZyStationFakeConnect.java
+++ b/src/main/java/com/zy/core/network/fake/ZyStationFakeConnect.java
@@ -11,6 +11,7 @@
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.enums.RedisKeyType;
+import com.zy.core.enums.StationCommandType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.StationCommand;
import com.zy.core.network.api.ZyStationConnectApi;
@@ -116,24 +117,29 @@
Integer taskNo = command.getTaskNo();
Integer stationId = command.getStationId();
Integer targetStationId = command.getTargetStaNo();
+ StationCommandType commandType = command.getCommandType();
boolean generateBarcode = false;
- if(taskNo == 0 && targetStationId == 0){
- //娓呯┖绔欑偣
- resetStation(deviceNo, stationId);
- return;
+ if(commandType == StationCommandType.RESET){
+ if(taskNo == 0 && targetStationId == 0){
+ //娓呯┖绔欑偣
+ resetStation(deviceNo, stationId);
+ return;
+ }
+ }
+
+ if(commandType == StationCommandType.WRITE_INFO){
+ if (taskNo == 9998 && targetStationId == 0) {
+ //鐢熸垚鍑哄簱绔欑偣浠跨湡鏁版嵁
+ generateFakeOutStationData(deviceNo, stationId);
+ return;
+ }
}
//浠诲姟鍙峰睘浜庝豢鐪熷叆搴撲换鍔″彿
if (checkTaskNoInArea(taskNo)) {
//鐢熸垚浠跨湡鏁版嵁
generateBarcode = true;
- }
-
- if (taskNo == 9998 && targetStationId == 0) {
- //鐢熸垚鍑哄簱绔欑偣浠跨湡鏁版嵁
- generateFakeOutStationData(deviceNo, stationId);
- return;
}
if (taskNo > 0 && taskNo != 9999 && taskNo != 9998 && stationId == targetStationId) {
diff --git a/src/main/java/com/zy/core/network/fake/ZyStationFakeSegConnect.java b/src/main/java/com/zy/core/network/fake/ZyStationFakeSegConnect.java
new file mode 100644
index 0000000..9680550
--- /dev/null
+++ b/src/main/java/com/zy/core/network/fake/ZyStationFakeSegConnect.java
@@ -0,0 +1,733 @@
+package com.zy.core.network.fake;
+
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.zy.asrs.entity.DeviceConfig;
+import com.zy.common.model.NavigateNode;
+import com.zy.common.utils.RedisUtil;
+import com.zy.core.News;
+import com.zy.core.enums.RedisKeyType;
+import com.zy.core.enums.StationCommandType;
+import com.zy.core.model.CommandResponse;
+import com.zy.core.model.command.StationCommand;
+import com.zy.core.network.api.ZyStationConnectApi;
+import com.zy.core.network.entity.ZyStationStatusEntity;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Random;
+import java.util.concurrent.CopyOnWriteArrayList;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+import java.util.concurrent.BlockingQueue;
+import java.util.concurrent.LinkedBlockingQueue;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.TimeUnit;
+import java.util.Map;
+import java.util.function.Supplier;
+
+public class ZyStationFakeSegConnect implements ZyStationConnectApi {
+
+ private static int LOCK_STATION = 0;
+ private HashMap<Integer, List<ZyStationStatusEntity>> deviceStatusMap = new HashMap<>();
+ private HashMap<Integer, DeviceConfig> deviceConfigMap = new HashMap<>();
+ private RedisUtil redisUtil;
+ private final Map<Integer, BlockingQueue<StationCommand>> taskQueues = new ConcurrentHashMap<>();
+ private final Map<Integer, Long> taskLastUpdateTime = new ConcurrentHashMap<>();
+ private final Map<Integer, Boolean> taskRunning = new ConcurrentHashMap<>();
+ private final ExecutorService executor = Executors.newCachedThreadPool();
+
+ public void addFakeConnect(DeviceConfig deviceConfig, RedisUtil redisUtil) {
+ this.redisUtil = redisUtil;
+
+ if (deviceConfigMap.containsKey(deviceConfig.getDeviceNo())) {
+ return;
+ }
+ deviceConfigMap.put(deviceConfig.getDeviceNo(), deviceConfig);
+ deviceStatusMap.put(deviceConfig.getDeviceNo(), new CopyOnWriteArrayList<>());
+ }
+
+ @Override
+ public boolean connect() {
+ return true;
+ }
+
+ @Override
+ public boolean disconnect() {
+ executor.shutdownNow();
+ return true;
+ }
+
+ @Override
+ public List<ZyStationStatusEntity> getStatus(Integer deviceNo) {
+ List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
+ if (statusList == null) {
+ return new ArrayList<>();
+ }
+ DeviceConfig deviceConfig = deviceConfigMap.get(deviceNo);
+ if (statusList.isEmpty()) {
+ List<ZyStationStatusEntity> init = JSON.parseArray(deviceConfig.getFakeInitStatus(), ZyStationStatusEntity.class);
+ if (init != null) {
+ statusList.addAll(init);
+ for (ZyStationStatusEntity status : statusList) {
+ status.setAutoing(true);
+ status.setLoading(false);
+ status.setInEnable(true);
+ status.setOutEnable(true);
+ status.setEmptyMk(false);
+ status.setFullPlt(false);
+ status.setRunBlock(false);
+ status.setPalletHeight(0);
+ status.setError(0);
+ status.setBarcode("");
+ }
+ }
+ }
+
+ return statusList;
+ }
+
+ @Override
+ public CommandResponse sendCommand(Integer deviceNo, StationCommand command) {
+ Integer taskNo = command.getTaskNo();
+ if (taskNo == null) {
+ return new CommandResponse(false, "浠诲姟鍙蜂负绌�");
+ }
+
+ taskQueues.computeIfAbsent(taskNo, k -> new LinkedBlockingQueue<>()).offer(command);
+ taskLastUpdateTime.put(taskNo, System.currentTimeMillis());
+
+ if (taskRunning.putIfAbsent(taskNo, true) == null) {
+ executor.submit(() -> runTaskLoop(deviceNo, taskNo));
+ }
+
+ return new CommandResponse(true, "鍛戒护宸插彈鐞嗭紙寮傛鎵ц锛�");
+ }
+
+ private void runTaskLoop(Integer deviceNo, Integer taskNo) {
+ try {
+ // 鐢ㄤ簬瀛樺偍褰撳墠浠诲姟寰呮墽琛岀殑瀹屾暣璺緞闃熷垪
+ BlockingQueue<Integer> pathQueue = new LinkedBlockingQueue<>();
+ // 褰撳墠鏄惁姝ｅ湪鎵ц绉诲姩
+ boolean isMoving = false;
+ // 褰撳墠绉诲姩鍒扮殑璺緞绱㈠紩
+ int currentPathIndex = 0;
+ // 瀹屾暣璺緞璁板綍
+ List<Integer> fullPath = new ArrayList<>();
+
+ StationCommand initialCommand = null;
+ Integer finalTargetStationId = null;
+ boolean generateBarcode = false;
+
+ while (true) {
+ BlockingQueue<StationCommand> commandQueue = taskQueues.get(taskNo);
+ if (commandQueue == null) {
+ break;
+ }
+
+ // 灏濊瘯鑾峰彇鏂板懡浠わ紝濡傛灉娌℃湁鏂板懡浠ゅ垯缁х画鎵ц鐜版湁璺緞
+ StationCommand command = commandQueue.poll(100, TimeUnit.MILLISECONDS);
+ if (command != null) {
+ taskLastUpdateTime.put(taskNo, System.currentTimeMillis());
+
+ if (initialCommand == null) {
+ initialCommand = command;
+ finalTargetStationId = command.getTargetStaNo();
+ if (checkTaskNoInArea(taskNo)) {
+ generateBarcode = true;
+ }
+ }
+
+ List<Integer> newPath = command.getNavigatePath();
+ if (newPath != null && !newPath.isEmpty()) {
+ // 濡傛灉鏄涓�娈佃矾寰�
+ if (fullPath.isEmpty()) {
+ fullPath.addAll(newPath);
+ for (Integer stationId : newPath) {
+ pathQueue.offer(stationId);
+ }
+ } else {
+ // 杩藉姞璺緞锛岄渶瑕佸幓閲嶈鎺ョ偣
+ Integer lastStationId = fullPath.get(fullPath.size() - 1);
+ int startIndex = 0;
+ if (!newPath.isEmpty() && newPath.get(0).equals(lastStationId)) {
+ startIndex = 1;
+ }
