From 3c5935f579c0d51e64721101e81886ff957be229 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 02 八月 2023 09:14:25 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 2458 +++++++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 2,106 insertions(+), 352 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 b1221d7..398e5e0 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1,432 +1,1240 @@
package com.zy.asrs.service.impl;
import com.alibaba.fastjson.JSON;
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
-import com.baomidou.mybatisplus.mapper.Wrapper;
+import com.alibaba.fastjson.JSONObject;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
-import com.zy.asrs.mapper.WaitPakinMapper;
-import com.zy.asrs.mapper.WrkMastMapper;
+import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
-import com.zy.common.model.StartupDto;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.model.*;
+import com.zy.common.model.enums.NavigationMapType;
+import com.zy.common.service.CommonService;
+import com.zy.common.service.erp.ErpService;
+import com.zy.common.utils.*;
+import com.zy.core.DevpThread;
+import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.CrnForkPosType;
-import com.zy.core.enums.CrnModeType;
-import com.zy.core.enums.CrnStatusType;
-import com.zy.core.enums.SlaveType;
-import com.zy.core.model.CrnSlave;
-import com.zy.core.model.DevpSlave;
-import com.zy.core.model.Task;
-import com.zy.core.model.command.CrnCommand;
-import com.zy.core.model.protocol.CrnProtocol;
-import com.zy.core.model.protocol.StaProtocol;
+import com.zy.core.enums.*;
+import com.zy.core.model.*;
+import com.zy.core.model.command.*;
+import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
-import com.zy.core.thread.BarcodeThread;
-import com.zy.core.thread.CrnThread;
-import com.zy.core.thread.DevpThread;
+import com.zy.core.thread.*;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.jdbc.core.JdbcTemplate;
+import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
+import org.springframework.transaction.interceptor.TransactionAspectSupport;
-import java.util.Date;
-import java.util.List;
+import java.util.*;
import java.util.stream.Collectors;
/**
+ * 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
* Created by vincent on 2020/8/6
*/
@Slf4j
@Service("mainService")
+@Transactional
public class MainServiceImpl {
- @Autowired
- private CommonService commonService;
+ @Value("${wms.url}")
+ private String wmsUrl;
@Autowired
private SlaveProperties slaveProperties;
@Autowired
private WrkMastMapper wrkMastMapper;
@Autowired
- private WrkDetlService wrkDetlService;
+ private WrkMastService wrkMastService;
@Autowired
- private WaitPakinMapper waitPakinMapper;
+ private WrkDetlService wrkDetlService;
@Autowired
private LocMastService locMastService;
@Autowired
- private StaDescService staDescService;
+ private LocDetlService locDetlService;
@Autowired
- private BasCrnpService basCrnpService;
+ private StaDescService staDescService;
@Autowired
private BasDevpService basDevpService;
@Autowired
- private JdbcTemplate jdbcTemplate;
+ private BasErrLogService basErrLogService;
+ @Autowired
+ private BasSteErrLogService basSteErrLogService;
+ @Autowired
+ private BasShuttleService basShuttleService;
+ @Autowired
+ private BasShuttleErrLogService basShuttleErrLogService;
+ @Autowired
+ private BasShuttleErrService basShuttleErrService;
+ @Autowired
+ private BasCrnErrorMapper basCrnErrorMapper;
+ @Autowired
+ private BasSteService basSteService;
+ @Autowired
+ private WrkChargeService wrkChargeService;
+ @Autowired
+ private BasSteErrService basSteErrService;
+ @Autowired
+ private CommonService commonService;
+ @Autowired
+ private WrkChargeMapper wrkChargeMapper;
+ @Autowired
+ private BasMapService basMapService;
+ @Autowired
+ private ErpService erpService;
+ @Autowired
+ private OrderMapper orderMapper;
+ @Autowired
+ private OrderDetlMapper orderDetlMapper;
+ @Autowired
+ private BasLiftService basLiftService;
+ @Autowired
+ private ShuttleDispatchUtils shuttleDispatchUtils;
+ @Autowired
+ private RedisUtil redisUtil;
/**
+ * 缁勬墭
* 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 2
*/
- @Transactional
public void generateStoreWrkFile() {
// 鏍规嵁杈撻�佺嚎plc閬嶅巻
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鍏ュ簱鍙�
for (DevpSlave.Sta inSta : devp.getInSta()) {
- // 鑾峰彇鏉＄爜
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
- String barcode = barcodeThread.getBarcode();
// 鑾峰彇鍏ュ簱绔欎俊鎭�
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInreq1()
- && !staProtocol.isEmptyMk() && staProtocol.isInreq1() && staProtocol.getWorkNo() ==0
- && staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
- if (wrkMast != null) {
- log.warn("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负1鐨勬暟鎹�,宸ヤ綔鍙�-{}", wrkMast.getWrkNo());
- continue;
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ Short workNo = staProtocol.getWorkNo();
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "寮傚父锛�";
+ if (staProtocol.isFrontErr()) {
+ errMsg = errMsg+"鍓嶈秴闄愶紱";
+ back = true;
+ }
+ if (staProtocol.isBackErr()) {
+ errMsg = errMsg+"鍚庤秴闄�";
+ back = true;
+ }
+ if (staProtocol.isHighErr()) {
+ errMsg = errMsg+"楂樿秴闄�";
+ back = true;
+ }
+ if (staProtocol.isLeftErr()) {
+ errMsg = errMsg+"宸﹁秴闄�";
+ back = true;
+ }
+ if (staProtocol.isRightErr()) {
+ errMsg = errMsg+"鍙宠秴闄�";
+ back = true;
+ }
+ if (staProtocol.isWeightErr()) {
+ errMsg = errMsg+"瓒呴噸";
+ back = true;
+ }
+ if (staProtocol.isBarcodeErr()) {
+ errMsg = errMsg+"鎵爜澶辫触";
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ if (ledThread != null) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
}
- // 鑾峰彇鍏ュ簱閫氱煡妗�
- List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("barcode", barcode));
- // 宸ヤ綔鍙�
- int workNo = commonService.getWorkNo(0);
- // 妫�绱㈠簱浣�
- List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
- StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos);
- String locNo = startupDto.getLocNo();
- if (!waitPakins.isEmpty()) {
- // 鎻掑叆宸ヤ綔鏄庣粏妗�
- wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);
- } else {
- log.warn("鏃犳鍏ュ簱鏉＄爜鏁版嵁---{}", barcode);
- continue;
- }
-
- // 鎻掑叆宸ヤ綔涓绘。
- wrkMast = new WrkMast();
- wrkMast.setWrkNo(workNo);
- wrkMast.setIoTime(new Date());
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
- wrkMast.setIoType(1); // 鍏ュ嚭搴撶姸鎬侊細1.鍏ュ簱
- wrkMast.setIoPri(10D); // 浼樺厛绾э細10
- wrkMast.setCrnNo(startupDto.getCrnNo());
- wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
- wrkMast.setStaNo(startupDto.getStaNo());
- wrkMast.setLocNo(startupDto.getLocNo());
- wrkMast.setBarcode(barcode); // 鎵樼洏鐮�
- wrkMast.setFullPlt("Y"); // 婊℃澘锛歒
- wrkMast.setPicking("N"); // 鎷ｆ枡
- wrkMast.setExitMk("N"); // 閫�鍑�
- wrkMast.setEmptyMk("N"); // 绌烘澘
- wrkMast.setLinkMis("N");
-// wrkMast.setCtnType(sourceStaNo.getCtnType()); // 瀹瑰櫒绫诲瀷
- // 鎿嶄綔浜哄憳鏁版嵁
- wrkMast.setAppeTime(new Date());
- wrkMast.setModiTime(new Date());
- Integer insert = wrkMastMapper.insert(wrkMast);
- if (insert == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
- }
- // 鏇存柊鐩爣搴撲綅鐘舵��
- LocMast locMast = locMastService.selectById(startupDto.getLocNo());
- locMast.setLocSts("S"); // S.鍏ュ簱棰勭害
- locMast.setModiTime(new Date());
- if (!locMastService.updateById(locMast)){
- throw new CoolException("鏀瑰彉搴撲綅鐘舵�佸け璐�");
- }
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- barcodeThread.setBarcode("");
- staProtocol.setWorkNo(workNo);
- staProtocol.setStaNo(startupDto.getStaNo());
- staProtocol.setPakMk(false);
- staProtocol.setInreq1(false);
- 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");
- }
-
+ continue;
}
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing() && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
+ ) {
