From 5aa831dffdfb0ca524362e8d649c28babc681ece Mon Sep 17 00:00:00 2001
From: cpT <1@123>
Date: 星期一, 30 六月 2025 16:43:18 +0800
Subject: [PATCH] #改造
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 1304 +++++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 992 insertions(+), 312 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 90d7515..fdcb0d3 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -4,6 +4,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
+import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.controller.CrnController;
import com.zy.asrs.domain.enums.TaskStatusType;
@@ -31,7 +32,6 @@
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
-import org.apache.poi.ss.formula.functions.T;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
@@ -55,8 +55,6 @@
@Autowired
private SlaveProperties slaveProperties;
- @Autowired
- private WrkMastMapper wrkMastMapper;
@Autowired
private LocMastService locMastService;
@Autowired
@@ -105,6 +103,11 @@
@Value("${constant-parameters.avoidDistance}")
private Long avoidDistance;
+ @Autowired
+ private TaskWrkLogServiceImpl taskWrkLogService;
+ @Autowired
+ private BasPlcerrorLogServiceImpl basPlcerrorLogService;
+ public Long currentTimeMilliConnectCrnAuto= 0L;
public void generateStoreWrkFile() {
try {
@@ -115,17 +118,24 @@
// 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) {
+ if (staProtocol == null || !staProtocol.isLoading()) {
continue;
} else {
staProtocol = staProtocol.clone();
}
Integer workNo = staProtocol.getWorkNo();
+ if (workNo!=9998 && workNo!=9997){
+ continue;
+ }
Integer stano = staProtocol.getStaNo();
// 灏哄妫�娴嬪紓甯�
boolean back = false;
- String errMsg = "";
+ String errMsg = "-";
+ if (staProtocol.getGrossWt()>=600){
+ errMsg = "瓒呴噸锛�"+staProtocol.getGrossWt()+"kg";
+ back = true;
+ }
if (staProtocol.isFrontErr()) {
errMsg = "鍓嶈秴闄�";
back = true;
@@ -146,10 +156,10 @@
errMsg = "鍙宠秴闄�";
back = true;
}
- if (!back && staProtocol.isWeightErr()) {
- errMsg = "瓒呴噸";
- back = true;
- }
+// if (!back && staProtocol.isWeightErr()) {
+// errMsg = "瓒呴噸";
+// back = true;
+// }
if (!back && staProtocol.isBarcodeErr()) {
errMsg = "鎵爜澶辫触";
back = true;
@@ -165,10 +175,12 @@
if (!staProtocol.isPakMk()) {
continue;
}
+ System.out.println("鎵爜鍏ュ簱澶辫触锛寋"+inSta.getStaNo()+"}鍏ュ簱绔欏洜{"+errMsg+"}寮傚父锛屾墭鐩樺凡琚��鍥�");
// 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(workNo);
+ staProtocol.setWorkNo(9999);
staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
if (taskWrk != null) {
@@ -181,7 +193,7 @@
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading()
&& staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo>9000 && workNo<10000))
+ && (workNo == 9998 || workNo == 9997)
&& staProtocol.isPakMk()
&& staProtocol.isPakMkWalk()
) {
@@ -191,13 +203,33 @@
continue;
}
String barcode = barcodeThread.getBarcode();
- if (!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
+ int signI = 0;
+ while (signI<6){
+ Thread.sleep(200);
+ signI = signI +1;
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ if (Cools.isEmpty(barcode) || barcode.equals("000000")) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "寰幆娆℃暟锛�"+signI+"锛涙壂鐮佸�硷細"+barcode);
+
+ BarcodeThread barcodeThreadO = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
+ if (barcodeThreadO == null) {
+ continue;
+ }
+ barcode = barcodeThreadO.getBarcode();
+ } else {
+ break;
+ }
+ }
+
+
+ if (!Cools.isEmpty(barcode) && !barcode.equals("99999999") && !barcode.equals("000000")) {
// 璇锋眰wms鎺ュ彛锛岃幏鍙栧伐浣滃彿鍜岀洰鏍囧簱浣�
- ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, 0);
+ ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, workNo == 9998? 0 : 1);
+
TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
if (!Cools.isEmpty(taskWrk1)) {
log.info("鎵樼洏鐮侊細" + barcode + "浠诲姟妗ｅ瓨鍦�");
- if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
+ if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && (taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString()) || taskWrk1.getStartPoint().equals(String.valueOf((staProtocol.getSiteId()+1))))) {
StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));
@@ -207,6 +239,8 @@
} else {
staProtocol.setWorkNo(taskWrk1.getWrkNo());
staProtocol.setStaNo(staProtocol.getSiteId());
+ devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
}
@@ -241,6 +275,8 @@
staProtocol.setWorkNo(9999);
staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), e.getMessage());
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
continue;
}
@@ -256,9 +292,11 @@
);
log.info("鍏ュ簱璇锋眰鍙傛暟{}" + JSON.toJSONString(toWmsDTO));
log.info("鍏ュ簱璇锋眰杩斿洖鍙傛暟{}" + JSON.toJSONString(response));
- if (jsonObject.getInteger("code").equals(200)) {
+ if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
try {
devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), "涓婃姤鎴愬姛绛夊緟浠诲姟");
+
} catch (Exception e) {
// 閫�鍥�
log.error("鎵爜妫�娴嬬▼搴忓紓甯�" + inSta.getStaNo() + errMsg);
@@ -267,9 +305,18 @@
staProtocol.setWorkNo(9999);
staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), "涓婃姤鎴愬姛閿佸畾澶辫触");
+
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
+ } else {
+ // 閫�鍥�
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getBackSta());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), jsonObject.getString("message"));
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
} else {
// 閫�鍥�
@@ -278,6 +325,7 @@
staProtocol.setWorkNo(9999);
staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), "鎵爜鍏ュ簱鎵爜澶辫触锛侊紒锛佹壂鐮佸�硷細"+barcode);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
if (taskWrk != null) {
@@ -306,12 +354,15 @@
// 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) {
+ if (staProtocol == null || !staProtocol.isLoading()) {
continue;
} else {
staProtocol = staProtocol.clone();
}
Integer workNo = staProtocol.getWorkNo();
+ if (workNo!=9997){