+ for (int i = startIndex; i < newPath.size(); i++) {
+ Integer stationId = newPath.get(i);
+ fullPath.add(stationId);
+ pathQueue.offer(stationId);
+ }
+ }
+ }
+
+ // 澶勭悊闈炵Щ鍔ㄥ懡浠�
+ if (command.getCommandType() != StationCommandType.MOVE) {
+ handleCommand(deviceNo, command);
+ }
+ }
+
+ // 鎵ц绉诲姩閫昏緫
+ if (!pathQueue.isEmpty()) {
+ // 濡傛灉鍒氬紑濮嬶紝鍏堝垵濮嬪寲褰撳墠浣嶇疆
+ if (currentPathIndex == 0 && !fullPath.isEmpty()) {
+ Integer startStationId = fullPath.get(0);
+ Integer deviceId = getDeviceNoByStationId(startStationId);
+ if (deviceId != null) {
+ initStationMove(taskNo, startStationId, deviceId, taskNo, finalTargetStationId, true, null);
+ }
+ }
+
+ // 鍙栧嚭涓嬩竴涓洰鏍囩偣
+ Integer nextStationId = pathQueue.peek(); // 杩欓噷鐨勯�昏緫闇�瑕佹敼涓洪�愪釜琛岃蛋
+ // 瀹為檯琛岃蛋閫昏緫搴旇鏄湪杩欓噷娑堣垂 pathQueue
+ // 涓轰簡绠�鍖栵紝鎴戜滑灏� pathQueue 杞负 stationMoveByPathIds 鐨勯�昏緫锛屼絾杩欓噷闇�瑕佹敼閫犳垚姝ヨ繘寮�
+
+ // 閲嶆柊璁捐锛歳unTaskLoop 璐熻矗涓嶆柇娑堣垂 pathQueue 骞舵墽琛屽崟姝ョЩ鍔�
+ if (nextStationId != null) {
+ Integer currentStationId = fullPath.get(currentPathIndex);
+ if (currentStationId.equals(nextStationId)) {
+ pathQueue.poll(); // 绉婚櫎宸插埌杈剧殑鐐�
+ continue;
+ }
+
+ // 鎵ц浠� currentStationId 鍒� nextStationId 鐨勭Щ鍔�
+ Integer currentDeviceNo = getDeviceNoByStationId(currentStationId);
+ Integer nextDeviceNo = getDeviceNoByStationId(nextStationId);
+
+ if (currentDeviceNo != null && nextDeviceNo != null) {
+ boolean moveSuccess = stationMoveToNext(taskNo, currentStationId, currentDeviceNo, nextStationId, nextDeviceNo, taskNo, finalTargetStationId);
+ if (moveSuccess) {
+ currentPathIndex++;
+ pathQueue.poll();
+ sleep(1000); // 妯℃嫙鑰楁椂
+ } else {
+ sleep(1000); // 澶辫触閲嶈瘯绛夊緟
+ }
+ } else {
+ pathQueue.poll(); // 鏃犳硶鎵ц锛岃烦杩�
+ }
+ }
+ } else {
+ // 闃熷垪涓虹┖锛屾鏌ユ槸鍚﹁秴鏃�
+ Long lastTime = taskLastUpdateTime.get(taskNo);
+ if (lastTime != null && System.currentTimeMillis() - lastTime > 30000) {
+ // 瀹屾垚浠诲姟鍚庢竻鐞�
+ if (fullPath.size() > 0 && generateBarcode) {
+ Integer lastStation = fullPath.get(fullPath.size()-1);
+ Integer lastDevice = getDeviceNoByStationId(lastStation);
+ if (lastDevice != null) {
+ generateStationBarcode(taskNo, finalTargetStationId, lastDevice);
+ }
+ }
+ break;
+ }
+ }
+ }
+ } catch (InterruptedException e) {
+ Thread.currentThread().interrupt();
+ } finally {
+ taskQueues.remove(taskNo);
+ taskLastUpdateTime.remove(taskNo);
+ taskRunning.remove(taskNo);
+ }
+ }
+
+ @Override
+ public CommandResponse sendOriginCommand(String address, short[] data) {
+ return new CommandResponse(true, "鍘熷鍛戒护宸插彈鐞嗭紙寮傛鎵ц锛�");
+ }
+
+ @Override
+ public byte[] readOriginCommand(String address, int length) {
+ return new byte[0];
+ }
+
+ private void handleCommand(Integer deviceNo, StationCommand command) {
+ News.info("[WCS Debug] 绔欑偣浠跨湡妯℃嫙(V3)宸插惎鍔紝鍛戒护鏁版嵁={}", JSON.toJSONString(command));
+ Integer taskNo = command.getTaskNo();
+ Integer stationId = command.getStationId();
+ Integer targetStationId = command.getTargetStaNo();
+ boolean generateBarcode = false;
+
+ if (command.getCommandType() == StationCommandType.RESET) {
+ resetStation(deviceNo, stationId);
+ return;
+ }
+
+ if (checkTaskNoInArea(taskNo)) {
+ generateBarcode = true;
+ }
+
+ if (command.getCommandType() == StationCommandType.WRITE_INFO) {
+ if (taskNo == 9998 && targetStationId == 0) {
+ //鐢熸垚鍑哄簱绔欑偣浠跨湡鏁版嵁
+ generateFakeOutStationData(deviceNo, stationId);
+ return;
+ }
+ }
+
+ if (taskNo > 0 && taskNo != 9999 && taskNo != 9998 && stationId == targetStationId) {
+ generateStationData(deviceNo, taskNo, stationId, targetStationId);
+ }
+
+ List<Integer> navigatePath = command.getNavigatePath();
+ if (navigatePath != null && !navigatePath.isEmpty()) {
+ segmentedPathCommand(command, generateBarcode);
+ return;
+ }
+ }
+
+ private void generateFakeOutStationData(Integer deviceNo, Integer stationId) {
+ List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
+ ZyStationStatusEntity status = statusList.stream()
+ .filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);
+ if (status == null) {
+ return;
+ }
+
+ synchronized (status) {
+ status.setLoading(true);
+ }
+ }
+
+ private void generateStationData(Integer deviceNo, Integer taskNo, Integer stationId, Integer targetStationId) {
+ List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
+ ZyStationStatusEntity status = statusList.stream()
+ .filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);
+ if (status == null) {
+ return;
+ }
+
+ synchronized (status) {
+ status.setTaskNo(taskNo);
+ status.setTargetStaNo(targetStationId);
+ }
+ }
+
+ private void resetStation(Integer deviceNo, Integer stationId) {
+ List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
+ ZyStationStatusEntity status = statusList.stream()
+ .filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);
+ if (status == null) {
+ return;
+ }
+
+ synchronized (status) {
+ status.setTaskNo(0);
+ status.setLoading(false);
+ status.setBarcode("");
+ }
+ }
+
+ private void segmentedPathCommand(StationCommand command, boolean generateBarcode) {
+ Integer taskNo = command.getTaskNo();
+ Integer finalTargetStationId = command.getTargetStaNo();
+ List<Integer> path = command.getNavigatePath();
+ if (path == null || path.isEmpty()) {
+ return;
+ }
+
+ Integer currentStationId = findCurrentStationIdByTask(taskNo);
+ int startIdx = 0;
+ if (currentStationId != null) {
+ int idx = path.indexOf(currentStationId);
+ if (idx >= 0) {
+ startIdx = idx;
+ }
+ }
+
+ Integer segmentTargetStationId = path.get(path.size() - 1);
+ int endIdx = path.size() - 1;
+
+ boolean isFinalSegment = segmentTargetStationId.equals(finalTargetStationId);
+ boolean appendMode = currentStationId != null && path.indexOf(currentStationId) >= 0;
+ boolean generateBarcodeFinal = generateBarcode && isFinalSegment;
+
+ stationMoveByPathIds(path, taskNo, finalTargetStationId, false, generateBarcodeFinal, startIdx, endIdx, appendMode);
+ }
+
+ private Integer getDeviceNoByStationId(Integer stationId) {
+ for (Integer devNo : deviceStatusMap.keySet()) {
+ List<ZyStationStatusEntity> list = deviceStatusMap.get(devNo);
+ if (list == null) {
+ continue;
+ }
+ for (ZyStationStatusEntity e : list) {
+ if (e.getStationId() != null && e.getStationId().equals(stationId)) {
+ return devNo;
+ }
+ }
+ }
+ return null;
+ }
+
+ private Integer findCurrentStationIdByTask(Integer taskNo) {
+ for (Integer devNo : deviceStatusMap.keySet()) {
+ List<ZyStationStatusEntity> list = deviceStatusMap.get(devNo);
+ if (list == null) {
+ continue;
+ }
+ for (ZyStationStatusEntity e : list) {
+ if (e.getTaskNo() != null && e.getTaskNo().equals(taskNo) && e.isLoading()) {