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
+ if (barcodeThread == null) {
+ continue;
+ }
+ String barcode = barcodeThread.getBarcode();
+ if(!Cools.isEmpty(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("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)|| "00000000".equals(barcode)) {
+// staProtocol.setWorkNo((short) 32002);
+// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ if (ledThread != null) {
+ String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+ }
+ continue;
+ }
+ } else {
+// staProtocol.setWorkNo((short) 32002);
+// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ if (ledThread != null) {
+ String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+ }
+ continue;
+ }
+
+ // 杩囨护鐩樼偣/鎷ｆ枡/骞舵澘浠诲姟
+ WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode);
+ if (null != wrkMast1) {
+ continue;
+ }
+
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ WrkMast wrkMast2 = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
+ if (wrkMast2 != null) {
+ News.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast2.getWrkNo());
+ continue;
+ }
+
+ try {
+ LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(barcode);
+ param.setIoType(1);
+ param.setSourceStaNo(inSta.getStaNo());
+// param.setLocType1(locTypeDto.getLocType1());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+ // plc 澶勭悊
+ barcodeThread.setBarcode("");
+ staProtocol.setWorkNo(dto.getWorkNo().shortValue());
+ staProtocol.setStaNo(dto.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");
+ }
+
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
+ if (wrkMast == null) { continue; }
+
+ // 鏇存柊宸ヤ綔涓绘。
+ wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ News.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
+ }
+
+ } else if (code == 500){
+ if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+ if (!Cools.isEmpty(errorMsg)) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+ }
+ }
+ News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+ } else if (code == 700) {
+ staProtocol.setWorkNo((short) 32002);
+ staProtocol.setRollback102(1);//102绔欏洖閫�淇″彿
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ if (ledThread != null) {
+ String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
}
}
-
}
+ /**
+ * wms鍏ュ簱
+ * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 1 ==>> 2
+ */
+ @Deprecated
+ public void generateStoreWrkFile0() {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鍏ュ簱鍙�
+ for (DevpSlave.Sta inSta : devp.getInSta()) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ Short workNo = staProtocol.getWorkNo();
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing() && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
+ && staProtocol.isPakMk()) {
+
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "";
+ if (staProtocol.isFrontErr()) {
+ errMsg = "鍓嶈秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isBackErr()) {
+ errMsg = "鍚庤秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isHighErr()) {
+ errMsg = "楂樿秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isLeftErr()) {
+ errMsg = "宸﹁秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isRightErr()) {
+ errMsg = "鍙宠秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isWeightErr()) {
+ errMsg = "瓒呴噸";
+ back = true;
+ }
+ if (!back && staProtocol.isBarcodeErr()) {
+ errMsg = "鎵爜澶辫触";
+ back = true;
+ }
+
+ // 閫�鍥�
+ if (back) {
+ 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);
+ staProtocol.setWorkNo((short) 32002);
+ staProtocol.setStaNo(inSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ if (ledThread != null) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
+ }
+ continue;
+ }
+
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
+ if (wrkMast == null) { continue; }
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+
+ // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ if (result) {
+ // 鏇存柊宸ヤ綔涓绘。
+ wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ News.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
+ }
+ } else {
+ News.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+ }
+ }
+ }
+ }
+ }
/**
* 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
*/
- public void stnToCrnStnPick(){
+ @Transactional
+ public synchronized void stnToCrnStnPick(){
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
- for (DevpSlave.Sta pickSta : devp.getPickSta()) {
+ for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
+
// 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
+ && (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9999)
+ && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
+ && staProtocol.isPakMk()){
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInreq1()
- && staProtocol.getWorkNo() > 0 && staProtocol.isPakMk()){
- WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
- if (wrkMast == null) {
- // 鏃犳嫞鏂欐暟鎹�
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
+ if (barcodeThread == null) {
continue;
}
- if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 1070)
+ String barcode = barcodeThread.getBarcode();
+
+ WrkMast wrkMast = null;
+ wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
+ if (wrkMast == null) {
+ continue;
+ }
+// if (staProtocol.getWorkNo() == 9996) {
+// String barcode = barcodeThread.getBarcode();
+// if(!Cools.isEmpty(barcode)) {
+// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
+// if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
+// staProtocol.setWorkNo((short) 32002);
+// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//
+// // led 寮傚父鏄剧ず
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+// if (ledThread != null) {
+// String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+// }
+// continue;
+// }
+// } else {
+// staProtocol.setWorkNo((short) 32002);
+// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//
+// // led 寮傚父鏄剧ず
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+// if (ledThread != null) {
+// String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+// }
+// continue;
+// }
+// wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
+// if (null == wrkMast) {
+// News.error("{}鏉＄爜閿欒锛屾殏鏃犳嫞鏂欎换鍔★紒", barcode);
+// }
+// }
+
+ if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
|| Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
continue;
}
- // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
- if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
- }
- // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
- if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
- }
- // 鑾峰彇鐩爣绔�
- Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
- .eq("type_no", wrkMast.getIoType() - 50)
- .eq("stn_no", wrkMast.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
- .eq("crn_no", wrkMast.getCrnNo()); // 鍫嗗灈鏈哄彿
- StaDesc staDesc = staDescService.selectOne(wrapper);
- if (Cools.isEmpty(staDesc)) {
- throw new CoolException("鍏ュ簱璺緞涓嶅瓨鍦�");
- }
- // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
- Integer staNo = staDesc.getCrnStn();
- // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
- wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
- wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 婧愮珯
- wrkMast.setStaNo(staNo); // 鐩爣绔�
- wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
- wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
- }
- // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
- LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
- locMast.setLocSts("Q");
- locMast.setModiTime(new Date());
- if (!locMastService.updateById(locMast)) {
- throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
- }
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo());
- staProtocol.setStaNo(wrkMast.getStaNo());