+ continue;
+ }
Integer stano = staProtocol.getStaNo();
// 灏哄妫�娴嬪紓甯�
@@ -337,10 +388,10 @@
errMsg = "鍙宠秴闄�";
back = true;
}
- if (!back && staProtocol.isWeightErr()) {
- errMsg = "瓒呴噸";
- back = true;
- }
+// if (!back && staProtocol.isWeightErr()) {
+// errMsg = "瓒呴噸";
+// back = true;
+// }
// 閫�鍥�
if (back) {
if (stano == inSta.getBackSta().shortValue()) {
@@ -352,8 +403,9 @@
if (!staProtocol.isPakMk()) {
continue;
}
+ System.out.println("鎵爜鍏ュ簱澶辫触锛寋"+inSta.getStaNo()+"}鍏ュ簱绔欏洜{"+errMsg+"}寮傚父锛屾墭鐩樺凡琚��鍥�");
// 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(workNo);
+ staProtocol.setWorkNo(9999);
staProtocol.setStaNo(inSta.getStaNo());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -368,13 +420,25 @@
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading()
&& staProtocol.isInEnable()
- && staProtocol.isEmptyMk() && (workNo == 0 || (workNo>9000 && workNo<10000))
+ && (workNo == 9997)
&& staProtocol.isPakMk()
&& staProtocol.isPakMkWalk()
) {
+ // 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) || barcode.equals("0") || barcode.equals("000000")) {
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getBackSta());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ continue;
+ }
// 璇锋眰wms鎺ュ彛锛岃幏鍙栧伐浣滃彿鍜岀洰鏍囧簱浣�
- ToWmsDTO toWmsDTO = new ToWmsDTO("", staProtocol.getSiteId(), 1);
-
+ ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, 1);
HashMap<String, Object> headParam = new HashMap<>();
headParam.put("Content-Type", "application/json");
String response;
@@ -419,7 +483,7 @@
);
log.info("鍏ュ簱璇锋眰鍙傛暟{}" + JSON.toJSONString(toWmsDTO));
log.info("鍏ュ簱璇锋眰杩斿洖鍙傛暟{}" + JSON.toJSONString(response));
- if (jsonObject.getInteger("code").equals(200)) {
+ if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
try {
devpThread.setPakMk(staProtocol.getSiteId(), false);
} catch (Exception e) {
@@ -482,7 +546,7 @@
if (!Cools.isEmpty(taskWrk1)) {
log.info("鎵樼洏鐮侊細" + barcode + "浠诲姟妗ｅ瓨鍦�");
- if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
+ if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));
@@ -531,6 +595,7 @@
staProtocol.setWorkNo(taskWrk1.getWrkNo());
staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), "-");
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
Date now = new Date();
@@ -642,6 +707,86 @@
}
/**
+ * 鍫嗗灈鏈�5鍒嗛挓鏃犱换鍔″垯鍥炲埌婧愮偣
+ */
+ public void crnStnToOutStnSou() {
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ try{
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ continue;
+ }
+ BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
+ if (basCrnp == null) {
+ log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
+ continue;
+ }
+ if (System.currentTimeMillis()-currentTimeMilliConnectCrnAuto<1000*60*10){
+ continue;
+ }
+ if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.statusType == CrnStatusType.IDLE && crnProtocol.getLoaded().equals((short)0) && crnProtocol.getLaneNo()!=0 && crnProtocol.getTaskNo() == 0 ) {
+ if (crnProtocol.getBay()!=1 || crnProtocol.getLevel()!=1){
+ //鑾峰彇宸ヤ綔妗�
+ List<TaskWrk> taskWrks = taskWrkMapper.selectByLaneNo(crnProtocol.getLaneNo());
+ if (!taskWrks.isEmpty()) {
+ continue;
+ }
+ List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<TaskWrkLog>().eq("CRN_NO",crnProtocol.getLaneNo()).orderBy("COMPLETE_TIME",true));
+ if (!taskWrkLogs.isEmpty()) {
+ TaskWrkLog taskWrkLog = taskWrkLogs.get(0);
+ Date completeTime = taskWrkLog.getCompleteTime();
+ if (completeTime==null){
+ completeTime = taskWrkLog.getCancelTime();
+ if (completeTime==null){
+ completeTime = taskWrkLog.getModiTime();
+ }
+ }
+ long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(completeTime, new Date());
+ if (differenceInSeconds <= 60*10*1000) {
+ return;
+ }
+ }
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setCrnNo(crnProtocol.getLaneNo()); // 鍫嗗灈鏈哄贩閬撶紪鍙�
+ crnCommand.setTaskNo((short)999); // 宸ヤ綔鍙�
+ crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+ crnCommand.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+ int row = crnProtocol.getLaneNo() * 2;
+ crnCommand.setDestinationPosX((short) row); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 1); // 鐩爣搴撲綅灞�
+ crnCommand.setDestinationPosZ((short) 1); // 鐩爣搴撲綅鍒�
+ if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
+ log.error("鍫嗗灈鏈鸿嚜鍔ㄥ洖婧愮偣澶辫触锛屽爢鍨涙満鍙�={}", crnProtocol.getCrnNo());
+
+ if (System.currentTimeMillis()-currentTimeMilliConnectCrnAuto>1000*60*10){
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("CrnErr", crnProtocol.getCrnNo(), "鍫嗗灈鏈鸿嚜鍔ㄥ洖婧愮偣澶辫触");
+ } catch (Exception e2){
+ }
+ if (currentTimeMilliConnectCrnAuto == 0){
+ currentTimeMilliConnectCrnAuto = System.currentTimeMillis()-1000*60*10-1;
+ } else {
+ currentTimeMilliConnectCrnAuto = System.currentTimeMillis();
+ }
+ }
+ }
+ }
+ }
+ } catch (Exception e){
+ log.error("鍫嗗灈鏈�5鍒嗛挓鏃犱换鍔″垯鍥炲埌婧愮偣澶辫触");
+ }
+ }
+ }
+
+ /**
* 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
*/
public synchronized void crnIoExecute() throws IOException {
@@ -668,8 +813,12 @@
}
}
- // 搴撲綅绉昏浆
- this.locToLoc(crn, crnProtocol);
+ try{
+ // 搴撲綅绉昏浆
+ this.locToLoc(crn, crnProtocol);
+ } catch (Exception e) {
+ log.error("搴撲綅绉昏浆澶辫触");
+ }
// 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 && crnProtocol.getModeType() == CrnModeType.AUTO
@@ -694,8 +843,19 @@
crnProtocol.setLastIo("O");
}
}
+ } else {
+ if (crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getStatusType() == CrnStatusType.IDLE){
+ if (crnProtocol.getTaskNo() != 0){
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "宸ヤ綔鍙蜂笉涓�0");
+ }
+ if (crnProtocol.getLoaded() != 0){
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "杞借揣鍙版湁鐗�");
+ }
+ if (crnProtocol.getForkPos() != 0){
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "璐у弶浣嶇疆涓嶅湪涓綅");
+ }
+ }
}
-
}
}
@@ -722,7 +882,8 @@
log.error("鍏ュ簱 ===>> 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;