+ return e.getStationId();
+ }
+ }
+ }
+ return null;
+ }
+
+ private boolean stationMoveByPathIds(List<Integer> stationPath, Integer taskNo, Integer targetStationId, boolean clearData, boolean generateBarcode, int startIdx, int endIdx, boolean appendMode) {
+ Integer lastStationId = null;
+ Integer targetStationDeviceNo = getDeviceNoByStationId(targetStationId);
+ long executeTime = System.currentTimeMillis();
+ int i = Math.max(0, startIdx);
+ while (i < stationPath.size() && i <= endIdx) {
+ if (Thread.currentThread().isInterrupted()) {
+ return false;
+ }
+ Integer currentStationId = stationPath.get(i);
+ Integer currentStationDeviceNo = getDeviceNoByStationId(currentStationId);
+ if (currentStationDeviceNo == null) {
+ return false;
+ }
+
+ Integer nextStationId = null;
+ Integer nextStationDeviceNo = null;
+ try {
+ nextStationId = stationPath.get(i + 1);
+ nextStationDeviceNo = getDeviceNoByStationId(nextStationId);
+ } catch (Exception ignore) {}
+
+ if (!checkTaskNoInArea(taskNo)) {
+ boolean fakeAllowCheckBlock = true;
+ Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
+ if (systemConfigMapObj != null) {
+ HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
+ if (!systemConfigMap.get("fakeAllowCheckBlock").equals("Y")) {
+ fakeAllowCheckBlock = false;
+ }
+ }
+
+ if (fakeAllowCheckBlock && System.currentTimeMillis() - executeTime > 1000 * 10) {
+ boolean result = runBlockStation(taskNo, currentStationId, currentStationDeviceNo, taskNo, currentStationId);
+ if(!result) {
+ continue;
+ }
+ return false;
+ }
+ }
+
+ if (i == startIdx && !appendMode) {
+ boolean result = initStationMove(taskNo, currentStationId, currentStationDeviceNo, taskNo, targetStationId, true, null);
+ if (!result) {
+ continue;
+ }
+ sleep(1000);
+ if (Thread.currentThread().isInterrupted()) {
+ return false;
+ }
+ }
+
+ if (nextStationId != null && nextStationDeviceNo != null) {
+ boolean result = stationMoveToNext(taskNo, currentStationId, currentStationDeviceNo, nextStationId, nextStationDeviceNo, taskNo, targetStationId);
+ if (!result) {
+ continue;
+ }
+ lastStationId = currentStationId;
+ }
+
+ if (currentStationId.equals(targetStationId)) {
+ break;
+ }
+
+ i++;
+ executeTime = System.currentTimeMillis();
+ sleep(1000);
+ if (Thread.currentThread().isInterrupted()) {
+ return false;
+ }
+ }
+
+ if (generateBarcode) {
+ if (lastStationId != null && targetStationDeviceNo != null) {
+ while (true) {
+ if (Thread.currentThread().isInterrupted()) {
+ break;
+ }
+ boolean result = generateStationBarcode(taskNo, targetStationId, targetStationDeviceNo);
+ sleep(1000);
+ if (!result) {
+ continue;
+ }
+ break;
+ }
+ }
+ }
+
+ if (clearData) {
+ sleep(10000);
+ if (Thread.currentThread().isInterrupted()) {
+ return true;
+ }
+ if (lastStationId != null && targetStationDeviceNo != null) {
+ while (true) {
+ if (Thread.currentThread().isInterrupted()) {
+ break;
+ }
+ boolean result = clearStation(targetStationDeviceNo, taskNo, targetStationId);
+ sleep(1000);
+ if (!result) {
+ continue;
+ }
+ break;
+ }
+ }
+ }
+
+ return true;
+ }
+
+ private void sleep(long ms) {
+ try {
+ Thread.sleep(ms);
+ } catch (InterruptedException e) {
+ Thread.currentThread().interrupt();
+ }
+ }
+
+ public synchronized boolean setLockStation(Integer uuid) {
+ if (LOCK_STATION == 0) {
+ LOCK_STATION = uuid;
+ return true;
+ }else {
+ if(LOCK_STATION == uuid) {
+ return true;
+ }
+ }
+ return false;
+ }
+
+ public synchronized boolean releaseLockStation(Integer uuid) {
+ if (LOCK_STATION != uuid) {
+ return false;
+ }
+
+ LOCK_STATION = 0;
+ return true;
+ }
+
+ public synchronized boolean updateStationData(Integer lockTaskNo, Integer stationId, Integer deviceNo, Integer taskNo, Integer targetStaNo, Boolean isLoading, String barcode, Boolean runBlock) {
+ if (LOCK_STATION != lockTaskNo) {
+ return false;
+ }
+
+ List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
+ if (statusList == null) {
+ return false;
+ }
+
+ ZyStationStatusEntity currentStatus = statusList.stream()
+ .filter(item -> item.getStationId().equals(stationId)).findFirst().orElse(null);
+
+ if (currentStatus == null) {
+ return false;
+ }
+
+ if (taskNo != null) {
+ currentStatus.setTaskNo(taskNo);
+ }
+
+ if (targetStaNo != null) {
+ currentStatus.setTargetStaNo(targetStaNo);
+ }
+
+ if (isLoading != null) {
+ currentStatus.setLoading(isLoading);
+ }
+
+ if (barcode != null) {
+ currentStatus.setBarcode(barcode);
+ }
+
+ if (runBlock != null) {
+ currentStatus.setRunBlock(runBlock);
+ }
+ return true;
+ }
+
+ public synchronized boolean initStationMove(Integer lockTaskNo, Integer currentStationId, Integer currentStationDeviceNo, Integer taskNo, Integer targetStationId, Boolean isLoading, String barcode) {
+ boolean executeResult = lockExecute(lockTaskNo, () -> {
+ List<ZyStationStatusEntity> statusList = deviceStatusMap.get(currentStationDeviceNo);
+ if (statusList == null) {
+ return false;
+ }
+
+ ZyStationStatusEntity currentStatus = statusList.stream()
+ .filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);
+
+ if (currentStatus == null) {
+ return false;
+ }
+
+ if (currentStatus.getTaskNo() > 0) {
+ if (!currentStatus.getTaskNo().equals(taskNo) && currentStatus.isLoading()) {
+ return false;
+ }
+ }
+
+ boolean result = updateStationData(lockTaskNo, currentStationId, currentStationDeviceNo, taskNo, targetStationId, isLoading, barcode, false);
+ if (!result) {
+ return false;
+ }
+ return true;
+ });
+
+ return executeResult;
+ }
+
+ public synchronized boolean stationMoveToNext(Integer lockTaskNo, Integer currentStationId, Integer currentStationDeviceNo, Integer nextStationId, Integer nextStationDeviceNo, Integer taskNo, Integer targetStaNo) {
+ boolean executeResult = lockExecute(lockTaskNo, () -> {
+ List<ZyStationStatusEntity> statusList = deviceStatusMap.get(currentStationDeviceNo);
+ if (statusList == null) {
+ return false;
+ }
+
+ List<ZyStationStatusEntity> nextStatusList = deviceStatusMap.get(nextStationDeviceNo);
+ if (statusList == null) {
+ return false;
+ }
+
+ ZyStationStatusEntity currentStatus = statusList.stream()
+ .filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);
+
+ ZyStationStatusEntity nextStatus = nextStatusList.stream()
+ .filter(item -> item.getStationId().equals(nextStationId)).findFirst().orElse(null);
+
+ if (currentStatus == null || nextStatus == null) {
+ return false;
+ }
+
+ if (nextStatus.getTaskNo() > 0 || nextStatus.isLoading()) {
+ return false;
+ }
+