- staProtocol.setPakMk(false);
- staProtocol.setInreq1(false);
- 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");
- }
+ try {
+ // 璁块棶 WMS 鑾峰彇鍏ュ簱搴撲綅
+ LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+ SearchLocParam param = new SearchLocParam();
+ param.setWrkNo(wrkMast.getWrkNo());
+ param.setIoType(wrkMast.getIoType());
+ param.setSourceStaNo(pickSta.getStaNo());
+// param.setLocType1(locTypeDto.getLocType1());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
- }
+// // 鑾峰彇鐩爣绔�
+// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
+// .eq("type_no", wrkMast.getIoType() - 50)
+// .eq("stn_no", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
+// .eq("crn_no", dto.getCrnNo()); // 鍫嗗灈鏈哄彿
+// StaDesc staDesc = staDescService.selectOne(wrapper);
+// if (Cools.isEmpty(staDesc)) {
+// News.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
+// continue;
+// }
+// // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
+// Integer staNo = staDesc.getCrnStn();
- }
+ // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
+// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
+// throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
+// }
+ // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
+ if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
+ throw new CoolException(wrkMast.getWrkNo() + "淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
+ }
- }
- }
+ String sourceLocNo = wrkMast.getSourceLocNo().trim();
+ // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
+ wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
+ wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
+ wrkMast.setSourceStaNo(pickSta.getStaNo()); // 婧愮珯
+ wrkMast.setStaNo(dto.getStaNo()); // 鐩爣绔�
+ wrkMast.setCrnNo(dto.getCrnNo());
+ wrkMast.setLocNo(sourceLocNo); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
+ wrkMast.setShuttleNo(null); // 绌挎杞︽竻绌�
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ throw new CoolException(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
+ }
+ if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
+ throw new CoolException(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
+ }
- /**
- * 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
- */
- public void crnStnToOutStn() {
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
- for (DevpSlave.Sta outSta : devp.getOutSta()) {
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(outSta.getStaNo());
- if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
- // 鏌ヨ宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
- if (wrkMast == null) {
- continue;
- }
- // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
- if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
- continue;
- }
- // 鍒ゆ柇鍚婅溅鏄惁瀹為檯宸插畬鎴愶紝涓旂數鑴戠姸鎬佸湪move涓紝浠ュ鐢佃剳杩涜鏇存柊宸ヤ綔妗�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
- // 绉诲姩涓�
- continue;
- }
- // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触 todo:luxiaotao
- if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
- && crnProtocol.statusType == CrnStatusType.IDLE
- && crnProtocol.forkPosType == CrnForkPosType.HOME) {
- wrkMast.setWrkSts(14L);
- wrkMast.setCrnEndTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛屽伐浣滃彿"+wrkMast.getWrkNo());
+ // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
+ LocMast locMast = locMastService.selectById(sourceLocNo);
+ locMast.setLocSts("Q");
+ locMast.setModiTime(new Date());
+ if (!locMastService.updateById(locMast)) {
+ throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
+ }
+
+ // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ if (!result) {
+ News.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+ }
+
+ } else if (code == 500){
+ if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+ if (!Cools.isEmpty(errorMsg)) {
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+ }
+ }
+ News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+ } else {
+ staProtocol.setWorkNo((short) 32002);
+ staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+// String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+ }
}
+
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- // 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))) {
- 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))) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
}
}
- }
- }
-
- /**
- * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈虹珯鍒板簱浣� 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
- */
- public void crnIoExecute(){
- 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();
- BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
- if (basCrnp == null) {
- continue;
- }
- // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0) {
- // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
- if (crnProtocol.getLastIo().equals("I")) {
- if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc(crn); // 鍏ュ簱
- crnProtocol.setLastIo("O");
- } else if (basCrnp.getOutEnable().equals("Y")) {
- this.locToCrnStn(crn); // 鍑哄簱
- crnProtocol.setLastIo("I");
- }
- }
- // 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
- else if (crnProtocol.getLastIo().equals("O")) {
- if (basCrnp.getOutEnable().equals("Y")) {
- this.locToCrnStn(crn); // 鍑哄簱
- crnProtocol.setLastIo("I");
- } else if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc(crn); // 鍏ュ簱
- crnProtocol.setLastIo("O");
- }
- }
- }
- // 搴撲綅绉昏浆
- this.locToLoc();
}
}
/**
- * 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
+ * 鍒濆鍖栧疄鏃跺湴鍥�
*/
- private void crnStnToLoc(CrnSlave slave){
- for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
- boolean flag = false;
- // 鑾峰彇鍫嗗灈鏈哄叆搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- // 鏌ヨ绔欑偣璇︾粏淇℃伅
- BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
- if (staDetl == null) {
- log.error("鍏ュ簱搴� ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
- continue;
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staDetl.getCanining().equals("Y")) {
- flag = true;
- }
- if (!flag) {
- continue;
- }
- // 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級鐨勫叆搴撳伐浣滄。
- WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo());
- if(null == wrkMast) {
- log.error("鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
- continue;
- }
- // 鑾峰彇搴撲綅淇℃伅
- LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
- if (locMast == null) {
- log.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
- continue;
- }
- if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
- log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
- continue;
- }
+ public synchronized void initRealtimeBasMap() {
+ for (int i = 1; i <= 10; i++) {//鎬诲叡鍥涘眰妤�
+ Object data = redisUtil.get("realtimeBasMap_" + i);
+ if (data == null) {//redis鍦板浘鏁版嵁涓虹┖锛屼粠鏁版嵁搴撲腑鑾峰彇
+ BasMap basMap = basMapService.selectLatestMap(i);
+ if (basMap == null) {
+ //鏁版嵁搴撲腑涔熶笉瀛樺湪鍦板浘鏁版嵁锛屼粠鍦板浘鏂囦欢涓幏鍙�
+ //杞藉叆鍦板浘
+ NavigateMapData mapData = new NavigateMapData(i);
+ List<List<MapNode>> lists = mapData.getJsonData(-1, null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
- // 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.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))) {
- 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));
+ //瀛樺叆鏁版嵁搴�
+ basMap = new BasMap();
+ basMap.setData(JSON.toJSONString(lists));
+ basMap.setCreateTime(new Date());
+ basMap.setUpdateTime(new Date());
+ basMap.setLev(i);
+
+ if (!basMapService.insert(basMap)) {
+ log.info("鍦板浘鏁版嵁瀛樺偍澶辫触");
+ }
+ }
+
+ //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
+ redisUtil.set("realtimeBasMap_" + i, JSON.toJSONString(basMap));
}
}
}
/**
- * 鍑哄簱 ===>> 搴撲綅鍒板爢鍨涙満绔�
+ * 浠巖edis涓噸鍚换鍔�
*/
- private void locToCrnStn(CrnSlave slave){
- for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