}
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
+// && staProtocol.isInEnable()
&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
flag = true;
}
@@ -737,12 +898,20 @@
}
// 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "鍫嗗灈鏈洪潪绌洪棽");
+ continue;
+ }
+ if (crnProtocol.getTaskNo() != 0) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄伐浣滃彿涓嶄负0");
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "宸ヤ綔鍙蜂笉涓�0");
continue;
}
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄瓨鍦ㄥ悐杞︿换鍔�");
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "鍫嗗灈鏈哄瓨鍦ㄦ墽琛屼腑鍚婅溅浠诲姟");
continue;
}
@@ -780,7 +949,7 @@
// //寮�濮嬭繍琛�
// String response = CrnStartRunning(taskWrk);
// JSONObject jsonObject = JSON.parseObject(response);
-// if (jsonObject.getInteger("code").equals(200)) {
+// if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
//
// }else {
// log.error("鍏ュ簱寮�濮嬭繍琛岄�氳澶辫触,"+jsonObject.get("msg"));
@@ -795,18 +964,25 @@
crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
+ int bay1 = Utils.getBayShort(taskWrk.getTargetPoint()) + 1;
+ crnCommand.setDestinationPosY((short)bay1); // 鐩爣搴撲綅灞�
crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
- crnCommand.setCommand((short) 1);
+// crnCommand.setCommand((short) 1);
if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
+ devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "杩愯鍛戒护涓嬪彂澶辫触");
+
throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
} else {
try {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "-");
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");
+
taskWrkService.updateById(taskWrk);
} catch (Exception e) {
log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
@@ -890,17 +1066,29 @@
}
// 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
- if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
- && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
+ if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
+
+// // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
+// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
+// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
// 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
- break;
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "鍫嗗灈鏈洪潪绌洪棽");
+ continue;
+ }
+ if (crnProtocol.getTaskNo() != 0) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄伐浣滃彿涓嶄负0");
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "宸ヤ綔鍙蜂笉涓�0");
+
+ continue;
}
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄瓨鍦ㄥ悐杞︿换鍔�");
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "鍫嗗灈鏈哄瓨鍦ㄦ墽琛屼腑鍚婅溅浠诲姟");
break;
}
@@ -911,14 +1099,17 @@
command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
command.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 婧愬簱浣嶆帓
- command.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅垪
+ int bayS = Utils.getBayShort(taskWrk.getStartPoint()) + 1;
+ command.setSourcePosY((short)bayS); // 婧愬簱浣嶅垪
command.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅眰
command.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
command.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
command.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
- command.setCommand((short) 1);
+// command.setCommand((short) 1);
if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command))) {
log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屽贩閬�={}锛屼换鍔℃暟鎹�={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
+ devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "杩愯鍛戒护涓嬪彂澶辫触");
throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
} else {
try {
@@ -928,6 +1119,9 @@
taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);
taskWrk.setModiTime(now);
taskWrk.setExecuteTime(now);
+ devpThread.setErrorDev(staProtocol.getSiteId(), "-");
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");
+
if (taskWrkMapper.updateById(taskWrk) == 0) {
log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
}
@@ -965,6 +1159,21 @@
log.error("wcs娲惧彂鍑哄簱浠诲姟涓婃姤wms澶辫触", JSON.toJSONString(taskWrk));
// throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
}
+ }
+ } else {
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");
+ if (staProtocol.isAutoing()){
+ if (staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "鑳藉嚭锛氭湭鎵撳紑");
+ }
+ if (staProtocol.getWorkNo() == 0){
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "宸ヤ綔鍙蜂笉涓�0");
+ }
+ if (staProtocol.isOutEnable()){
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "娌℃湁鍙嚭");
+ }
+ } else {
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "鍑哄簱绔欑偣锛氶潪鑷姩");
}
}
}
@@ -1024,12 +1233,14 @@
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅垪
+ int bayS = Utils.getBayShort(taskWrk.getStartPoint()) + 1;
+ crnCommand.setSourcePosY((short)bayS); // 婧愬簱浣嶅垪
crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅眰
crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
+ int bayE = Utils.getBayShort(taskWrk.getTargetPoint()) + 1;
+ crnCommand.setDestinationPosY((short)bayE); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
- crnCommand.setCommand((short) 1);
+// crnCommand.setCommand((short) 1);
if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), 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�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
} else {
@@ -1085,121 +1296,125 @@
*/
public void storeFinished() throws InterruptedException {
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) {
- continue;
- }
-
- CrnSlave crn = new CrnSlave(crnSlave);
-
- if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
- for (CrnSlave crnOther : slaveProperties.getCrn()) {
- if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
- crn.updateCrnInStn(crnOther);
- }
- }
- }
-
- // 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) {