+ boolean result = updateStationData(lockTaskNo, nextStationId, nextStationDeviceNo, taskNo, targetStaNo, true, null, false);
+ if (!result) {
+ return false;
+ }
+
+ boolean result2 = updateStationData(lockTaskNo, currentStationId, currentStationDeviceNo, 0, 0, false, "", false);
+ if (!result2) {
+ return false;
+ }
+
+ return true;
+ });
+ return executeResult;
+ }
+
+ public synchronized boolean generateStationBarcode(Integer lockTaskNo, Integer currentStationId, Integer currentStationDeviceNo) {
+ boolean executeResult = lockExecute(lockTaskNo, () -> {
+ List<ZyStationStatusEntity> statusList = deviceStatusMap.get(currentStationDeviceNo);
+ if (statusList == null) {
+ return false;
+ }
+
+ ZyStationStatusEntity currentStatus = statusList.stream()
+ .filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);
+
+ if (currentStatus == null) {
+ return false;
+ }
+
+ Random random = new Random();
+
+ String barcodeTime = String.valueOf(System.currentTimeMillis());
+ String barcode = String.valueOf(random.nextInt(10)) + String.valueOf(random.nextInt(10)) + barcodeTime.substring(7);
+
+ boolean result = updateStationData(lockTaskNo, currentStationId, currentStationDeviceNo, null, null, null, barcode, null);
+ if (!result) {
+ return false;
+ }
+ return true;
+ });
+
+ return executeResult;
+ }
+
+ public synchronized boolean clearStation(Integer deviceNo, Integer lockTaskNo, Integer currentStationId) {
+ boolean executeResult = lockExecute(lockTaskNo, () -> {
+ List<ZyStationStatusEntity> statusList = deviceStatusMap.get(deviceNo);
+ if (statusList == null) {
+ return false;
+ }
+
+ ZyStationStatusEntity currentStatus = statusList.stream()
+ .filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);
+
+ if (currentStatus == null) {
+ return false;
+ }
+
+ boolean result = updateStationData(deviceNo, lockTaskNo, currentStationId, 0, 0, false, "", false);
+ if (!result) {
+ return false;
+ }
+ return true;
+ });
+
+ return executeResult;
+ }
+
+ public synchronized boolean runBlockStation(Integer lockTaskNo, Integer currentStationId, Integer currentStationDeviceNo, Integer taskNo, Integer blockStationId) {
+ boolean executeResult = lockExecute(lockTaskNo, () -> {
+ List<ZyStationStatusEntity> statusList = deviceStatusMap.get(currentStationDeviceNo);
+ if (statusList == null) {
+ return false;
+ }
+
+ ZyStationStatusEntity currentStatus = statusList.stream()
+ .filter(item -> item.getStationId().equals(currentStationId)).findFirst().orElse(null);
+
+ if (currentStatus == null) {
+ return false;
+ }
+
+ boolean result = updateStationData(lockTaskNo, currentStationId, currentStationDeviceNo, taskNo, blockStationId, true, "", true);
+ if (!result) {
+ return false;
+ }
+ return true;
+ });
+
+ return executeResult;
+ }
+
+ public boolean lockExecute(Integer taskNo, Supplier<Boolean> function) {
+ if (!setLockStation(taskNo)) {
+ return false;
+ }
+
+ boolean result = function.get();
+ releaseLockStation(taskNo);
+ return result;
+ }
+
+ private boolean checkTaskNoInArea(Integer taskNo) {
+ Object fakeTaskNoAreaObj = redisUtil.get(RedisKeyType.FAKE_TASK_NO_AREA.key);
+ if (fakeTaskNoAreaObj == null) {
+ return false;
+ }
+
+ JSONObject data = JSON.parseObject(String.valueOf(fakeTaskNoAreaObj));
+ Integer start = data.getInteger("start");
+ Integer end = data.getInteger("end");
+
+ if(taskNo >= start && taskNo <= end) {
+ return true;
+ }
+
+ return false;
+ }
+}
diff --git a/src/main/java/com/zy/core/network/real/ZyStationV3RealConnect.java b/src/main/java/com/zy/core/network/real/ZyStationV3RealConnect.java
new file mode 100644
index 0000000..8f0af83
--- /dev/null
+++ b/src/main/java/com/zy/core/network/real/ZyStationV3RealConnect.java
@@ -0,0 +1,237 @@
+package com.zy.core.network.real;
+
+import HslCommunication.Core.Types.OperateResult;
+import HslCommunication.Core.Types.OperateResultExOne;
+import HslCommunication.Profinet.Siemens.SiemensPLCS;
+import HslCommunication.Profinet.Siemens.SiemensS7Net;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.core.common.DateUtils;
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasDevp;
+import com.zy.asrs.entity.DeviceConfig;
+import com.zy.asrs.service.BasDevpService;
+import com.zy.common.utils.RedisUtil;
+import com.zy.core.News;
+import com.zy.core.cache.OutputQueue;
+import com.zy.core.enums.StationCommandType;
+import com.zy.core.model.CommandResponse;
+import com.zy.core.model.command.StationCommand;
+import com.zy.core.network.api.ZyStationConnectApi;
+import com.zy.core.network.entity.ZyStationStatusEntity;
+import lombok.extern.slf4j.Slf4j;
+
+import java.text.MessageFormat;
+import java.util.Collections;
+import java.util.Comparator;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 杈撻�佺珯鐪熷疄杩炴帴锛圥LC锛�
+ */
+@Slf4j
+public class ZyStationV3RealConnect implements ZyStationConnectApi {
+
+ private List<ZyStationStatusEntity> statusList;
+ private List<ZyStationStatusEntity> barcodeStatusList;
+ private SiemensS7Net siemensNet;
+ private DeviceConfig deviceConfig;
+ private RedisUtil redisUtil;
+ private final static int taskAddressLength = 48;
+ private final static int taskAddressLimit = 50;
+
+ public ZyStationV3RealConnect(DeviceConfig deviceConfig, RedisUtil redisUtil) {
+ this.deviceConfig = deviceConfig;
+ this.redisUtil = redisUtil;
+ }
+
+ @Override
+ public boolean connect() {
+ boolean connected = false;
+ siemensNet = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp());
+ OperateResult connect = siemensNet.ConnectServer();
+ if (connect.IsSuccess) {
+ connected = true;
+ OutputQueue.DEVP.offer(MessageFormat.format("銆恵0}銆戣緭閫佺珯plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]",
+ DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(),
+ deviceConfig.getPort()));
+ News.info("杈撻�佺珯plc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}]",
+ deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
+ } else {
+ OutputQueue.DEVP.offer(MessageFormat.format("銆恵0}銆戣緭閫佺珯plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}]",
+ DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(),
+ deviceConfig.getPort()));
+ News.error("杈撻�佺珯plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}]",
+ deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort());
+ }
+ return connected;
+ }
+
+ @Override
+ public boolean disconnect() {
+ siemensNet.ConnectClose();
+ return true;
+ }
+
+ @Override
+ public List<ZyStationStatusEntity> getStatus(Integer deviceNo) {
+ if (statusList == null) {
+ BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
+ if (basDevpService == null) {
+ return Collections.emptyList();
+ }
+
+ BasDevp basDevp = basDevpService
+ .selectOne(new EntityWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
+ if (basDevp == null) {
+ return Collections.emptyList();
+ }
+
+ statusList = JSONObject.parseArray(basDevp.getStationList(), ZyStationStatusEntity.class);
+ if (statusList != null) {
+ statusList.sort(Comparator.comparing(ZyStationStatusEntity::getStationId));
+ }
+ barcodeStatusList = JSONObject.parseArray(basDevp.getBarcodeStationList(), ZyStationStatusEntity.class);
+ if (barcodeStatusList != null) {
+ barcodeStatusList.sort(Comparator.comparing(ZyStationStatusEntity::getStationId));
+ }
+ }
+
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) (statusList.size() * 8));
+ if (result.IsSuccess) {
+ for (int i = 0; i < statusList.size(); i++) {
+ ZyStationStatusEntity statusEntity = statusList.get(i); // 绔欑偣缂栧彿
+ statusEntity.setTaskNo(siemensNet.getByteTransform().TransInt32(result.Content, i * 8)); // 宸ヤ綔鍙�
+ statusEntity.setTargetStaNo((int) siemensNet.getByteTransform().TransInt16(result.Content, i * 8 + 4)); // 鐩爣绔�
+
+ boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, i * 8 + 6, 1);
+ statusEntity.setAutoing(status[0]); // 鑷姩
+ statusEntity.setLoading(status[1]); // 鏈夌墿
+ statusEntity.setInEnable(status[2]); // 鍙叆
+ statusEntity.setOutEnable(status[3]);// 鍙嚭
+ statusEntity.setEmptyMk(status[4]); // 绌烘墭鐩�
+ statusEntity.setFullPlt(status[5]); // 婊℃墭鐩�
+
+ boolean[] status2 = siemensNet.getByteTransform().TransBool(result.Content, i * 8 + 7, 1);
+ statusEntity.setRunBlock(status2[1]);//閲嶆柊瑙勫垝璺嚎
+ statusEntity.setEnableIn(status2[3]);//鍚姩鍏ュ簱
+ }
+ }
+
+ // 鏉＄爜鎵弿鍣�
+ OperateResultExOne<byte[]> result2 = siemensNet.Read("DB101.0", (short) (statusList.size() * 10));
+ if (result2.IsSuccess) {
+ for (int i = 0; i < barcodeStatusList.size(); i++) {
+ ZyStationStatusEntity barcodeEntity = barcodeStatusList.get(i);
+ ZyStationStatusEntity statusEntity = findStatusEntity(barcodeEntity.getStationId());
+ if (statusEntity == null) {
+ continue;
+ }
+ String barcode = siemensNet.getByteTransform().TransString(result2.Content, i * 10 + 2, 8, "UTF-8");
+ barcode = barcode.trim();
+ barcodeEntity.setBarcode(barcode);
+ }
+ }
+
+ return statusList;
+ }
+
+ @Override
+ public CommandResponse sendCommand(Integer deviceNo, StationCommand command) {
+ CommandResponse commandResponse = new CommandResponse(false);
+ if (null == command) {
+ commandResponse.setMessage("鍛戒护涓虹┖");
+ return commandResponse;
+ }
+
+ if (command.getCommandType().equals(StationCommandType.MOVE)) {
+ int enableCommandIdx = -1;
+ while (true) {
+ enableCommandIdx = getEnableCommandIdx();
+ if(enableCommandIdx == -1) {
+ try {
+ Thread.sleep(300);
+ }catch (Exception e) {}
+ }else {
+ break;
+ }
+ }
+
+ List<Integer> pathList = command.getNavigatePath();
+
+ short[] data = new short[22];
+ data[0] = command.getTargetStaNo().shortValue();
+
+ int dataIdx = 1;
+ for (Integer path : pathList) {
+ data[dataIdx++] = path.shortValue();
+ }
+
+ OperateResult writeTask = siemensNet.Write("DB23." + enableCommandIdx * taskAddressLength, command.getTaskNo());
+ OperateResult writeData = siemensNet.Write("DB23." + enableCommandIdx * taskAddressLength + 4, data);
+ if(writeTask.IsSuccess && writeData.IsSuccess) {
+ log.error("鍐欏叆杈撻�佺嚎鍛戒护鎴愬姛銆備换鍔″彿={}锛岀珯鐐规暟鎹�={}", command.getTaskNo(), JSON.toJSON(command));
+ commandResponse.setResult(true);
+ }else {
+ log.error("鍐欏叆杈撻�佺嚎鍛戒护澶辫触銆傜珯鐐圭紪鍙�={}锛岀珯鐐规暟鎹�={}", command.getTaskNo(), JSON.toJSON(command));
+ commandResponse.setResult(false);
+ }
+ }
+ return commandResponse;
+ }
+
+ @Override
+ public CommandResponse sendOriginCommand(String address, short[] data) {
+ CommandResponse commandResponse = new CommandResponse(false);
+ if (null == data || data.length == 0) {
+ commandResponse.setMessage("鏁版嵁涓虹┖");
+ return commandResponse;
+ }
+
+ OperateResult write = siemensNet.Write(address, data);
+ if (write.IsSuccess) {
+ log.info("鍐欏叆鍘熷鍛戒护鎴愬姛銆傚湴鍧�={}锛屾暟鎹�={}", address, JSON.toJSON(data));
+ commandResponse.setResult(true);
+ } else {
+ log.error("鍐欏叆鍘熷鍛戒护澶辫触銆傚湴鍧�={}锛屾暟鎹�={}", address, JSON.toJSON(data));
+ commandResponse.setResult(false);
+ }
+ return commandResponse;
+ }
+
+ @Override
+ public byte[] readOriginCommand(String address, int length) {
+ OperateResultExOne<byte[]> result = siemensNet.Read(address, (short) length);
+ if (result.IsSuccess) {
+ return result.Content;
+ }
+ return new byte[0];
+ }
+
+ private ZyStationStatusEntity findStatusEntity(Integer stationId) {
+ for (ZyStationStatusEntity statusEntity : statusList) {
+ if (statusEntity.getStationId().equals(stationId)) {
+ return statusEntity;
+ }
+ }
+ return null;
+ }
+
+ private int getEnableCommandIdx() {
+ int useIdx = -1;
+ for (int i = 0; i < taskAddressLimit; i++) {
+ OperateResultExOne<byte[]> result = siemensNet.Read("DB23." + i * taskAddressLength, (short) taskAddressLength);
+ int taskStatus = siemensNet.getByteTransform().TransInt16(result.Content, i * taskAddressLength + 46);
+ if (taskStatus == 1) {
+ continue;
+ }
+
+ useIdx = i;
+ break;
+ }
+ return useIdx;
+ }
+
+}
diff --git a/src/main/java/com/zy/core/plugin/FakeProcess.java b/src/main/java/com/zy/core/plugin/FakeProcess.java
index c0ca391..9c20eaf 100644
--- a/src/main/java/com/zy/core/plugin/FakeProcess.java
+++ b/src/main/java/com/zy/core/plugin/FakeProcess.java
@@ -236,7 +236,7 @@
&& !stationProtocol.isLoading()
&& stationProtocol.getTaskNo() == 0
) {
- StationCommand command = stationThread.getMoveCommand(commonService.getWorkNo(WrkIoType.FAKE_TASK_NO.id), stationId, entity.getBarcodeStation().getStationId(), 0);
+ StationCommand command = stationThread.getCommand(StationCommandType.MOVE, commonService.getWorkNo(WrkIoType.FAKE_TASK_NO.id), stationId, entity.getBarcodeStation().getStationId(), 0);
MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
redisUtil.set(RedisKeyType.GENERATE_FAKE_IN_STATION_DATA_LIMIT.key + stationId, "lock", 5);
}
@@ -325,7 +325,7 @@
taskParam.setBarcode(stationProtocol.getBarcode());
WrkMast wrkMast = commonService.createInTask(taskParam);
- StationCommand command = stationThread.getMoveCommand(wrkMast.getWrkNo(), stationId, stationId, 0);
+ StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationId, stationId, 0);
if(command == null){
News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
continue;
@@ -467,7 +467,7 @@
taskParam.setBarcode(stationProtocol.getBarcode());