- // 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑鍑哄簱宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId());
- if (wrkMast == null) {
- continue;
- }
- // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
- if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
- log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
- continue;
- }
- // 鑾峰彇婧愬簱浣嶄俊鎭�
- LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
- if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
- log.error("鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), sourceSta.getLocSts());
- continue;
- }
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- // 鏌ヨ绔欑偣璇︾粏淇℃伅
- BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
- if (staDetl == null) {
- log.error("鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
- continue;
- }
- // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
- if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting().equals("Y")
- && staProtocol.getWorkNo() == 0) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- 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))) {
- 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));
+ public synchronized void restartTaskFromRedis() {
+ HashMap<Object, Object> map = redisUtil.getRedis();
+ for (Object key : map.keySet()) {
+ if (key.toString().contains("lift_wrk_no_")) {//鎻愬崌鏈轰换鍔�
+ LiftRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), LiftRedisCommand.class);
+ if (redisCommand == null) {
+ continue;
}
+
+ Short liftNo = redisCommand.getLiftNo();
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
+ if (!liftProtocol.isIdle()) {
+ continue;
+ }
+
+ //鎻愬崌鏈哄浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
+ liftProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗘彁鍗囨満绾跨▼鍒嗛厤浠诲姟鍙�
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
+
+ }else if(key.toString().contains("shuttle_wrk_no_")){//鍥涘悜绌挎杞︿换鍔�
+ ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class);
+ if (redisCommand == null) {
+ continue;
+ }
+
+ Short shuttleNo = redisCommand.getShuttleNo();
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+ if (!shuttleProtocol.isIdle()) {
+ continue;
+ }
+
+ //鍥涘悜绌挎杞﹀浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
+ shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗗洓鍚戠┛姊溅绾跨▼鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
+ }
+ }
+
+ }
+
+ /**
+ * 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
+ */
+ public synchronized void shuttleInExecute() {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鍏ュ簱绔�
+ for (DevpSlave.StaRack staRack : devp.getRackInStn()) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(staRack.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ Short workNo = staProtocol.getWorkNo();
+ BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
+ if (basDevp == null) {
+ continue;//绔欑偣淇℃伅涓嶅瓨鍦�
+ }
+
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢锛岃嚜鍔ㄣ�佹湁鐗┿�佸洓鍚戠┛姊溅鍙彇淇″彿
+ if (!(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable())) {
+ continue;
+ }
+
+ WrkMast wrkMast = wrkMastMapper.selectRackInStep4(workNo, staProtocol.getSiteId());
+ if (wrkMast == null) {
+ continue;
+ }
+
+ boolean step1 = this.shuttleInExecuteStep1(wrkMast, basDevp);//灏忚溅鎼叆搴撲腑
+ if (!step1) {
+ continue;
+ }
+
+ }
+ }
+
+ }
+
+ /**
+ * 鍏ュ簱-灏忚溅鎼叆搴撲腑
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ public boolean shuttleInExecuteStep1(WrkMast wrkMast, BasDevp basDevp) {
+ if (wrkMast.getWrkSts() == 4) {
+ if (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basDevp.getLocNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄨ緭閫佺珯鐐硅繘琛屽彇璐�
+ return false;
+ }
+
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+ if (!shuttleProtocol.isIdle()) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪杈撻�佺珯鐐瑰簱浣�
+ if (!shuttleProtocol.getCurrentLocNo().equals(basDevp.getLocNo())) {
+ //灏忚溅涓嶅湪杈撻�佺珯鐐逛綅缃�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basDevp.getLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄨ緭閫佺珯鐐硅繘琛屽彇璐�
+ return false;
+ }
+
+ //灏忚溅宸叉姷杈捐緭閫佺珯鐐逛綅缃紝杩涜鎼繍璐х墿
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), basDevp.getLocNo(), wrkMast.getLocNo());
+ if (result == null) {//璺緞璁＄畻澶辫触
+ return false;
+ }
+
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//鍏ュ簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(result.getCommands());//杩愯鍛戒护
+ assignCommand.setNodes(result.getNodes());//璺緞鑺傜偣
+
+ wrkMast.setWrkSts(5L);//4.鎻愬崌鏈烘惉杩愬畬鎴� => 5.灏忚溅鎼繍涓�
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 鍑哄簱 ===>> 鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
+ */
+ public synchronized void shuttleOutExecute() {
+ for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
+ boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//灏忚溅鎼嚭搴撲腑
+ if (!step1) {
+ continue;
+ }
+ }
+ }
+
+ /**
+ * 鍑哄簱-灏忚溅鎼嚭搴撲腑
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
+ //21.鐢熸垚鍑哄簱浠诲姟 => 22.灏忚溅鎼繍涓�
+ if (wrkMast.getWrkSts() == 21) {
+ if (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄥ簱浣嶈繘琛屽彇璐�
+ return false;
+ }
+
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+ if (!shuttleProtocol.isIdle()) {
+ return false;
+ }
+
+ //鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
+ BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getLiftNo());
+ if (targetBasDevp == null) {
+ return false;//缂哄皯绔欑偣淇℃伅
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪璐х墿搴撲綅
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
+ //灏忚溅涓嶅湪杈撻�佺珯鐐逛綅缃�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄨ緭閫佺珯鐐硅繘琛屽彇璐�
+ return false;
+ }
+
+ //灏忚溅宸叉姷杈捐揣鐗╀綅缃紝杩涜鎼繍璐х墿
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), targetBasDevp.getLocNo());
+ if (result == null) {//鍑哄簱璺緞璁＄畻澶辫触
+ return false;
+ }
+
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());//鍑哄簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(result.getCommands());//杩愯鍛戒护
+ assignCommand.setNodes(result.getNodes());//璺緞鑺傜偣
+
+ wrkMast.setWrkSts(22L);//21.鐢熸垚鍑哄簱浠诲姟 => 22.灏忚溅鎼繍涓�
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 鎼滅储绌洪棽涓旀渶杩戠殑鍥涘悜绌挎杞�(浠ュ伐浣滄。鐩爣搴撲綅涓哄熀鐐硅绠楁渶杩戜笖绌洪棽鐨勮溅)
+ */
+ public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
+ HashMap<String, Object> map = new HashMap<>();
+ String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//搴撲綅鍙�
+ LocMast locMast = locMastService.queryByLoc(locNo);//鎵惧埌搴撲綅璁板綍
+ int lev = Utils.getLev(locNo);//褰撳墠宸ヤ綔妗ｅ簱浣嶅眰楂�
+ ShuttleThread recentShuttle = null;//褰撳墠璺濈鏈�杩戠殑鍥涘悜绌挎杞︾嚎绋�
+
+ ArrayList<ShuttleThread> sameLev = new ArrayList<>();//鐩稿悓妤煎眰鐨勭┛姊溅
+ ArrayList<ShuttleThread> diffLev = new ArrayList<>();//涓嶅悓妤煎眰鐨勭┛姊溅
+
+ //鍒ゆ柇鍏朵粬绌洪棽绌挎杞︽槸鍚︾浠诲姟鏈�杩�
+ String distLocNo = null;//鐩爣鍦扮偣锛屽叆搴�=銆嬫彁鍗囨満鍙ｏ紝鍑哄簱=銆嬭揣鐗╁簱浣嶅彿
+ if (wrkMast.getIoType() < 101 && wrkMast.getIoType() != 11) {
+ //鍏ュ簱
+ distLocNo = Utils.levToOutInStaLocNo(lev);
+ }else if(wrkMast.getIoType() >= 101){
+ //鍑哄簱
+ distLocNo = locNo;
+ } else if (wrkMast.getIoType() == 11) {
+ //搴撲綅绉昏浆
+ distLocNo = wrkMast.getSourceLocNo();
+ }
+
+ //鍒ゆ柇褰撳墠浠诲姟鎵�鍦ㄦゼ灞傛槸鍚︽湁鍏朵粬浠诲姟宸茬粡鍒嗛厤浜嗗皬杞︼紝濡傛湁鍒欑洿鎺ョ敤璇ュ皬杞�(涓�灞傛ゼ浠呭垎閰嶄竴鍙拌溅)
+ List<WrkMast> wrkMasts = wrkMastService.selectShuttleWrkByLev(lev);//鍒ゆ柇褰撳墠绌挎杞︽ゼ灞傛槸鍚﹀凡鏈夊垎閰嶈溅杈嗙殑浠诲姟锛屽鏋滄湁鍒欏垎閰嶈繖杈嗚溅
+ if (wrkMasts.size() > 0) {
+ //瀛樺湪鍏朵粬浠诲姟锛屽垎閰嶈繖杈嗚溅
+ WrkMast wrkMast1 = wrkMasts.get(0);
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast1.getShuttleNo());
+
+ map.put("sameLay", true);//鍚屽眰
+ map.put("result", shuttleThread);
+ return map;
+ }
+
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
+ continue;
+ }
+ if (!shuttleProtocol.isIdle()) {
+ continue;
+ }
+
+ String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
+ if (shuttleLocNo == null) {
+ continue;
+ }
+
+ if (shuttleLocNo.equals(distLocNo)) {