- //鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
- TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(), crnProtocol.getTaskNo().intValue());
- if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
- log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽贩閬撳彿={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
+ try{
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
continue;
}
-// Thread.sleep(300);
- //纭瀹屾垚淇″彿
- CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
- crnOperatorParam.setCrnNo(crn.getId());
- Date now = new Date();
- crnController.crnTaskComplete(crnOperatorParam);
- if (!Cools.isEmpty(taskWrk)) {
- if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
- taskWrk.setWrkSts(4);//鍏ュ簱瀹屾垚
- taskWrk.setStatus(TaskStatusType.OVER.id);//瀹岀粨
- //鏇存柊搴撲綅鐘舵��
- LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
- locMast.setLocSts("F");//F.鍦ㄥ簱
- locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
- locMast.setModiTime(now);
- locMast.setModiUser(9999L);
- locMastService.updateById(locMast);
- } else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
- taskWrk.setWrkSts(13);//鍑哄簱瀹屾垚
- taskWrk.setStatus(TaskStatusType.OVER.id);//瀹岀粨
- //鏇存柊搴撲綅鐘舵��
- LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
- locMast.setLocSts("O");//O.绌哄簱浣�
- locMast.setBarcode("");//鎵樼洏鐮�
- locMast.setModiTime(now);
- locMast.setModiUser(9999L);
- locMastService.updateById(locMast);
- } else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
- taskWrk.setWrkSts(4);//鍏ュ簱瀹屾垚
- taskWrk.setStatus(TaskStatusType.OVER.id);//瀹岀粨
- //鏇存柊搴撲綅鐘舵��
- LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
- locMast.setLocSts("F");//F.鍦ㄥ簱
- locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
- locMast.setModiTime(now);
- locMast.setModiUser(9999L);
- locMastService.updateById(locMast);
+ CrnSlave crn = new CrnSlave(crnSlave);
- LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
- locMast1.setLocSts("O");//O.绌哄簱浣�
- locMast1.setBarcode("");//鎵樼洏鐮�
- locMast1.setModiTime(now);
- locMast1.setModiUser(9999L);
- locMastService.updateById(locMast1);
- }
- taskWrk.setModiTime(now);
- taskWrk.setCompleteTime(now);
- taskWrkService.updateById(taskWrk);
-
-
- try {
- HashMap<String, Object> headParam = new HashMap<>();
- headParam.put("taskNo",taskWrk.getTaskNo());
- headParam.put("taskStatus",taskWrk.getStatusWms());
- headParam.put("ioType",taskWrk.getIoTypeWms());
- headParam.put("barCode",taskWrk.getBarcode());
- headParam.put("reportTime", LocalDateTime.now());
- headParam.put("weight",taskWrk.getScWeight().doubleValue());
-
- String response;
- log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", headParam);
-
- response = new HttpHandler.Builder()
- // .setHeaders(headParam)
- .setUri(wmsUrl)
- .setPath(taskStatusFeedbackPath)
- .setJson(JSON.toJSONString(headParam))
- .build()
- .doPost();
- log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", response);
-
-// JSONObject jsonObject = JSON.parseObject(response);
-// log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", jsonObject);
-
- apiLogService.save("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms"
- , wmsUrl + taskStatusFeedbackPath
- , null
- , "127.0.0.1"
- , JSON.toJSONString(headParam)
- , response
- , true
- );
- } catch (Exception e) {
- log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触", taskWrk);
- log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触,鎶ラ敊淇℃伅锛�", e);
-// throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
+ if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
+ for (CrnSlave crnOther : slaveProperties.getCrn()) {
+ if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
+ crn.updateCrnInStn(crnOther);
+ }
}
}
+ // 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) {
+ //鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
+ TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(), crnProtocol.getTaskNo().intValue());
+ if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
+ log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽贩閬撳彿={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
+ continue;
+ }
+// Thread.sleep(300);
+ //纭瀹屾垚淇″彿
+ CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
+ crnOperatorParam.setCrnNo(crn.getId());
+ Date now = new Date();
+
+ crnController.crnTaskComplete(crnOperatorParam);
+ if (!Cools.isEmpty(taskWrk)) {
+ if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
+ taskWrk.setWrkSts(4);//鍏ュ簱瀹屾垚
+ taskWrk.setStatus(TaskStatusType.OVER.id);//瀹岀粨
+ //鏇存柊搴撲綅鐘舵��
+ LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
+ locMast.setLocSts("F");//F.鍦ㄥ簱
+ locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
+ locMast.setModiTime(now);
+ locMast.setModiUser(9999L);
+ locMastService.updateById(locMast);
+ } else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
+ taskWrk.setWrkSts(13);//鍑哄簱瀹屾垚
+ taskWrk.setStatus(TaskStatusType.OVER.id);//瀹岀粨
+ //鏇存柊搴撲綅鐘舵��
+ LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
+ locMast.setLocSts("O");//O.绌哄簱浣�
+ locMast.setBarcode("");//鎵樼洏鐮�
+ locMast.setModiTime(now);
+ locMast.setModiUser(9999L);
+ locMastService.updateById(locMast);
+ } else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
+ taskWrk.setWrkSts(4);//鍏ュ簱瀹屾垚
+ taskWrk.setStatus(TaskStatusType.OVER.id);//瀹岀粨
+ //鏇存柊搴撲綅鐘舵��
+ LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
+ locMast.setLocSts("F");//F.鍦ㄥ簱
+ locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
+ locMast.setModiTime(now);
+ locMast.setModiUser(9999L);
+ locMastService.updateById(locMast);
+
+ LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
+ locMast1.setLocSts("O");//O.绌哄簱浣�
+ locMast1.setBarcode("");//鎵樼洏鐮�
+ locMast1.setModiTime(now);
+ locMast1.setModiUser(9999L);
+ locMastService.updateById(locMast1);
+ }