WrkMast wrkMast = commonService.createInTask(taskParam);
- StationCommand command = stationThread.getMoveCommand(wrkMast.getWrkNo(), stationId, stationId, 0);
+ StationCommand command = stationThread.getCommand(StationCommandType.WRITE_INFO, wrkMast.getWrkNo(), stationId, stationId, 0);
if(command == null){
News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
continue;
@@ -528,7 +528,7 @@
continue;
}
- StationCommand command = stationThread.getMoveCommand(0, stationObjModel.getStationId(), 0, 0);
+ StationCommand command = stationThread.getCommand(StationCommandType.RESET, 0, stationObjModel.getStationId(), 0, 0);
if(command == null){
continue;
}
@@ -576,11 +576,6 @@
continue;
}
- StationCommand command = stationThread.getMoveCommand(0, stationObjModel.getStationId(), 0, 0);
- if(command == null){
- continue;
- }
-
Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
StationProtocol stationProtocol = statusMap.get(stationObjModel.getStationId());
if (stationProtocol == null) {
@@ -588,6 +583,11 @@
}
if(stationProtocol.getTaskNo() > 0) {
+ StationCommand command = stationThread.getCommand(StationCommandType.RESET, 0, stationObjModel.getStationId(), 0, 0);
+ if(command == null){
+ continue;
+ }
+
WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
if (wrkMast == null) {
MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
@@ -693,7 +693,7 @@
continue;
}
//鐢熸垚浠跨湡绔欑偣鏁版嵁
- StationCommand command = stationThread.getMoveCommand(9998, wrkMast.getSourceStaNo(), 0, 0);
+ StationCommand command = stationThread.getCommand(StationCommandType.WRITE_INFO, 9998, wrkMast.getSourceStaNo(), 0, 0);
MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
}
}else if(wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_RUN.sts){
diff --git a/src/main/java/com/zy/core/thread/StationThread.java b/src/main/java/com/zy/core/thread/StationThread.java
index b04e391..011083c 100644
--- a/src/main/java/com/zy/core/thread/StationThread.java
+++ b/src/main/java/com/zy/core/thread/StationThread.java
@@ -1,6 +1,7 @@
package com.zy.core.thread;
import com.zy.core.ThreadHandler;
+import com.zy.core.enums.StationCommandType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.protocol.StationProtocol;
@@ -13,7 +14,7 @@
Map<Integer, StationProtocol> getStatusMap();
- StationCommand getMoveCommand(Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize);
+ StationCommand getCommand(StationCommandType commandType, Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize);
CommandResponse sendCommand(StationCommand command);
diff --git a/src/main/java/com/zy/core/thread/impl/ZyStationThread.java b/src/main/java/com/zy/core/thread/impl/ZyStationThread.java
index b2f598b..be32eb0 100644
--- a/src/main/java/com/zy/core/thread/impl/ZyStationThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationThread.java
@@ -20,6 +20,7 @@
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
+import com.zy.core.enums.StationCommandType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.Task;
import com.zy.core.model.command.StationCommand;
@@ -179,12 +180,13 @@
}
@Override
- public StationCommand getMoveCommand(Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize) {
+ public StationCommand getCommand(StationCommandType commandType, Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize) {
StationCommand stationCommand = new StationCommand();
stationCommand.setTaskNo(taskNo);
stationCommand.setStationId(stationId);
stationCommand.setTargetStaNo(targetStationId);
stationCommand.setPalletSize(palletSize);
+ stationCommand.setCommandType(commandType);
return stationCommand;
}
diff --git a/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java b/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
new file mode 100644
index 0000000..70a0cde
--- /dev/null
+++ b/src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
@@ -0,0 +1,390 @@
+package com.zy.core.thread.impl;
+
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.core.common.DateUtils;
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasDevp;
+import com.zy.asrs.entity.BasStationOpt;
+import com.zy.asrs.entity.DeviceConfig;
+import com.zy.asrs.entity.DeviceDataLog;
+import com.zy.asrs.service.BasDevpService;
+import com.zy.asrs.service.BasStationOptService;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.model.NavigateNode;
+import com.zy.common.utils.NavigateUtils;
+import com.zy.common.utils.RedisUtil;
+import com.zy.core.cache.MessageQueue;
+import com.zy.core.cache.OutputQueue;
+import com.zy.core.cache.SlaveConnection;
+import com.zy.core.enums.RedisKeyType;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.enums.StationCommandType;
+import com.zy.core.model.CommandResponse;
+import com.zy.core.model.Task;
+import com.zy.core.model.command.StationCommand;
+import com.zy.core.model.protocol.StationProtocol;
+import com.zy.core.network.DeviceConnectPool;
+import com.zy.core.network.ZyStationConnectDriver;
+import com.zy.core.network.entity.ZyStationStatusEntity;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+
+import java.text.MessageFormat;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+@Data
+@Slf4j
+public class ZyStationV3Thread implements Runnable, com.zy.core.thread.StationThread {
+
+ private List<StationProtocol> statusList = new ArrayList<>();
+ private DeviceConfig deviceConfig;
+ private RedisUtil redisUtil;
+ private ZyStationConnectDriver zyStationConnectDriver;
+ private int deviceLogCollectTime = 200;
+ private long deviceDataLogTime = System.currentTimeMillis();
+ private ExecutorService executor = Executors.newFixedThreadPool(9999);
+
+ public ZyStationV3Thread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
+ this.deviceConfig = deviceConfig;
+ this.redisUtil = redisUtil;
+ }
+
+ @Override
+ @SuppressWarnings("InfiniteLoopStatement")
+ public void run() {
+ this.connect();
+ deviceLogCollectTime = Utils.getDeviceLogCollectTime();
+
+ Thread readThread = new Thread(() -> {
+ while (true) {
+ try {
+ deviceLogCollectTime = Utils.getDeviceLogCollectTime();
+ readStatus();
+ Thread.sleep(100);
+ } catch (Exception e) {
+ log.error("StationV3Thread Fail", e);
+ }
+ }
+ });
+ readThread.start();
+
+ Thread processThread = new Thread(() -> {
+ while (true) {
+ try {
+ int step = 1;
+ Task task = MessageQueue.poll(SlaveType.Devp, deviceConfig.getDeviceNo());
+ if (task != null) {
+ step = task.getStep();
+ }
+ if (step == 2) {
+ StationCommand cmd = (StationCommand) task.getData();