+ //杞﹁締褰撳墠浣嶇疆宸茬粡鏄洰鏍囧簱浣嶏紝鏃犻渶璁＄畻
+ map.put("sameLay", true);//鍚屽眰
+ map.put("result", shuttleThread);
+ return map;
+ }
+
+ int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//搴撲綅鍙峰搴斿眰楂�
+ if (lev == shuttleLocNoLey) {
+ //宸ヤ綔妗ｆゼ灞傜浉鍚岀殑绌挎杞�
+ sameLev.add(shuttleThread);
+ }else {
+ //宸ヤ綔妗ｄ笉鍚屾ゼ灞傜殑绌挎杞�
+ diffLev.add(shuttleThread);
+ }
+
+ }
+
+ Integer recentAllDistance = 9999999;
+ if (sameLev.size() > 0) {
+ //鍚屼竴妤煎眰鏈夌┖闂茬┛姊溅锛屽垯鍙湪宸ヤ綔妗ｆゼ灞傚鎵�
+ //瀵绘壘绂讳换鍔℃渶杩戠殑绌挎杞�
+ for (ShuttleThread shuttleThread : sameLev) {
+ //褰撳墠绌挎杞﹀簱浣嶅彿
+ String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
+ //褰撳墠绌挎杞︾嚎绋嬪埌鐩爣鍦扮偣璺濈
+ List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)));//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ if (currentShuttlePath == null) {
+ continue;
+ }
+ Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ if (currentAllDistance < recentAllDistance) {
+ //濡傛灉褰撳墠妤煎眰鐨勮溅璺緞鏇村皬锛屽垯鏇存柊鏈�杩戠┛姊溅
+ recentShuttle = shuttleThread;
+ }
+ }
+
+ map.put("sameLay", true);//鍚屽眰
+ map.put("result", recentShuttle);
+ }else {
+ //鍚屼竴妤煎眰锛屾病鏈夌┖闂茬┛姊溅锛屽彧鑳戒粠鍏朵粬妤煎眰璋冨害
+ //瀵绘壘绂讳换鍔℃渶杩戠殑绌挎杞�
+ for (ShuttleThread shuttleThread : diffLev) {
+
+ //褰撳墠绌挎杞﹀簱浣嶅彿
+ String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
+ int currentLev = Utils.getLev(currentLocNo);
+ List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//鍒ゆ柇褰撳墠绌挎杞︽ゼ灞傛槸鍚︽湁寰呭垎閰嶈溅杈嗙殑浠诲姟锛屽鏋滄湁鍒欎笉鍒嗛厤杩欒締杞�
+ if (wrkMasts1.size() > 0) {
+ //瀛樺湪鍏朵粬浠诲姟锛岃烦杩囪繖杈嗚溅
+ continue;
+ }
+
+ //褰撳墠绌挎杞︾嚎绋嬪埌褰撳墠杞﹀瓙鎵�鍦ㄦゼ灞傜殑鎻愬崌鏈哄彛璺濈
+ List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), currentLev));//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ if (currentShuttlePath == null) {
+ continue;
+ }
+
+ Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ if (currentAllDistance < recentAllDistance) {
+ //濡傛灉褰撳墠妤煎眰鐨勮溅璺緞鏇村皬锛屽垯鏇存柊鏈�杩戠┛姊溅
+ recentShuttle = shuttleThread;
+ }
+ }
+
+ map.put("sameLay", false);//涓嶅悓灞�
+ map.put("result", recentShuttle);
+ }
+ return map;
+ }
+
+ /**
+ * 鍥涘悜绌挎杞︿换鍔″畬鎴�
+ */
+ public synchronized void shuttleFinished() {
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︿俊鎭�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ //鍥涘悜绌挎杞︾姸鎬佷负绛夊緟纭銆佸皬杞﹀浜庣┖闂茬姸鎬�
+ if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //浠诲姟瀹屾垚绛夊緟纭
+ && shuttleProtocol.getTaskNo() != 0
+ && shuttleProtocol.getFree() == ShuttleStatusType.IDLE.id
+ ) {
+ //灏嗕换鍔℃。鏍囪涓哄畬鎴�
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
+ if (wrkMast != null) {
+ switch (wrkMast.getWrkSts().intValue()) {
+ case 5://5.灏忚溅鎼繍涓� ==> 9.鍏ュ簱瀹屾垚
+ wrkMast.setWrkSts(9L);
+ //浠诲姟鍙锋竻闆�
+ shuttleProtocol.setTaskNo(0);
+ break;
+ case 22://22.灏忚溅鎼繍涓� ==> 23.灏忚溅鎼繍瀹屾垚
+ wrkMast.setWrkSts(23L);
+ break;
+ case 102://102.灏忚溅鍒版彁鍗囨満涓� ==> 103.灏忚溅鍒版彁鍗囨満瀹屾垚
+ wrkMast.setWrkSts(103L);
+ break;
+ case 106://106.灏忚溅杩佸嚭鎻愬崌鏈轰腑 ==> 107.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴�
+ wrkMast.setWrkSts(107L);
+ break;
+ case 108://108.灏忚溅绉诲姩涓� ==> 109.灏忚溅绉诲姩瀹屾垚
+ wrkMast.setWrkSts(109L);
+ break;
+ default:
+ }
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ //婧愬簱浣嶆竻闆�
+ shuttleProtocol.setSourceLocNo(null);
+ //鐩爣搴撲綅娓呴浂
+ shuttleProtocol.setLocNo(null);
+ //浠诲姟鎸囦护娓呴浂
+ shuttleProtocol.setAssignCommand(null);
+ News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
+ } else {
+ News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
+ }
+ }
+
+ }
+
+ }
+ }
+
+ /**
+ * 鎻愬崌鏈轰换鍔�
+ */
+ public synchronized void liftIoExecute() {
+ for (LiftSlave liftSlave : slaveProperties.getLift()) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
+
+ if (!liftProtocol.isIdle()) {
+ continue;
+ }
+
+ //鎼滅储鏄惁鏈夊緟澶勭悊鐨勪换鍔�
+ List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep223103();
+ if (wrkMasts.isEmpty()) {
+ continue;
+ }
+
+ for (WrkMast wrkMast : wrkMasts) {
+ //鎼滅储鏄惁鏈夊叾浠栦换鍔″崰鐢ㄤ簡鎻愬崌鏈猴紝濡傛灉鍗犵敤鎻愬崌鏈虹殑浠诲姟鍜屽綋鍓嶄换鍔＄浉鍚岋紝鍒欒繍琛屾墽琛�
+ WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
+ if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
+ continue;
+ }
+
+ boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//鎻愬崌鏈哄叆搴�
+ if (!stepIn) {
+ continue;
+ }
+
+ boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//鎻愬崌鏈哄嚭搴�
+ if (!stepOut) {
+ continue;
+ }
+ }
+
+ }
+ }
+
+ /**
+ * 鎻愬崌鏈哄叆搴�
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean liftIoExecuteStepIn(WrkMast wrkMast) {
+ //--------------------------------------鎻愬崌鏈哄叆搴�-----------------------------------------//
+ Date now = new Date();
+
+ //2.璁惧涓婅蛋 ==> 3.鎻愬崌鏈烘惉杩愪腑
+ if (wrkMast.getWrkSts() == 2) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
+ return false;
+ }
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+ WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
+ if (liftWrkMast != null) {
+ return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+ }
+
+ //鑾峰彇婧愮珯瀵瑰簲鐨勮緭閫佺珯鐐�
+ BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
+ //鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
+ BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
+ if (sourceBasDevp == null || targetBasDevp == null) {
+ return false;//缂哄皯绔欑偣淇℃伅
+ }
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());
+
+ ArrayList<NyLiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
+
+ wrkMast.setWrkSts(3L);//2.璁惧涓婅蛋 ==> 3.鎻愬崌鏈烘惉杩愪腑
+ wrkMast.setLiftNo(liftThread.getSlave().getId());//浠诲姟妗ｇ粦瀹氭彁鍗囨満鍙�
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ }
+
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 鎻愬崌鏈哄嚭搴�
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean liftIoExecuteStepOut(WrkMast wrkMast) {
+ //--------------------------------------鎻愬崌鏈哄嚭搴�-----------------------------------------//
+ Date now = new Date();
+
+ //23.灏忚溅鎼繍瀹屾垚 ==> 24.鎻愬崌鏈烘惉杩愪腑
+ if (wrkMast.getWrkSts() == 23) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
+ return false;
+ }
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+ WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
+ if (liftWrkMast != null) {
+ return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+ }
+
+ //鑾峰彇婧愮珯瀵瑰簲鐨勮緭閫佺珯鐐�
+ BasDevp sourceBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), liftProtocol.getLiftNo().intValue());
+ //鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
+ BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
+ if (sourceBasDevp == null || targetBasDevp == null) {
+ return false;//缂哄皯绔欑偣淇℃伅
+ }
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());
+
+ ArrayList<NyLiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
+
+ wrkMast.setWrkSts(24L);//23.灏忚溅鎼繍瀹屾垚 ==> 24.鎻愬崌鏈烘惉杩愪腑
+ wrkMast.setLiftNo(liftThread.getSlave().getId());//浠诲姟妗ｇ粦瀹氭彁鍗囨満鍙�
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ }
+
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 鎻愬崌鏈轰换鍔″畬鎴�
+ */
+ public synchronized void liftFinished() {
+ for (LiftSlave liftSlave : slaveProperties.getLift()) {
+ //鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
+
+ //鎻愬崌鏈轰负绛夊緟纭涓旂┖闂�
+ if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
+ && liftProtocol.getTaskNo() != 0
+ && !liftProtocol.getBusy()
+ ) {
+
+ //灏嗕换鍔℃。鏍囪涓哄畬鎴�
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(liftProtocol.getTaskNo().intValue());
+ if (wrkMast != null) {
+ switch (wrkMast.getWrkSts().intValue()) {
+ case 3://3.鎻愬崌鏈烘惉杩愪腑 ==> 4.鎻愬崌鏈烘惉杩愬畬鎴�
+ wrkMast.setWrkSts(4L);
+ wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+ break;
+ case 24://24.鎻愬崌鏈烘惉杩愪腑 ==> 25.鎻愬崌鏈烘惉杩愬畬鎴�
+ wrkMast.setWrkSts(25L);
+ break;
+ case 104://104.鎻愬崌鏈烘惉杩愪腑 ==> 105.鎻愬崌鏈烘惉杩愬畬鎴�
+ wrkMast.setWrkSts(105L);
+ break;
+ default:
+ }
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
+ //浠诲姟鎸囦护娓呴浂
+ liftProtocol.setAssignCommand(null);
+ News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬併�傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
+ } else {
+ News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