+ taskWrk.setModiTime(now);
+ taskWrk.setCompleteTime(now);
+ taskWrkService.updateById(taskWrk);
+
+
+// try {
+// HashMap<String, Object> headParam = new HashMap<>();
+// headParam.put("taskNo",taskWrk.getTaskNo());
+// headParam.put("taskStatus",taskWrk.getStatusWms());
+// headParam.put("ioType",taskWrk.getIoTypeWms());
+// headParam.put("barCode",taskWrk.getBarcode());
+// headParam.put("reportTime", LocalDateTime.now());
+// headParam.put("weight",taskWrk.getScWeight().doubleValue());
+//
+// String response;
+// log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", headParam);
+//
+// response = new HttpHandler.Builder()
+// // .setHeaders(headParam)
+// .setUri(wmsUrl)
+// .setPath(taskStatusFeedbackPath)
+// .setJson(JSON.toJSONString(headParam))
+// .build()
+// .doPost();
+// log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", response);
+//
+//// JSONObject jsonObject = JSON.parseObject(response);
+//// log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", jsonObject);
+//
+// apiLogService.save("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms"
+// , wmsUrl + taskStatusFeedbackPath
+// , null
+// , "127.0.0.1"
+// , JSON.toJSONString(headParam)
+// , response
+// , true
+// );
+// } catch (Exception e) {
+// log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触", taskWrk);
+// log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触,鎶ラ敊淇℃伅锛�", e);
+//// throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
+// }
+ }
+
+ }
+ } catch (Exception e){
+ log.error("鍫嗗灈鏈烘墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔澶辫触 ===>> [id:{}] [error:{}]", crnSlave.getId(), e.getMessage());
}
}
}
@@ -1210,115 +1425,243 @@
public void recCrnErr() {
Date now = new Date();
for (CrnSlave crn : slaveProperties.getCrn()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) {
- continue;
- }
- if (false) {
-// if (crnProtocol.getModeType() != CrnModeType.STOP) {
- // 鏈変换鍔�
- if (crnProtocol.getTaskNo() != 0) {
- BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
- // 鏈夊紓甯�
- if (latest == null) {
+ try{
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ continue;
+ }
+ if (crnProtocol.getModeType() != CrnModeType.STOP) {
+ // 鏈変换鍔�
+ if (crnProtocol.getTaskNo() != 0) {
+ BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
+ // 鏈夊紓甯�
+ if (latest == null) {
+ if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
+ TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(crnProtocol.getTaskNo()));
+ if (taskWrk == null) {
+ continue;
+ }
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm().intValue());
+ String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
+ BasErrLog basErrLog = new BasErrLog(
+ null, // 缂栧彿
+ taskWrk.getWrkNo(), // 宸ヤ綔鍙�
+ now, // 鍙戠敓鏃堕棿
+ null, // 缁撴潫鏃堕棿
+ taskWrk.getWrkSts().longValue(), // 宸ヤ綔鐘舵��
+ taskWrk.getIoType(), // 鍏ュ嚭搴撶被鍨�
+ taskWrk.getCrnNo(), // 宸烽亾鍙�
+ crn.getId(), // 鍫嗗灈鏈哄彿
+ taskWrk.getTargetPoint(), // 鐩爣搴撲綅
+ 0, // 鐩爣绔�
+ 0, // 婧愮珯
+ taskWrk.getStartPoint(), // 婧愬簱浣�
+ taskWrk.getBarcode(), // 鏉＄爜
+ (int) crnProtocol.getAlarm(), // 寮傚父鐮�
+ errName, // 寮傚父
+ 1, // 寮傚父鎯呭喌
+ taskWrk.getCreateTime(), // 浠诲姟鏃堕棿(鎺ユ敹鏃堕棿)
+ 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 (!basErrLogService.insert(basErrLog)) {
+ log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
+ }
+ }
+ } else {
+ // 寮傚父淇
+ if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
+ latest.setEndTime(now);
+ latest.setUpdateTime(now);
+ latest.setStatus(2);
+ if (!basErrLogService.updateById(latest)) {
+ log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
+ }
+ }
+ }
+ // 鏃犱换鍔�
+ } else {
+ BasErrLog latest = basErrLogService.findLatest(crn.getId());
+ // 鏈夊紓甯�
if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
- WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
- if (wrkMast == null) {
- continue;
+ // 璁板綍鏂板紓甯�
+ if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
+ String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
+ BasErrLog basErrLog = new BasErrLog(
+ 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�
+ crn.getId(), // 鍫嗗灈鏈�
+ 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) crnProtocol.getAlarm(), // 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 (!basErrLogService.insert(basErrLog)) {
+ log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
+ }
}
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
- String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
- BasErrLog basErrLog = new BasErrLog(
- 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�
- crn.getId(), // 鍫嗗灈鏈�
- 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) crnProtocol.getAlarm(), // 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 (!basErrLogService.insert(basErrLog)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
- }
- }
- } else {
- // 寮傚父淇
- if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
- latest.setEndTime(now);
- latest.setUpdateTime(now);
- latest.setStatus(2);
- if (!basErrLogService.updateById(latest)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
- }
- }
- }
- // 鏃犱换鍔�
- } else {
- BasErrLog latest = basErrLogService.findLatest(crn.getId());
- // 鏈夊紓甯�
- if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
- // 璁板綍鏂板紓甯�
- if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
- String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
- BasErrLog basErrLog = new BasErrLog(
- 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�
- crn.getId(), // 鍫嗗灈鏈�
- 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) crnProtocol.getAlarm(), // 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 (!basErrLogService.insert(basErrLog)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.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 (!basErrLogService.updateById(latest)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
