From 428afb64e7fc9b7c3701eacab98086fb622cca7b Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期四, 06 十一月 2025 09:30:03 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 245 +++++++++++++++++++++++++++++--------------------
1 files changed, 145 insertions(+), 100 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 6f19c48..412410d 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -121,7 +121,7 @@
private Integer inventoryNumber;
public Integer wrkNo = 10001;
- public static final List<Integer> LEFT_POSITION = Arrays.asList(1018,2018);
+ public static final List<Integer> LEFT_POSITION = Arrays.asList(1004,1014,1018,1028,1035,2006,2012,2018,2024,2030);
/**
* 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
@@ -496,7 +496,6 @@
staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()));
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- log.error("杈撻�佺嚎涓嬪彂4锛�"+9996+","+(pickSta.getStaNo().shortValue()-(short)1));
//LED
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
// led 寮傚父鏄剧ず
@@ -1095,13 +1094,16 @@
}
int x=1;
switch (crnProtocol.getCrnNo()){
- case 1: x =1; break;
- case 2: x =3; break;
- case 3: x =5; break;
- case 4: x =7; break;
- case 5: x =9; break;
+ case 1: x =2; break;
+ case 2: x =6; break;
+ case 3: x =11; break;
+ case 4: x =14; break;
+ case 5: x =18; break;
}
+ if(crnProtocol.getCrnNo() != 5){
+ return;
+ }
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�3,12
if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
return;
@@ -1124,7 +1126,7 @@
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 浠诲姟妯″紡: 鍥炲師鐐�
crnCommand.setSourcePosX((short) x); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosY((short) 52); // 婧愬簱浣嶅垪
crnCommand.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
crnCommand.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
@@ -1375,6 +1377,13 @@
staProtocol2 = staProtocol2.clone();
}
SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+ StaProtocol staProtocol4004 = devpThread2.getStation().get(4004);
+ if (staProtocol4004 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol4004);
+ break;
+ } else {
+ staProtocol4004 = staProtocol4004.clone();
+ }
StaProtocol staProtocol3 = devpThread2.getStation().get(2016);
if (staProtocol3 == null) {
News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
@@ -1398,6 +1407,9 @@
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
break;
// return;
+ }
+ if(staProtocol4004.isLoading()){
+ continue;
}
// 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
CrnCommand crnCommand = new CrnCommand();
@@ -1437,6 +1449,9 @@
break;
// return;
}
+ if(staProtocol4004.isLoading()){
+ continue;
+ }
// 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
@@ -1466,6 +1481,8 @@
}
}
if (slave.getId() == 3 && wrkMast9996 != null) {
+ SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+
SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
StaProtocol staProtocol4001 = devpThread2.getStation().get(4001);
if (staProtocol4001 == null) {
@@ -1473,6 +1490,20 @@
break;
} else {
staProtocol4001 = staProtocol4001.clone();
+ }
+ StaProtocol staProtocol2013 = devpThread2.getStation().get(2013);
+ if (staProtocol2013 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2013);
+ break;
+ } else {
+ staProtocol2013 = staProtocol2013.clone();
+ }
+ StaProtocol staProtocol1019 = devpThread1.getStation().get(1019);
+ if (staProtocol1019 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol1019);
+ break;
+ } else {
+ staProtocol1019 = staProtocol1019.clone();
}
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
if (staDetl == null) {
@@ -1490,6 +1521,12 @@
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
break;
// return;
+ }
+ if(staProtocol1019.isLoading() && wrkMast9996.getStaNo() < 2000){
+ continue;
+ }
+ if(staProtocol2013.isLoading() && wrkMast9996.getStaNo() > 2000){
+ continue;
}
// 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
CrnCommand crnCommand = new CrnCommand();
@@ -1900,31 +1937,33 @@
News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}", crnThread.getCrnProtocol().getCrnNo());
crnThread.setResetFlag(true);
}
- } else if (crnProtocol.getTaskNo() == 9996) {//鐩樼偣鍏ュ簱琛旀帴
- // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
- if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
- News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
-
- // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
- WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
- // 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
- if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
- wrkMast.setWrkSts(4L);
- } else {
- continue;
- }
- Date now = new Date();
- wrkMast.setCrnEndTime(now);
- wrkMast.setModiTime(now);
- // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- // 鍫嗗灈鏈哄浣�
- log.error(wrkMast.getWrkNo() + "浠诲姟淇敼鐘舵��4鎴愬姛锛屽浣嶅爢鍨涙満={}", crnThread.getCrnProtocol().getCrnNo());