+ }
+ }
+
}
}
}
@@ -434,39 +1242,985 @@
/**
* 搴撲綅绉昏浆
*/
- private void locToLoc(){
+ public synchronized void locToLocExecute() {
+ //鑾峰彇鍑哄叆搴撳伐浣滄。
+ List<WrkMast> wrkMasts = wrkMastMapper.selectInOutWrkMast();
+ if (wrkMasts.size() > 0) {
+ //鏈夊嚭鍏ュ簱浠诲姟锛屽繀椤荤瓑寰呬换鍔℃墽琛屽畬姣曞啀鎵ц搴撲綅绉昏浆
+ return;
+ }
- }
+ //鏌ヨ搴撲綅绉昏浆宸ヤ綔妗�
+ List<WrkMast> wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast();
+ for (WrkMast wrkMast : wrkMasts1) {
- /**
- * 鎵ц瀵瑰伐浣滄。鐨勫叆搴撳畬鎴�
- */
- 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();
+ boolean step1 = this.locToLocExecuteStep1(wrkMast);//缁戝畾灏忚溅
+ if (!step1) {
+ continue;
+ }
}
}
/**
- * 鏇存柊鍫嗗灈鏈虹Щ鍔ㄦ椂宸ヤ綔妗ｇ姸鎬�
+ * 缁戝畾灏忚溅骞惰皟搴﹁溅
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
*/
- 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) {
+ private boolean locToLocExecuteStep1(WrkMast wrkMast) {
+ if (wrkMast.getShuttleNo() == null) {//缁欏簱浣嶇Щ杞粦瀹氱┛姊溅鍙�
+ //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅
+ HashMap<String,Object> searchIdleShuttle = this.searchIdleShuttle(wrkMast);
+ ShuttleThread shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
+ if (shuttleThread == null) {
+ //娌℃湁鎵惧埌绌洪棽绌挎杞�
+ return false;
+ }
+ wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
+ wrkMastMapper.updateById(wrkMast);
+ }
+ return true;
+ }
- WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
+ /**
+ * 寮傚父淇℃伅璁板綍
+ */
+ public void recErr() {
+ try {
+ this.recShuttleErr();
+ } catch (Exception e) {
+ News.error("recErr fail", e);
+ }
+ }
+
+ /**
+ * 鍥涘悜绌挎杞﹀紓甯镐俊鎭褰�
+ */
+ private void recShuttleErr() {
+ Date now = new Date();
+ for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getTaskNo() != 0) {
+ //鏈変换鍔�
+ BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue());
+ // 鏈夊紓甯�
+ if (latest == null) {
+ if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
+ WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
+ if (wrkMast == null) {
+ continue;
+ }
+ BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
+ String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName();
+ BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
+ null, // 缂栧彿
+ wrkMast.getWrkNo(), // 宸ヤ綔鍙�
+ now, // 鍙戠敓鏃堕棿
+ null, // 缁撴潫鏃堕棿
+ wrkMast.getWrkSts(), // 宸ヤ綔鐘舵��
+ wrkMast.getIoType(), // 鍏ュ嚭搴撶被鍨�
+ shuttleSlave.getId(), // 鍥涘悜绌挎杞�
+ null, // plc
+ wrkMast.getLocNo(), // 鐩爣搴撲綅
+ wrkMast.getStaNo(), // 鐩爣绔�
+ wrkMast.getSourceStaNo(), // 婧愮珯
+ wrkMast.getSourceLocNo(), // 婧愬簱浣�
+ wrkMast.getBarcode(), // 鏉＄爜
+ (int) shuttleProtocol.getStatusErrorCode(), // 寮傚父鐮�
+ errName, // 寮傚父
+ 1, // 寮傚父鎯呭喌
+ now, // 娣诲姞鏃堕棿
+ null, // 娣诲姞浜哄憳
+ now, // 淇敼鏃堕棿
+ null, // 淇敼浜哄憳
+ "浠诲姟涓紓甯�" // 澶囨敞
+ );
+ if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
+ }
+ }
+ } else {
+ // 寮傚父淇
+ if (shuttleProtocol.getStatusErrorCode() == null || shuttleProtocol.getStatusErrorCode() == 0) {
+ latest.setEndTime(now);
+ latest.setUpdateTime(now);
+ latest.setStatus(2);
+ if (!basShuttleErrLogService.updateById(latest)) {
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
+ }
+ }
+ }
+ }else {
+ //鏃犱换鍔�
+ BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
+ // 鏈夊紓甯�
+ if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
+ // 璁板綍鏂板紓甯�
+ if (latest == null || (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
+ BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
+ String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName();
+ BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
+ null, // 缂栧彿
+ null, // 宸ヤ綔鍙�
+ now, // 鍙戠敓鏃堕棿
+ null, // 缁撴潫鏃堕棿
+ null, // 宸ヤ綔鐘舵��
+ null, // 鍏ュ嚭搴撶被鍨�
+ shuttleSlave.getId(), // 鍥涘悜绌挎杞�
+ null, // plc
+ null, // 鐩爣搴撲綅
+ null, // 鐩爣绔�
+ null, // 婧愮珯
+ null, // 婧愬簱浣�
+ null, // 鏉＄爜
+ (int)shuttleProtocol.getStatusErrorCode(), // 寮傚父鐮�
+ errName, // 寮傚父
+ 1, // 寮傚父鎯呭喌
+ now, // 娣诲姞鏃堕棿
+ null, // 娣诲姞浜哄憳
+ now, // 淇敼鏃堕棿
+ null, // 淇敼浜哄憳
+ "鏃犱换鍔″紓甯�" // 澶囨敞
+ );
+ if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
+ }
+ }
+ // 鏃犲紓甯�
+ } else {
+ // 寮傚父淇
+ if (latest != null && latest.getStatus() == 1) {
+ latest.setEndTime(now);
+ latest.setUpdateTime(now);
+ latest.setStatus(2);
+ if (!basShuttleErrLogService.updateById(latest)) {
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
+ }
+ }
+ }
+ }
+ }
+ }
+
+ // -------------------------------------------------------------------------------
+
+ /**
+ * 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
+ */
+ public void storeEmptyPlt(){
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻绌烘澘鍏ュ簱鍙�
+ for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
+ // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 绔欑偣鏉′欢鍒ゆ柇
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && staProtocol.isEmptyMk()
+ && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() >= 9990 || staProtocol.getWorkNo() <= 9999))
+ && staProtocol.isPakMk()) {
+
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ String barcode = null;
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
+ if (barcodeThread != null) {
+ String barcode0 = barcodeThread.getBarcode();
+ if(!Cools.isEmpty(barcode0)) {
+// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", emptyInSta.getBarcode(), barcode0);
+ if(!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
+ barcode = barcode0;
+ }
+ }
+ }
+
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
+
+ try {
+ LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+
+ SearchLocParam param = new SearchLocParam();
+ param.setIoType(10);
+ if (!Cools.isEmpty(barcode)) {
+ param.setBarcode(barcode);
+ }
+ param.setSourceStaNo(emptyInSta.getStaNo());
+// param.setLocType1(locTypeDto.getLocType1());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+
+ // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ staProtocol.setWorkNo(dto.getWorkNo().shortValue());
+ staProtocol.setStaNo(dto.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");
+ }
+ } else {
+ if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+ if (!Cools.isEmpty(errorMsg)) {
+ MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
+ }
+ }
+ News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+
+ }
}
+ }
+ }
+ /**
+ * 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
+ */
+ public void ledExecute() {
+ for (LedSlave led : slaveProperties.getLed()) {
+ // 鑾峰彇杈撻�佺嚎plc绾跨▼
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
+ // 鍛戒护闆嗗悎
+ List<LedCommand> commands = new ArrayList<>();
+ // 宸ヤ綔妗ｉ泦鍚�
+ List<WrkMast> wrkMasts = new ArrayList<>();
+ for (Integer staNo : led.getStaArr()) {
+ // 鑾峰彇鍙夎溅绔欑偣
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 鑾峰彇宸ヤ綔妗ｆ暟鎹�
+ WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
+ if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
+ wrkMasts.add(wrkMast);
+ // 缁勮鍛戒护
+ LedCommand ledCommand = new LedCommand();
+ ledCommand.setWorkNo(wrkMast.getWrkNo());
+ ledCommand.setIoType(wrkMast.getIoType());
+ // 鍑哄簱妯″紡
+ switch (wrkMast.getIoType()) {
+ case 101:
+ ledCommand.setTitle("鍏ㄦ澘鍑哄簱");
+ break;
+ case 103:
+ ledCommand.setTitle("鎷ｆ枡鍑哄簱");
+ break;
+ case 104:
+ ledCommand.setTitle("骞舵澘鍑哄簱");
+ break;
+ case 107:
+ ledCommand.setTitle("鐩樼偣鍑哄簱");
+ break;
+ case 110:
+ ledCommand.setTitle("绌烘澘鍑哄簱");
+ ledCommand.setEmptyMk(true);
+ break;
+ default:
+ News.error("浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
+ break;
+ }
+ ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
+ ledCommand.setLocNo(wrkMast.getLocNo());
+ ledCommand.setStaNo(wrkMast.getStaNo());
+ if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
+ List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
+ wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
+ }
+ commands.add(ledCommand);
+ }
+ Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
+ // 鑾峰彇LED绾跨▼