+ // 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 (!basErrLogService.updateById(latest)) {
+ log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
+ }
}
}
}
}
+ } catch (Exception e){
+ log.error("鍫嗗灈鏈哄紓甯镐俊鎭褰曞け璐� ===>> [id:{}] [error:{}]", crn.getId(), e.getMessage());
}
+ }
+ }
+ /**
+ * 鍫嗗灈鏈哄紓甯镐俊鎭褰�
+ */
+ public void recDevErr() {
+ Date now = new Date();
+ for (DevpSlave devpSlave : slaveProperties.getDevp()) {
+ try{
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
+ Map<Integer, StaProtocol> station = devpThread.getStation();
+ for (StaProtocol staProtocol : station.values()){
+ try{
+ if (staProtocol == null) {
+ continue;
+ }
+// if (staProtocol.isAutoing()) {
+// // 鏈変换鍔�
+// if (staProtocol.getWorkNo() != 0) {
+//// BasErrLog latest = basPlcerrorLogService.se(crn.getId(), crnProtocol.getTaskNo().intValue());
+// // 鏈夊紓甯�
+// if (latest == null) {
+// if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
+// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(crnProtocol.getTaskNo()));
+// if (taskWrk == null) {
+// continue;
+// }
+// BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm().intValue());
+// String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
+// BasErrLog basErrLog = new BasErrLog(
+// null, // 缂栧彿
+// taskWrk.getWrkNo(), // 宸ヤ綔鍙�
+// now, // 鍙戠敓鏃堕棿
+// null, // 缁撴潫鏃堕棿
+// taskWrk.getWrkSts().longValue(), // 宸ヤ綔鐘舵��
+// taskWrk.getIoType(), // 鍏ュ嚭搴撶被鍨�
+// crn.getId(), // 鍫嗗灈鏈�
+// null, // plc
+// taskWrk.getTargetPoint(), // 鐩爣搴撲綅
+// 0, // 鐩爣绔�
+// 0, // 婧愮珯
+// taskWrk.getStartPoint(), // 婧愬簱浣�
+// taskWrk.getBarcode(), // 鏉＄爜
+// (int) crnProtocol.getAlarm(), // 寮傚父鐮�
+// errName, // 寮傚父
+// 1, // 寮傚父鎯呭喌
+// taskWrk.getCreateTime(), // 浠诲姟鏃堕棿(鎺ユ敹鏃堕棿)
+// 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 (!basErrLogService.insert(basErrLog)) {
+// log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
+// }
+// }
+// } else {
+// // 寮傚父淇
+// if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
+// latest.setEndTime(now);
+// latest.setUpdateTime(now);
+// latest.setStatus(2);
+// if (!basErrLogService.updateById(latest)) {
+// log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
+// }
+// }
+// }
+// // 鏃犱换鍔�
+// } else {
+// BasErrLog latest = basErrLogService.findLatest(crn.getId());
+// // 鏈夊紓甯�
+// if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
+// // 璁板綍鏂板紓甯�
+// if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
+// BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
+// String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
+// BasErrLog basErrLog = new BasErrLog(
+// 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�
+// crn.getId(), // 鍫嗗灈鏈�
+// 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) crnProtocol.getAlarm(), // 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 (!basErrLogService.insert(basErrLog)) {
+// log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.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 (!basErrLogService.updateById(latest)) {
+// log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
+// }
+// }
+// }
+// }
+// }
+ } catch (Exception devErr){
+ log.error("杈撻�佺嚎绔欑偣寮傚父淇℃伅璁板綍澶辫触 ===>> [id:{}] [error:{}]", staProtocol.getStaNo(), devErr.getMessage());
+ }
+ }
+ } catch (Exception e){
+ log.error("杈撻�佺嚎寮傚父淇℃伅璁板綍澶辫触 ===>> [id:{}] [error:{}]", devpSlave.getId(), e.getMessage());
+ }
}
}
@@ -1377,7 +1720,10 @@
return false;
}
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
- || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ return false;
+ }
+ if (rgvProtocol.getLoaded()==1){
return false;
}
RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
@@ -1401,7 +1747,25 @@
return false;
}
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
- || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ return false;
+ }
+
+ if (rgvProtocol.getLoaded()!=0) {
+ return false;
+ }
+ return true;
+ }
+ public boolean rgvOtherIDLEOther2(RgvSlave slave) {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());
+
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
+ return false;
+ }
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO)
+ || rgvProtocol.getRgvPos().equals(0L)
+ || rgvTaskProtocol.getAvoid() == -1) {
return false;
}
@@ -1418,7 +1782,7 @@
return false;
}
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
- || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
return false;
}
RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
@@ -1428,6 +1792,44 @@
}
if (rgvProtocolOther.statusEnable) {
BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
+ long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
+ -
+ Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
+ if (abs<100){
+ return true;
+ }
+ if (Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
+ >=
+ Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos())){
+ return false;
+ }
+ }
+ return true;
+ }
+ public boolean rgvOtherIDLE2(RgvSlave slave,Integer staNo) {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
+ return false;
+ }
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ return false;
+ }
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+
+ if (rgvProtocolOther == null) {
+ return true;
+ }
+ if (rgvProtocolOther.statusEnable) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
+ long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
+ -
+ Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
+ if (abs<100){
+ return true;
+ }
if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos())
>=
Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){
@@ -1447,14 +1849,141 @@
// 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
if (staProtocol.isAutoing()
// && staProtocol.isLoading()