- News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}", crnThread.getCrnProtocol().getCrnNo());
- crnThread.setResetFlag(true);
- }
- }
- }else{
+ }
+// else if (crnProtocol.getTaskNo() == 9996) {//鐩樼偣鍏ュ簱琛旀帴
+// // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
+// if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
+// News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
+//
+// // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
+// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
+// // 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
+// if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
+// wrkMast.setWrkSts(4L);
+// } else {
+// continue;
+// }
+// Date now = new Date();
+// wrkMast.setCrnEndTime(now);
+// wrkMast.setModiTime(now);
+// // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
+// if (wrkMastMapper.updateById(wrkMast) > 0) {
+// // 鍫嗗灈鏈哄浣�
+// log.error(wrkMast.getWrkNo() + "浠诲姟淇敼鐘舵��4鎴愬姛锛屽浣嶅爢鍨涙満={}", crnThread.getCrnProtocol().getCrnNo());
+// News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}", crnThread.getCrnProtocol().getCrnNo());
+// crnThread.setResetFlag(true);
+// }
+// }
+// }
+ else{
// 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
@@ -2218,7 +2257,12 @@
}
// 鑾峰彇宸ヤ綔妗ｆ暟鎹�
WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
- if (null == wrkMast) { continue; }
+ if (null == wrkMast) {
+ if(staProtocol.getWorkNo() > 9999){ //寮傚父閫�鍑�
+ MessageQueue.offer(SlaveType.Led, 2, new Task(3, "寮傚父閫�鍑�"));
+ }
+ continue;
+ }
wrkMasts.add(wrkMast);
// 缁勮鍛戒护
LedCommand ledCommand = new LedCommand();
@@ -2231,6 +2275,12 @@
break;
case 10:
ledCommand.setTitle("绌烘澘鍏ュ簱");
+ break;
+ case 12:
+ ledCommand.setTitle("鐗╂枡琛旀帴");
+ break;
+ case 57:
+ ledCommand.setTitle("鐩樼偣鍐嶅叆搴�");
break;
case 101:
ledCommand.setTitle("鍏ㄦ澘鍑哄簱");
@@ -2255,6 +2305,20 @@
ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
ledCommand.setStaNo(wrkMast.getStaNo());
ledCommand.setBarcode(wrkMast.getBarcode());
+ if(wrkMast.getIoType() == 12){
+ List<WrkDetl> wrkDetls = wrkDetlService.findByBarcode(wrkMast.getBarcode());
+ wrkDetls.forEach(wrkDetl -> {
+ Double total = 0.0;
+ EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
+ LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
+ if (Cools.isEmpty(locDetl)) {
+ total = wrkDetl.getAnfme();
+ } else {
+ total = locDetl.getAnfme();
+ }
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
+ });
+ }
if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
@@ -2268,13 +2332,13 @@
total = locDetl.getAnfme();
}
if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
- ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
}
if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
- ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
}
if (wrkMast.getIoType() == 107) {
- ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
}
});
}
@@ -2344,6 +2408,9 @@
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
News.error("{}鍙稬ED鏄剧ず榛樿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());
}
+// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
+// News.error("{}鍙稬ED鏄剧ず榛樿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());
+// }
}
}
}
@@ -2947,52 +3014,18 @@
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�2", rgvSlave.getRgvNo());
continue;
}
-
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE &&
- rgvProtocol.getModeType() == RgvModeType.AUTO
- && !rgvProtocol.isLoaded1ing() //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
- && rgvProtocol.getTaskNo1()==0
- && !rgvProtocol.isLoaded2ing()
- && rgvProtocol.getTaskNo2()==0
- &&rgvThread.isPakMk()
- ) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-
- Integer rgvNoOther = basRgvMap.getRgvNoOther((int) rgvProtocol.getRgvNo());
- RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther);
- RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
- if (rgvProtocolOther == null) {
- continue;
- }else {
- rgvProtocolOther = rgvProtocolOther.clone();
- }
- if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
- && rgvProtocolOther.getModeType() == RgvModeType.AUTO
- && !rgvProtocolOther.isLoaded1ing()
- && rgvProtocolOther.getTaskNo1()==0
- && !rgvProtocolOther.isLoaded2ing()
- && rgvProtocolOther.getTaskNo2()==0
- &&rgvThreadOther.isPakMk()
- ){
- //瀵瑰伐浣滄。杩涜鍒ゆ柇
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
- if (rgvProtocol.getTaskNo1() >0 && rgvProtocol.getTaskNo1()<=9000){
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
- rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2366");
- }else if (rgvProtocol.getTaskNo1() == 0){
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2366");
- }
-
- }
-
-
-
+ Integer site = rgvProtocol.getRgvNo() == 1 ? rgvProtocol.getRgvPosI1() : rgvProtocol.getRgvPosI2();
+ if (site == 0) {
+ continue;
}
+ rgvSlave.setNowRoute(site); // 鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ if (!basRgvMapService.updateById(rgvSlave)) {