+ executor.submit(() -> executeMoveWithSeg(cmd));
+ }
+ Thread.sleep(100);
+ } catch (Exception e) {
+ log.error("StationV3Process Fail", e);
+ }
+ }
+ });
+ processThread.start();
+ }
+
+ private void readStatus() {
+ if (zyStationConnectDriver == null) {
+ return;
+ }
+
+ if (statusList.isEmpty()) {
+ BasDevpService basDevpService = null;
+ try {
+ basDevpService = SpringUtils.getBean(BasDevpService.class);
+ } catch (Exception e) {
+ }
+ if (basDevpService == null) {
+ return;
+ }
+
+ BasDevp basDevp = basDevpService
+ .selectOne(new EntityWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
+ if (basDevp == null) {
+ return;
+ }
+
+ List<ZyStationStatusEntity> list = JSONObject.parseArray(basDevp.getStationList(), ZyStationStatusEntity.class);
+ for (ZyStationStatusEntity entity : list) {
+ StationProtocol stationProtocol = new StationProtocol();
+ stationProtocol.setStationId(entity.getStationId());
+ statusList.add(stationProtocol);
+ }
+ }
+
+ List<ZyStationStatusEntity> zyStationStatusEntities = zyStationConnectDriver.getStatus();
+ for (ZyStationStatusEntity statusEntity : zyStationStatusEntities) {
+ for (StationProtocol stationProtocol : statusList) {
+ if (stationProtocol.getStationId().equals(statusEntity.getStationId())) {
+ stationProtocol.setTaskNo(statusEntity.getTaskNo());
+ stationProtocol.setTargetStaNo(statusEntity.getTargetStaNo());
+ stationProtocol.setAutoing(statusEntity.isAutoing());
+ stationProtocol.setLoading(statusEntity.isLoading());
+ stationProtocol.setInEnable(statusEntity.isInEnable());
+ stationProtocol.setOutEnable(statusEntity.isOutEnable());
+ stationProtocol.setEmptyMk(statusEntity.isEmptyMk());
+ stationProtocol.setFullPlt(statusEntity.isFullPlt());
+ stationProtocol.setPalletHeight(statusEntity.getPalletHeight());
+ stationProtocol.setError(statusEntity.getError());
+ stationProtocol.setBarcode(statusEntity.getBarcode());
+ stationProtocol.setRunBlock(statusEntity.isRunBlock());
+ stationProtocol.setEnableIn(statusEntity.isEnableIn());
+ }
+ }
+ }
+
+ OutputQueue.DEVP.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛", DateUtils.convert(new Date()), deviceConfig.getDeviceNo()));
+
+ if (System.currentTimeMillis() - deviceDataLogTime > deviceLogCollectTime) {
+ DeviceDataLog deviceDataLog = new DeviceDataLog();
+ deviceDataLog.setOriginData(JSON.toJSONString(zyStationStatusEntities));
+ deviceDataLog.setWcsData(JSON.toJSONString(statusList));
+ deviceDataLog.setType(String.valueOf(SlaveType.Devp));
+ deviceDataLog.setDeviceNo(deviceConfig.getDeviceNo());
+ deviceDataLog.setCreateTime(new Date());
+
+ redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
+ deviceDataLogTime = System.currentTimeMillis();
+ }
+ }
+
+ @Override
+ public boolean connect() {
+ zyStationConnectDriver = new ZyStationConnectDriver(deviceConfig, redisUtil);
+ zyStationConnectDriver.start();
+ DeviceConnectPool.put(SlaveType.Devp, deviceConfig.getDeviceNo(), zyStationConnectDriver);
+ return true;
+ }
+
+ @Override
+ public void close() {
+ if (zyStationConnectDriver != null) {
+ zyStationConnectDriver.close();
+ }
+ if (executor != null) {
+ try { executor.shutdownNow(); } catch (Exception ignore) {}
+ }
+ }
+
+ @Override
+ public List<StationProtocol> getStatus() {
+ return statusList;
+ }
+
+ @Override
+ public Map<Integer, StationProtocol> getStatusMap() {
+ Map<Integer, StationProtocol> map = new HashMap<>();
+ for (StationProtocol stationProtocol : statusList) {
+ map.put(stationProtocol.getStationId(), stationProtocol);
+ }
+ return map;
+ }
+
+ @Override
+ public StationCommand getCommand(StationCommandType commandType, Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize) {
+ StationCommand stationCommand = new StationCommand();
+ stationCommand.setTaskNo(taskNo);
+ stationCommand.setStationId(stationId);
+ stationCommand.setTargetStaNo(targetStationId);
+ stationCommand.setPalletSize(palletSize);
+ stationCommand.setCommandType(commandType);
+
+ if (commandType == StationCommandType.MOVE) {
+ if (!stationId.equals(targetStationId)) {
+ List<Integer> path = calcPathStationIds(stationId, targetStationId);
+ stationCommand.setNavigatePath(path);
+ }
+ }
+ return stationCommand;
+ }
+
+ @Override
+ public CommandResponse sendCommand(StationCommand command) {
+ CommandResponse commandResponse = null;
+ try {
+ commandResponse = zyStationConnectDriver.sendCommand(command);
+ return commandResponse;
+ } finally {
+ BasStationOptService optService = SpringUtils.getBean(BasStationOptService.class);
+ List<ZyStationStatusEntity> statusListEntity = zyStationConnectDriver.getStatus();
+ ZyStationStatusEntity matched = null;
+ if (statusListEntity != null) {
+ for (ZyStationStatusEntity e : statusListEntity) {
+ if (e.getStationId() != null && e.getStationId().equals(command.getStationId())) {
+ matched = e;
+ break;
+ }
+ }
+ }
+ BasStationOpt basStationOpt = new BasStationOpt(
+ command.getTaskNo(),
+ command.getStationId(),
+ new Date(),
+ String.valueOf(command.getCommandType()),
+ command.getStationId(),
+ command.getTargetStaNo(),
+ null,
+ null,
+ null,
+ JSON.toJSONString(command),
+ JSON.toJSONString(matched),
+ 1,
+ JSON.toJSONString(commandResponse)
+ );
+ if (optService != null) {
+ optService.insert(basStationOpt);
+ }
+ }
+ }
+
+ @Override
+ public CommandResponse sendOriginCommand(String address, short[] data) {
+ return zyStationConnectDriver.sendOriginCommand(address, data);
+ }
+
+ @Override
+ public byte[] readOriginCommand(String address, int length) {
+ return zyStationConnectDriver.readOriginCommand(address, length);
+ }
+
+ private List<Integer> calcPathStationIds(Integer startStationId, Integer targetStationId) {
+ NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
+ if (navigateUtils == null) {
+ return new ArrayList<>();
+ }
+ List<NavigateNode> nodes = navigateUtils.calcByStationId(startStationId, targetStationId);
+ List<Integer> ids = new ArrayList<>();
+ for (NavigateNode n : nodes) {
+ JSONObject v = JSONObject.parseObject(n.getNodeValue());
+ if (v != null) {
+ ids.add(v.getInteger("stationId"));
+ }
+ }
+ return ids;
+ }
+
+ private void executeMoveWithSeg(StationCommand original) {
+ if(original.getCommandType() == StationCommandType.MOVE){
+ List<Integer> path = original.getNavigatePath();
+ if (path == null || path.isEmpty()) {
+ path = calcPathStationIds(original.getStationId(), original.getTargetStaNo());
+ }
+ if (path == null || path.isEmpty()) {
+ return;
+ }
+
+ int total = path.size();
+ List<Integer> segmentTargets = new ArrayList<>();