- && staProtocol.isStaOk()
+// && staProtocol.isStaOk()
&& staProtocol.getWorkNo() != 0) {
TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo());
if (taskWrk != null) {
+ Integer stano = staProtocol.getStaNo();
+ if (staProtocol.getSiteId() == 1004 || staProtocol.getSiteId()==1020){
+ // 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
+ if (!staProtocol.isLoading()) {
+ return null;
+ }
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "-";
+ if (staProtocol.getGrossWt()>=600){
+ errMsg = "瓒呴噸锛�"+staProtocol.getGrossWt()+"kg";
+ back = true;
+ }
+ 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) {
+ if (stano.equals(staProtocol.getStaNo() + 1)) {
+ return null;
+ }
+ if (!staProtocol.isPakMk()) {
+ return null;
+ }
+ System.out.println("鎵爜鍏ュ簱澶辫触锛寋"+inSta.getStaNo()+"}鍏ュ簱绔欏洜{"+errMsg+"}寮傚父锛屾墭鐩樺凡琚��鍥�");
+// 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(9999);
+ staProtocol.setStaNo(staProtocol.getStaNo()+1);
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
+ MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
+ try{
+ taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
+ taskWrk.setModiTime(new Date());
+ taskWrkMapper.updateById(taskWrk);
+ } catch (Exception e){
+ devpThread.setErrorDev(staProtocol.getSiteId(), errMsg+"寮傚父淇℃伅淇濆瓨宸ヤ綔妗ｆ澶辫触锛�");
+ }
+ return null;
+ }
+ }
return taskWrk;
+ }
+ } else if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0 && !staProtocol.isLoading()){
+ if (inSta.isDirectionOther()){
+ StaProtocol staProtocolOther = devpThread.getStation().get(inSta.getStaNoOther());
+ if (staProtocolOther == null) {
+ return null;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
+ if (staProtocolOther.isAutoing()
+ && staProtocolOther.getWorkNo() != 0) {
+ TaskWrk taskWrkOther = taskWrkService.selectByWrkNo(staProtocolOther.getWorkNo());
+ if (taskWrkOther != null) {
+ return taskWrkOther;
+ }
+ }
}
}
return null;
+ }
+ public boolean deviceDetection(RgvSlave.RgvStn inSta,Integer rgvNo) {
+ ArrayList<Integer> arrayList = new ArrayList<Integer>() {{
+ add(1009);
+ add(1011);
+ add(1012);
+ add(1014);
+ add(1016);
+ }};
+ try{
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
+ ArrayList<Integer> listW = new ArrayList<Integer>();
+ ArrayList<Integer> listL = new ArrayList<Integer>();
+ for (Integer staNo : arrayList){
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ if (staProtocol == null) {
+ RgvErrCache.updateRgvErr(rgvNo,staNo+"绔欑偣鏁版嵁涓㈠け");
+ return false;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
+ if (staProtocol.getWorkNo() != 0) {
+ if (!listW.contains(staProtocol.getWorkNo())) {
+ listW.add(staProtocol.getWorkNo());
+ }
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
+ if (staProtocol.isLoading()) {
+ if (!listL.contains(staProtocol.getStaNo())) {
+ listL.add(staProtocol.getStaNo());
+ }
+ }
+ }
+ if (listW.size()>=3){
+ RgvErrCache.updateRgvErr(rgvNo,"绛夊緟1012鎷ｉ�夛紝闃叉鍫靛");
+ return false;
+ }
+ if (listL.size()>=3){
+ RgvErrCache.updateRgvErr(rgvNo,"绛夊緟1012鎷ｉ�夛紝闃叉鍫靛");
+ return false;
+ }
+ } catch (Exception e){
+ RgvErrCache.updateRgvErr(rgvNo,"1012妫�娴嬪紓甯革細"+e.getMessage());
+ return false;
+ }
+ return true;
}
public boolean rgvOtherStatusEnable(RgvSlave slave) {
@@ -1479,6 +2008,11 @@
boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
if (basDevpPositions.isEmpty()) {
log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�");
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "鎸囦护鐢熸垚锛氳幏鍙栨墍鏈夌珯鐐逛俊鎭紓甯�");
+ } catch (Exception e2){
+ }
continue;
}
List<TaskWrk> taskWrkList = new ArrayList<>();
@@ -1514,49 +2048,12 @@
Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);
- for (Integer staNoNow : belongToRange) {
- for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
- if (rgvStn.getStaNo().equals(staNoNow)) {
- TaskWrk taskWrk = deviceDetection(rgvStn);
- if (taskWrk != null) {
- BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
- if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
- sign = taskGenerate(rgvSlave, rgvStn, 0);
- }
- }
- break;
- }
- }
- if (sign) {
- break;
- }
- }
- if (!sign) {
- // 绛涢�夎寖鍥村唴鍙栬揣浠诲姟
- for (Integer staNoNow : belongToRange) {
- for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
- if (rgvStn.getStaNo().equals(staNoNow)) {
- TaskWrk taskWrk = deviceDetection(rgvStn);
- if (taskWrk != null) {
- Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
- for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
- if (rgvStnOut.getStaNo().equals(outStaNo)) {
- sign = taskGenerate(rgvSlave, rgvStn, 0);
- break;
- }
- }
- }
- break;
- }
- }
- if (sign) {
- break;
- }
- }
- }
if (!sign && staList.size()==1){
if (rgvOtherIDLEOther(rgvSlave)){
if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
+ System.out.println("绌洪棽灏辫繎璺宠繃==="+rgvSlave.getId()+"===");
+ RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"绌洪棽灏辫繎璺宠繃");
+
sign=true;
}
}
@@ -1568,6 +2065,8 @@
Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
if (rgvSuper.getStaNo().equals(outStaNo)){
+ System.out.println("绌洪棽灏辫繎璺宠繃鍚庡洜鏈�杩滃啀娆℃墽琛�==="+rgvSlave.getId()+"===");
+
sign=false;
break;
}
@@ -1581,14 +2080,17 @@
}
}
- if (!sign) {
- for (Integer staNoNow : rangeList) {
+ if(!sign){
+ for (Integer staNoNow : belongToRange) {
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
if (rgvStn.getStaNo().equals(staNoNow)) {
TaskWrk taskWrk = deviceDetection(rgvStn);
if (taskWrk != null) {
BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ System.out.println("鍏ㄨ寖鍥存墽琛�==="+rgvSlave.getId()+"==="+taskWrk);
+ System.out.println("鍏ㄨ寖鍥存墽琛�==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
+
sign = taskGenerate(rgvSlave, rgvStn, 0);
}
}
@@ -1601,8 +2103,8 @@
}
}
if (!sign) {
- // 鍗婅竟鍖哄煙鍐呭彇璐т换鍔�
- for (Integer staNoNow : rangeList) {
+ // 绛涢�夎寖鍥村唴鍙栬揣浠诲姟
+ for (Integer staNoNow : belongToRange) {