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
+ // 鐩稿悓宸ヤ綔鍙烽泦鍚堝垯杩囨护
+ if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
+ continue;
+ }
+ // 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
+ if (!commands.isEmpty()) {
+ if (led.getId()>3){
+ if (!MessageQueue.offer(SlaveType.Led, led.getId()-3, new Task(1, commands))) {
+ log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId()-3, led.getIp(), led.getPort());
+ continue;
+ }else {
+ ledThread.setLedMk(false);
+ }
+ }else {
+ if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
+ log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+ continue;
+ }else {
+ ledThread.setLedMk(false);
+ }
+ }
+ }
+
+ try {
+ // 淇敼涓绘。led鏍囪
+ for (WrkMast wrkMast : wrkMasts) {
+ wrkMast.setOveMk("Y");
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ throw new CoolException("鏇存柊宸ヤ綔妗ｅけ璐�");
+ }
+ }
+
+ // 鏇存柊绾跨▼褰撳墠宸ヤ綔鍙烽泦鍚�
+ ledThread.setWorkNos(workNos);
+
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
}
}
+
+ /**
+ * 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
+ */
+ public void ledReset() {
+ for (LedSlave led : slaveProperties.getLed()) {
+
+ // 鑾峰彇杈撻�佺嚎plc绾跨▼
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
+ // 鍛戒护闆嗗悎
+ boolean reset = true;
+ for (Integer staNo : led.getStaArr()) {
+ // 鑾峰彇鍙夎溅绔欑偣
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ if (staProtocol == null) {
+ continue;
+ }
+ if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
+ reset = false;
+ break;
+ }
+ }
+ // 鑾峰彇led绾跨▼
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
+ // led鏄剧ず榛樿鍐呭
+ if (reset && !ledThread.isLedMk()) {
+ ledThread.setLedMk(true);
+ if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
+ News.error(" - {}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+ } else {
+
+ }
+ }
+ }
+ for (LedSlave led : slaveProperties.getLed()) {
+ // 鑾峰彇杈撻�佺嚎plc绾跨▼
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
+ // 鍛戒护闆嗗悎
+ boolean reset = true;
+ for (Integer staNo : led.getStaArr()) {
+ // 鑾峰彇鍙夎溅绔欑偣
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ if (staProtocol == null) { continue; }
+ if (staProtocol.getWorkNo() != 0) {
+ reset = false;
+ break;
+ }
+ }
+ // 鑾峰彇led绾跨▼
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
+ // led鏄剧ず榛樿鍐呭
+ if (reset && !ledThread.isLedMk()) {
+ ledThread.setLedMk(true);
+ if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
+ News.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+ }
+ }
+ }
+ }
+
+ /**
+ * 鍥涘悜绌挎杞︾數閲忔娴� ===>> 鍙戣捣鍏呯數
+ */
+ public synchronized void loopShuttleCharge() {
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ //鍒ゆ柇褰撳墠灏忚溅鏄惁婊¤冻闇�瑕佸厖鐢佃姹�
+ if (!shuttleProtocol.isRequireCharge()) {
+ continue;
+ }
+
+ WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue());
+ if (wrkCharge != null) {//宸叉湁鍏呯數浠诲姟
+ continue;
+ }
+
+ ShuttleChargeType shuttleCharge = null;
+ for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
+ if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
+ shuttleCharge = chargeType;
+ break;
+ }
+ }
+
+ if (shuttleCharge == null) {
+ continue;
+ }
+
+ String chargeLocNo = shuttleCharge.locNo;
+ wrkCharge = new WrkCharge();
+ wrkCharge.setShuttleNo(shuttle.getId());
+ wrkCharge.setCharge(shuttleCharge.id);
+ wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
+ wrkCharge.setWrkSts(51L); // 21.鍑嗗鍏呯數
+ wrkCharge.setIoPri((double) 10);
+ wrkCharge.setLocNo(chargeLocNo);
+ wrkCharge.setMemo("charge");
+ wrkCharge.setAppeTime(new Date());
+ if (!wrkChargeService.insert(wrkCharge)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟澶辫触!!!", shuttle.getId());
+ continue;
+ }
+
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//鍏呯數涓�
+ News.info("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟鎴愬姛!!!", shuttle.getId());
+ }
+ }
+
+ /**
+ * 鎵ц鍥涘悜绌挎杞﹀厖鐢典换鍔�
+ */
+ public synchronized void executeShuttleCharge() {
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
+ if (wrkCharge == null) {
+ continue;
+ }
+
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
+ if (shuttleThread == null) {
+ continue;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (wrkCharge.getWrkSts() == 51) {
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkCharge.getLocNo())) {
+ //灏忚溅涓嶅湪鍏呯數妗╀綅缃�
+ shuttleDispatchUtils.dispatchShuttle(wrkCharge.getWrkNo(), wrkCharge.getLocNo(), shuttle.getId());//璋冨害灏忚溅鍘诲厖鐢垫々
+ continue;
+ }
+
+ //灏忚溅宸茬粡鍦ㄥ厖鐢垫々浣嶇疆锛屼笅鍙戝厖鐢靛懡浠�
+ NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), true);
+ ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
+ commands.add(chargeCommand);
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍑哄簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(commands);//杩愯鍛戒护
+
+ wrkCharge.setWrkSts(52L);//51.鐢熸垚鍏呯數浠诲姟 => 52.灏忚溅鍘诲厖鐢典腑
+ wrkCharge.setModiTime(new Date());
+ if (wrkChargeMapper.updateById(wrkCharge) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ } else if (wrkCharge.getWrkSts() == 52) {
+ //妫�娴嬪皬杞︽槸鍚︽弧鐢�
+ if (shuttleProtocol.getPowerPercent() < 100) {
+ continue;
+ }
+
+ //灏忚溅婊＄數锛岀粨鏉熷厖鐢典换鍔�
+ NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), false);
+ ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
+ commands.add(chargeCommand);
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍑哄簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(commands);//杩愯鍛戒护
+
+ wrkCharge.setWrkSts(53L);//52.灏忚溅鍘诲厖鐢典腑 => 53.灏忚溅鍏呯數瀹屾垚
+ wrkCharge.setModiTime(new Date());
+ if (wrkChargeMapper.updateById(wrkCharge) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ } else if (wrkCharge.getWrkSts() == 53) {
+ boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkCharge.getLocNo()), shuttleThread.getSlave().getId(), shuttleThread);
+ if (!result) {
+ continue;
+ }
+
+ wrkCharge.setWrkSts(60L);//53.灏忚溅鍏呯數瀹屾垚 => 60.鍏呯數浠诲姟瀹屾垚
+ wrkCharge.setModiTime(new Date());
+ wrkChargeMapper.updateById(wrkCharge);
+ }
+
+ }
+
+ }
+
+ /**
+ * 鎵ц灏忚溅绉诲簱浠诲姟
+ */
+ public synchronized void shuttleMoveExecute() {
+ //鏌ヨ灏忚溅绉诲簱浠诲姟
+ List<WrkMast> wrkMasts = wrkMastMapper.selectShuttleMoveWrk();
+ for (WrkMast wrkMast : wrkMasts) {
+ boolean step1 = this.shuttleMoveExecuteStep1(wrkMast);//灏忚溅绉诲姩鍒版彁鍗囨満涓�
+ if (!step1) {
+ continue;
+ }
+
+ boolean step2 = this.shuttleMoveExecuteStep2(wrkMast);//鎻愬崌鏈烘惉杩愪腑
+ if (!step2) {
+ continue;
+ }
+
+ boolean step3 = this.shuttleMoveExecuteStep3(wrkMast);//灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ if (!step3) {
+ continue;
+ }
+
+ boolean step4 = this.shuttleMoveExecuteStep4(wrkMast);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
+ if (!step4) {
+ continue;
+ }
+ }
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-灏忚溅绉诲姩鍒版彁鍗囨満涓�
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleMoveExecuteStep1(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅绉诲姩鍒版彁鍗囨満涓�-----------------------------------------//
+ Date now = new Date();
+
+ //灏忚溅绉诲姩鍒版彁鍗囨満涓� 101.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 102.灏忚溅鍒版彁鍗囨満涓�
+ if (wrkMast.getWrkSts() == 101) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleProtocol.isIdleNoCharge()) {
+ return false;
+ }
+
+ if (Utils.getLev(wrkMast.getLocNo()) == shuttleProtocol.getPoint().getZ()) {
+ //鐩爣搴撲綅鍜屽皬杞﹀簱浣嶅浜庡悓涓�妤煎眰锛岄渶瑕侀�氳繃鎻愬崌鏈鸿皟搴�
+ return true;//鐩存帴杩涘叆108.灏忚溅绉诲姩涓�
+ }
+
+ //璁＄畻璺濈灏忚溅鏈�杩戠殑鎻愬崌鏈虹珯鐐�
+ //鏌ヨ灏忚溅鎵�鍦ㄦゼ灞傛彁鍗囨満杈撻�佺珯鐐�
+ int recentAllDistance = 9999999;//榛樿鏈�杩戣窛绂�
+ BasDevp recentDevp = null;//鏈�杩戠珯鐐�
+ List<BasDevp> basDevps = basDevpService.selectHasLiftNoByLev(shuttleProtocol.getPoint().getZ());
+ for (BasDevp basDevp : basDevps) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
+ if (!liftProtocol.isIdle()) {
+ continue;
+ }
+
+ //璁＄畻璺緞
+ List<NavigateNode> calc = NavigateUtils.calc(shuttleProtocol.getCurrentLocNo(), basDevp.getLocNo(), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(shuttleProtocol.getCurrentLocNo())));