+ List<Integer> segmentEndIndices = new ArrayList<>();
+ int idx = 0;
+ while (idx < total) {
+ int end = Math.min(idx + 20, total) - 1;
+ segmentTargets.add(path.get(end));
+ segmentEndIndices.add(end);
+ idx = end + 1;
+ }
+
+ int segCursor = 0;
+ Integer currentTarget = segmentTargets.get(segCursor);
+ Integer currentEndIdx = segmentEndIndices.get(segCursor);
+ Integer currentStartIdx = 0;
+
+ StationCommand segCmd = new StationCommand();
+ segCmd.setTaskNo(original.getTaskNo());
+ segCmd.setStationId(original.getStationId());
+ segCmd.setTargetStaNo(original.getTargetStaNo());
+ segCmd.setCommandType(original.getCommandType());
+ segCmd.setPalletSize(original.getPalletSize());
+ segCmd.setNavigatePath(new ArrayList<>(path.subList(0, currentEndIdx + 1)));
+ sendCommand(segCmd);
+
+ boolean finished = false;
+ while (!finished) {
+ try {
+ Integer currentStationId = findCurrentStationByTask(original.getTaskNo());
+ if (currentStationId == null) {
+ Thread.sleep(500);
+ continue;
+ }
+ int currentIndex = path.indexOf(currentStationId);
+ if (currentIndex < 0) {
+ Thread.sleep(500);
+ continue;
+ }
+ int remaining = total - currentIndex - 1;
+ if (remaining <= 0) {
+ finished = true;
+ break;
+ }
+ int currentSegEndIndex = path.indexOf(segmentTargets.get(segCursor));
+ int currentSegStartIndex = segCursor == 0 ? 0 : path.indexOf(segmentTargets.get(segCursor - 1)) + 1;
+ int segLen = currentSegEndIndex - currentSegStartIndex + 1;
+ int remainingSegment = Math.max(0, currentSegEndIndex - currentIndex);
+ int thresholdSegment = (int) Math.ceil(segLen * 0.3);
+ if (remainingSegment <= thresholdSegment && segCursor < segmentTargets.size() - 1) {
+ segCursor++;
+ currentEndIdx = segmentEndIndices.get(segCursor);
+ currentStartIdx = segmentEndIndices.get(segCursor - 1) + 1;
+
+ StationCommand nextCmd = new StationCommand();
+ nextCmd.setTaskNo(original.getTaskNo());
+ nextCmd.setStationId(original.getStationId());
+ nextCmd.setTargetStaNo(original.getTargetStaNo());
+ nextCmd.setCommandType(original.getCommandType());
+ nextCmd.setPalletSize(original.getPalletSize());
+ nextCmd.setNavigatePath(new ArrayList<>(path.subList(currentStartIdx, currentEndIdx + 1)));
+ sendCommand(nextCmd);
+ }
+ Thread.sleep(500);
+ } catch (Exception e) {
+ break;
+ }
+ }
+ }else {
+ sendCommand(original);
+ }
+ }
+
+ private Integer findCurrentStationByTask(Integer taskNo) {
+ try {
+ com.zy.asrs.service.DeviceConfigService deviceConfigService = SpringUtils.getBean(com.zy.asrs.service.DeviceConfigService.class);
+ if (deviceConfigService == null) {
+ return null;
+ }
+ List<DeviceConfig> devpList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Devp)));
+ for (DeviceConfig dc : devpList) {
+ com.zy.core.thread.StationThread t = (com.zy.core.thread.StationThread) SlaveConnection.get(SlaveType.Devp, dc.getDeviceNo());
+ if (t == null) {
+ continue;
+ }
+ Map<Integer, StationProtocol> m = t.getStatusMap();
+ if (m == null || m.isEmpty()) {
+ continue;
+ }
+ for (StationProtocol sp : m.values()) {
+ if (sp.getTaskNo() != null && sp.getTaskNo().equals(taskNo) && sp.isLoading()) {
+ return sp.getStationId();
+ }
+ }
+ }
+ } catch (Exception e) {
+ return null;
+ }
+ return null;
+ }
+}
diff --git a/src/main/java/com/zy/core/utils/DualCrnOperateProcessUtils.java b/src/main/java/com/zy/core/utils/DualCrnOperateProcessUtils.java
index 983b5db..e7546e2 100644
--- a/src/main/java/com/zy/core/utils/DualCrnOperateProcessUtils.java
+++ b/src/main/java/com/zy/core/utils/DualCrnOperateProcessUtils.java
@@ -578,7 +578,7 @@
continue;
}
//鐢熸垚浠跨湡绔欑偣鏁版嵁
- StationCommand command = stationThread.getMoveCommand(9998, wrkMast.getSourceStaNo(), 0, 0);
+ StationCommand command = stationThread.getCommand(StationCommandType.WRITE_INFO, 9998, wrkMast.getSourceStaNo(), 0, 0);
MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
}
}
diff --git a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
index 39c4396..4a4b2d2 100644
--- a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
+++ b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
@@ -15,6 +15,7 @@
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
+import com.zy.core.enums.StationCommandType;
import com.zy.core.enums.WrkStsType;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.Task;
@@ -107,7 +108,7 @@
continue;
}
- StationCommand command = stationThread.getMoveCommand(wrkMast.getWrkNo(), stationId, targetStationId, 0);
+ StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationId, targetStationId, 0);
if(command == null){
News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
continue;
@@ -174,7 +175,7 @@
&& stationProtocol.isLoading()
&& stationProtocol.getTaskNo() == 0
) {
- StationCommand command = stationThread.getMoveCommand(wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
+ StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
if(command == null){
News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
continue;
@@ -312,7 +313,7 @@
continue;
}
- StationCommand command = stationThread.getMoveCommand(wrkMast.getWrkNo(), stationProtocol.getStationId(), targetStationId, 0);
+ StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), targetStationId, 0);
if(command == null){
News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
continue;
@@ -348,7 +349,7 @@
}
}else {
//杩愯鍫靛锛岄噸鏂拌绠楄矾绾�
- StationCommand command = stationThread.getMoveCommand(wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
+ StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
if(command == null){
News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
continue;
diff --git a/src/main/webapp/components/DevpCard.js b/src/main/webapp/components/DevpCard.js
index 479306b..97b3367 100644
--- a/src/main/webapp/components/DevpCard.js
+++ b/src/main/webapp/components/DevpCard.js
@@ -40,6 +40,7 @@
<el-descriptions-item label="绌烘澘淇″彿">{{ item.emptyMk ? 'Y' : 'N' }}</el-descriptions-item>
<el-descriptions-item label="婊℃澘淇″彿">{{ item.fullPlt ? 'Y' : 'N' }}</el-descriptions-item>
<el-descriptions-item label="杩愯闃诲">{{ item.runBlock ? 'Y' : 'N' }}</el-descriptions-item>
+ <el-descriptions-item label="鍚姩鍏ュ簱">{{ item.enableIn ? 'Y' : 'N' }}</el-descriptions-item>
<el-descriptions-item label="鎵樼洏楂樺害">{{ item.palletHeight }}</el-descriptions-item>
<el-descriptions-item label="鏉＄爜">{{ item.barcode }}</el-descriptions-item>
<el-descriptions-item label="鏁呴殰浠ｇ爜">{{ item.error }}</el-descriptions-item>
--
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