+ log.error("灏忚溅鏇存柊鍦板浘澶辫触");
+ }
+
}
}catch (Exception e){
- log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
- log.error("4109琛�"+e);
+ log.error("灏忚溅鏇存柊鍦板浘澶辫触");
}
}
@@ -3322,7 +3355,8 @@
continue;
}
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ basRgvMapService.updateById(basRgvMap);
Integer workNo = 0;
if(rgvProtocol.getTaskNo2() > 9999|| rgvProtocol.getTaskNo1() > 9999){
workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1() : rgvProtocol.getTaskNo2();
@@ -3377,7 +3411,7 @@
continue;
}
- if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
+ if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
flag = true;
}
if (!flag) {
@@ -3388,7 +3422,8 @@
continue;
}
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ basRgvMapService.updateById(basRgvMap);
Integer workNo = 0;
if(basRgv.getPakToCrn().equals("1")){
workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1():rgvProtocol.getTaskNo2(); //姝ｅ父鎯呭喌鍑哄簱鏀捐揣浼樺厛宸ヤ綅1鏀�
@@ -3484,11 +3519,11 @@
basRgvService.updateById(basRgv);
rgvThread.setPakMk(true);
}
- List<WrkMastSta> wrkMastStaPakingNum = wrkMastStaService.selectPakingWrkNum(basRgv.getRgvNo());
- if(wrkMastStaPakingNum.size() <1){
- basRgv.setPakAll("1"); //闃叉鏃犲叾浠栦换鍔℃椂锛岃繛缁彇璐ф棤娉曟仮澶�
- basRgvService.updateById(basRgv);
- }
+// List<WrkMastSta> wrkMastStaPakingNum = wrkMastStaService.selectPakingWrkNum(basRgv.getRgvNo());
+// if(wrkMastStaPakingNum.size() <1){
+// basRgv.setPakAll("1"); //闃叉鏃犲叾浠栦换鍔℃椂锛岃繛缁彇璐ф棤娉曟仮澶�
+// basRgvService.updateById(basRgv);
+// }
}
}
@@ -3522,7 +3557,7 @@
// 鍙湁褰揜GV绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE &&
rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk()
- && basRgv.getPakToCrn().equals("1") && rgvThread.isPaking()) {
+ && rgvThread.isPaking()) {
News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛孯GV鍏ュ嚭搴撲綔涓氫笅鍙�");
// 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
// rgvRunWrkMastInTest();
@@ -3639,7 +3674,7 @@
case 1: route = RouteUtils.getRouteOne();break;
case 2: route = RouteUtils.getRouteTwo();break;
}
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
basRgvMapService.updateById(basRgvMap);
WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
if( null == wrkMastSta ) {
@@ -3765,16 +3800,16 @@
case 1: route = RouteUtils.getRouteOne();break;
case 2: route = RouteUtils.getRouteTwo();break;
}
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
basRgvMapService.updateById(basRgvMap);
WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
- if( null == wrkMastSta ) {
- News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
- continue;
- }
WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
if(basRgv.getPakToCrn().equals("0")){
wrkMastSta = wrkMastStaMapper.selectNoInterfereCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));//澶勭悊鎺ラ┏浠诲姟鏃讹紝杩炵画鍙彇鎺ラ┏浠诲姟
+ }
+ if( null == wrkMastSta ) {
+ News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ continue;
}
boolean result = false;
if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
@@ -3785,6 +3820,18 @@
basRgvService.updateById(basRgv);
continue;
+ }
+ if(wrkMastSta != null &&LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
+ StaProtocol staProtocolSta = devpThread.getStation().get(wrkMastSta.getStaEnd());
+ if (staProtocolSta == null) {
+ News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍏ュ簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocolSta = staProtocolSta.clone();
+ }
+ if(staProtocolSta.isLoading()){
+ continue;
+ }
}
wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//鑻�1鍙峰伐浣嶆湁浠诲姟缁�2鍙峰伐浣�
wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
@@ -3800,7 +3847,6 @@
}
}
}
-
if(wrkMastSta3 != null ){
List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
if(wrkMastStaPaking.size() < 1){
@@ -3819,7 +3865,6 @@
basRgvService.updateById(basRgv);
rgvThread.setPaking(false);
-// rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
try{
wrkMastSta.setWrkSts(1);
wrkMastStaMapper.updateById(wrkMastSta);
@@ -3900,7 +3945,7 @@
case 1: route = RouteUtils.getRouteOne();break;
case 2: route = RouteUtils.getRouteTwo();break;
}
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
basRgvMapService.updateById(basRgvMap);
WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
if( null == wrkMastSta ) {
@@ -4707,7 +4752,7 @@
// 鍒ゆ柇閲嶅宸ヤ綔妗�
List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()));
if (!basAgvMastList.isEmpty()) {
- News.info("{}鍙风珯鐐瑰瓨鍦ㄤ换鍔℃墽琛屼腑锛岃绛夊緟浠诲姟鎵ц瀹屾瘯锛歿}", outStaAgv.getStaNo(), barcode);
+// News.info("{}鍙风珯鐐瑰瓨鍦ㄤ换鍔℃墽琛屼腑锛岃绛夊緟浠诲姟鎵ц瀹屾瘯锛歿}", outStaAgv.getStaNo(), barcode);
continue;
}
@@ -4792,7 +4837,7 @@
BasAgvMast basAgvMast = new BasAgvMast();
try {
List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>()
- .eq("loc_sts", "D")
+ .eq("loc_sts", "R")
.ge("row1", 23)
.le("row1", 32)
.orderBy("io_time",true)
--
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