+ if (calc == null) {
+ continue;//璁＄畻澶辫触锛屾壘涓嬩竴涓珯鐐�
+ }
+
+ Integer allDistance = NavigateUtils.getOriginPathAllDistance(calc);//鏍规嵁鍘熷鑺傜偣缁撴灉锛岃绠楁�昏璧拌窛绂�
+ if (recentAllDistance > allDistance) {
+ recentAllDistance = allDistance;//鏇存柊璺濈
+ recentDevp = basDevp;//鏇存柊杈撻�佺珯鐐�
+ }
+ }
+
+ if (recentDevp == null) {
+ //娌℃湁鎵惧埌鍙敤杈撻�佺珯鐐�
+ return false;//绛夊緟涓嬩竴娆¤疆璇�
+ }
+
+ //鑾峰彇鎻愬崌鏈烘暟鎹�
+ BasLift basLift = basLiftService.selectById(recentDevp.getLiftNo());
+ if (basLift == null) {
+ return false;//娌℃湁鎻愬崌鏈烘暟鎹�
+ }
+ if (basLift.getPoint() == null) {
+ return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍�
+ }
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+ WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(basLift.getLiftNo());
+ if (liftWrkMast != null) {
+ return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+ }
+ NavigateNode liftNode = new NavigateNode(basLift.getPoint().getX(), basLift.getPoint().getY());
+ liftNode.setZ(basLift.getPoint().getZ());
+
+ //鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), recentDevp.getLocNo());
+ //鑾峰彇灏忚溅杩涙彁鍗囨満琛岃蛋鍛戒护
+ NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), NavigatePositionConvert.locNoToNode(recentDevp.getLocNo()), liftNode, true);
+ if (result.getCommands() == null) {
+ return false;//璺緞璁＄畻澶辫触
+ }
+ List<NyShuttleHttpCommand> commands = result.getCommands();
+ commands.add(moveCommand);//娣诲姞灏忚溅杩佸叆鎻愬崌鏈哄懡浠�
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setAuto(true);//鑷姩妯″紡
+ assignCommand.setCommands(commands);
+ assignCommand.setNodes(result.getNodes());
+
+ wrkMast.setWrkSts(102L);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 101.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 102.灏忚溅鍒版彁鍗囨満涓�
+ wrkMast.setLiftNo(basLift.getLiftNo());//鎻愬崌鏈哄彿(閿佸畾鎻愬崌鏈洪槻姝㈣鍏朵粬浠诲姟鎶㈠崰)
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-鎻愬崌鏈烘惉杩愪腑
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleMoveExecuteStep2(WrkMast wrkMast) {
+ //--------------------------------------鎻愬崌鏈烘惉杩愪腑-----------------------------------------//
+ Date now = new Date();
+
+ //鎻愬崌鏈烘惉杩愪腑 103.灏忚溅鍒版彁鍗囨満瀹屾垚 ==> 104.鎻愬崌鏈烘惉杩愪腑
+ if (wrkMast.getWrkSts() == 103) {
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
+ return false;
+ }
+
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleProtocol.isIdleNoCharge()) {
+ return false;
+ }
+
+ //鑾峰彇婧愮珯瀵瑰簲鐨勮緭閫佺珯鐐�
+ BasDevp sourceBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), liftProtocol.getLiftNo().intValue());
+ //鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
+ BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), liftProtocol.getLiftNo().intValue());
+ if (sourceBasDevp == null || targetBasDevp == null) {
+ return false;//缂哄皯绔欑偣淇℃伅
+ }
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());
+
+ ArrayList<NyLiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());
+
+ wrkMast.setWrkSts(104L);//鎻愬崌鏈烘惉杩愪腑 103.灏忚溅鍒版彁鍗囨満瀹屾垚 ==> 104.鎻愬崌鏈烘惉杩愪腑
+ wrkMast.setLiftNo(liftThread.getSlave().getId());//閿佸畾鎻愬崌鏈洪槻姝㈣鍗犵敤
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ }
+
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleMoveExecuteStep3(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅杩佸嚭鎻愬崌鏈轰腑-----------------------------------------//
+ Date now = new Date();
+
+ //灏忚溅杩佸嚭鎻愬崌鏈轰腑 105.鎻愬崌鏈烘惉杩愬畬鎴� ==> 106.灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ if (wrkMast.getWrkSts() == 105) {
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
+ return false;
+ }
+
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleProtocol.isIdleNoCharge()) {
+ return false;
+ }
+
+ //鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
+ BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), liftProtocol.getLiftNo().intValue());
+ if (targetBasDevp == null) {
+ return false;//缂哄皯绔欑偣淇℃伅
+ }
+
+ //鑾峰彇鎻愬崌鏈烘暟鎹�
+ BasLift basLift = basLiftService.selectById(targetBasDevp.getLiftNo());
+ if (basLift == null) {
+ return false;//娌℃湁鎻愬崌鏈烘暟鎹�
+ }
+ if (basLift.getPoint() == null) {
+ return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍�
+ }
+ NavigateNode liftNode = new NavigateNode(basLift.getPoint().getX(), basLift.getPoint().getY());
+ liftNode.setZ(basLift.getPoint().getZ());
+
+ List<NyShuttleHttpCommand> commands = new ArrayList<>();
+ //鑾峰彇灏忚溅鍑烘彁鍗囨満琛岃蛋鍛戒护
+ NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), liftNode, NavigatePositionConvert.locNoToNode(targetBasDevp.getLocNo()), false);
+ commands.add(moveCommand);//娣诲姞灏忚溅杩佸嚭鎻愬崌鏈哄懡浠�
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setAuto(true);//鑷姩妯″紡
+ assignCommand.setCommands(commands);
+ assignCommand.setNodes(null);
+
+ wrkMast.setWrkSts(106L);//灏忚溅杩佸嚭鎻愬崌鏈轰腑 105.鎻愬崌鏈烘惉杩愬畬鎴� ==> 106.灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleMoveExecuteStep4(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑-----------------------------------------//
+ Date now = new Date();
+
+ //灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 107.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 108.灏忚溅绉诲姩涓�
+ if (wrkMast.getWrkSts() == 107) {
+
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleProtocol.isIdleNoCharge()) {
+ return false;
+ }
+
+ //鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
+ BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
+ if (targetBasDevp == null) {
+ return false;//缂哄皯绔欑偣淇℃伅
+ }
+
+ //鑾峰彇鎻愬崌鏈烘暟鎹�
+ BasLift basLift = basLiftService.selectById(targetBasDevp.getLiftNo());
+ if (basLift == null) {
+ return false;//娌℃湁鎻愬崌鏈烘暟鎹�
+ }
+ if (basLift.getPoint() == null) {
+ return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍�
+ }
+ NavigateNode liftNode = new NavigateNode(basLift.getPoint().getX(), basLift.getPoint().getY());
+ liftNode.setZ(basLift.getPoint().getZ());
+
+ //鑾峰彇灏忚溅浠庤緭閫佺珯鍒扮洰鏍囧簱浣嶅懡浠�
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getLocNo());
+ if (result.getCommands() == null) {
+ return false;//璺緞璁＄畻澶辫触
+ }
+ List<NyShuttleHttpCommand> commands = result.getCommands();
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setAuto(true);//鑷姩妯″紡
+ assignCommand.setCommands(commands);
+ assignCommand.setNodes(result.getNodes());
+
+ wrkMast.setWrkSts(108L);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 107.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 108.灏忚溅绉诲姩涓�
+ wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+ return true;
+ }
+
+ /**
+ * 鍑哄叆搴撴ā寮忓垏鎹�
+ */
+ public synchronized void outAndIn() {
+ try {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ for (DevpSlave.Sta inSta : devp.getInSta()) {
+ Thread.sleep(500);
+ boolean a=true,b=true;
+ List<WrkMast> wrkMasts = wrkMastMapper.selectAll(inSta.getStaNo());
+ if (Cools.isEmpty(wrkMasts)){
+ b=false;
+ }else {
+ for (WrkMast wrkMast:wrkMasts){
+ if (wrkMast.getSourceStaNo() > wrkMast.getStaNo()){
+ a=false;
+ break;
+ }
+ }
+ }
+ switch (inSta.getStaNo()) {
+ case 102://1F
+ if (a && b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 11));
+ }else if (b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 12));
+ }else {
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 10));
+ }
+ break;
+ case 202://2F
+ if (a && b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 21));
+ }else if (b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 22));
+ }else {
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 20));
+ }
+ break;
+ case 302://3F
+ if (a && b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 31));
+ }else if (b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 32));
+ }else {
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 30));
+ }
+ break;
+ }
+ }
+ }
+
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+
}
--
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