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
if (rgvStn.getStaNo().equals(staNoNow)) {
TaskWrk taskWrk = deviceDetection(rgvStn);
@@ -1610,6 +2112,9 @@
Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
if (rgvStnOut.getStaNo().equals(outStaNo)) {
+ System.out.println("绛涢�夎寖鍥村唴鍙栬揣浠诲姟==="+rgvSlave.getId()+"==="+taskWrk);
+ System.out.println("绛涢�夎寖鍥村唴鍙栬揣浠诲姟==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
+
sign = taskGenerate(rgvSlave, rgvStn, 0);
break;
}
@@ -1623,15 +2128,52 @@
}
}
}
- if (!sign) {
- // 鍗婅竟鍖哄煙鍐呮斁璐т换鍔�
- for (Integer staNoNow : rangeListOther) {
+
+ if (!sign && staList.size()==1){
+ if (rgvOtherIDLEOther2(rgvSlave)){
+ if (!rgvOtherIDLE2(rgvSlave,staList.get(0))){
+ System.out.println("杩愯灏辫繎璺宠繃==="+rgvSlave.getId()+"===");
+ RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"杩愯灏辫繎璺宠繃");
+
+ sign=true;
+ }
+ }
+ if (sign){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staList.get(0))) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
+ if (rgvSuper.getStaNo().equals(outStaNo)){
+ System.out.println("杩愯灏辫繎璺宠繃鍚庡洜鏈�杩滃啀娆℃墽琛�==="+rgvSlave.getId()+"===");
+
+ sign=false;
+ break;
+ }
+ }
+ } else {
+ return;
+ }
+ break;
+ }
+ }
+ }
+ }
+
+
+
+ if (!sign && staList.size()>1) {
+ for (Integer staNoNow : rangeList) {
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
if (rgvStn.getStaNo().equals(staNoNow)) {
TaskWrk taskWrk = deviceDetection(rgvStn);
if (taskWrk != null) {
BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ System.out.println("绛涢�夊崐杈硅寖鍥村唴浠诲姟==="+rgvSlave.getId()+"==="+taskWrk);
+ System.out.println("绛涢�夊崐杈硅寖鍥村唴浠诲姟==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
+
sign = taskGenerate(rgvSlave, rgvStn, 0);
}
}
@@ -1642,7 +2184,121 @@
break;
}
}
+ }else if (!sign && staList.size()==1){
+ BasDevpPosition basDevpPosition1 = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staList.get(0)));
+ if (Math.abs(basDevpPosition1.getPlcPosition()- rgvProtocol.getRgvPos())<rgvProtocol.getCarBodyJiaoMing()+rgvProtocol.getCarBodyKunPeng() + avoidDistance*2){
+ for (Integer staNoNow : rangeList) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ System.out.println("绛涢�夊崐杈硅寖鍥村唴浠诲姟==="+rgvSlave.getId()+"==="+taskWrk);
+ System.out.println("绛涢�夊崐杈硅寖鍥村唴浠诲姟==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
+
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ }
+ }
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+ }
}
+
+
+
+ if (!sign && staList.size()>1) {
+ // 鍗婅竟鍖哄煙鍐呭彇璐т换鍔�
+ for (Integer staNoNow : rangeList) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
+ if (rgvStnOut.getStaNo().equals(outStaNo)) {
+ System.out.println("绛涢�夊崐杈硅寖鍥村彇璐т换鍔�==="+rgvSlave.getId()+"==="+taskWrk);
+ System.out.println("绛涢�夊崐杈硅寖鍥村彇璐т换鍔�==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
+
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ break;
+ }
+ }
+ }
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+ }
+ if (!sign && staList.size()>1) {
+ for (Integer staNoNow : rangeListOther) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
+ if (rgvSuper.getStaNo().equals(outStaNo)){
+ System.out.println("鍥犳渶杩滄墽琛屽崐杈瑰尯鍩熷唴鏀捐揣浠诲姟==="+rgvSlave.getId()+"===");
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ }
+ break;
+ }
+ }
+ }
+ break;
+ }
+ if (sign) {
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+
+ }else if (!sign && staList.size()==1){
+ for (Integer staNoNow : rangeList) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
+ if (rgvSuper.getStaNo().equals(outStaNo)){
+ System.out.println("鍥犳渶杩滄墽琛屽崐杈瑰尯鍩熷唴鏀捐揣浠诲姟==="+rgvSlave.getId()+"===");
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ }
+ break;
+ }
+ }
+ }
+ break;
+ }
+ if (sign) {
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+
+ }
+ RgvErrCache.updateRgvErr(rgvSlave.getId(),"鏈煡璇㈠埌鍙墽琛屼换鍔�");
+
} else {
//鍙敤鍖哄煙灏辫繎鍙栬揣
//灏辫繎鎺掑簭
@@ -1673,6 +2329,11 @@
}
} catch (Exception e) {
log.error("浠诲姟鐢熸垚澶辫触===銆嬪紓甯镐俊鎭細{}", e.getMessage());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "鎸囦护鐢熸垚澶辫触");
+ } catch (Exception e2){
+ }
}
}
}
@@ -1729,6 +2390,11 @@
if (targetPointConvert == null) {
return false;
}
+ if (targetPointConvert == 1009){
+ if (!deviceDetection(rgvStn, rgvSlave.getId())){
+ return false;
+ }
+ }
BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
@@ -1765,6 +2431,13 @@
}
} catch (Exception e) {
log.error("浠诲姟鐢熸垚澶辫触issued1===銆嬪紓甯镐俊鎭細{}", e.getMessage());
+ RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"绔欑偣浠诲姟鐢熸垚澶辫触issued1");
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "浠诲姟鐢熸垚澶辫触issued1");
+ } catch (Exception e2){
+ }
return false;
}
@@ -1782,6 +2455,13 @@
}
} catch (Exception e) {
log.error("浠诲姟鐢熸垚澶辫触issued2===銆嬪紓甯镐俊鎭細{}", e.getMessage());
+ RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"绔欑偣浠诲姟鐢熸垚澶辫触issued2");
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "绔欑偣浠诲姟鐢熸垚澶辫触issued2");
+ } catch (Exception e2){
+ }
}
return true;
}
@@ -1797,7 +2477,7 @@
// 鍛戒护闆嗗悎
List<LedCommand> commands = new ArrayList<>();
// 宸ヤ綔妗ｉ泦鍚�
- List<WrkMast> wrkMasts = new ArrayList<>();
+ List<TaskWrk> taskWrks = new ArrayList<>();
for (Integer staNo : led.getStaArr()) {
// 鑾峰彇鍙夎溅绔欑偣
StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -1821,7 +2501,7 @@
ledCommand.getMatDtos().add(matDto);
commands.add(ledCommand);
}
- Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
+ Set<Integer> workNos = taskWrks.stream().map(TaskWrk::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
@@ -1840,10 +2520,10 @@
try {
// 淇敼涓绘。led鏍囪
- for (WrkMast wrkMast : wrkMasts) {
- wrkMast.setOveMk("Y");
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
+ for (TaskWrk taskWrk : taskWrks) {
+// taskWrk.setOveMk("Y");
+ taskWrk.setModiTime(new Date());
+ if (taskWrkMapper.updateById(taskWrk) == 0) {
// News.errorNoLog(""+mark+" - 4"+" - 鏇存柊宸ヤ綔妗ｅけ璐�");
throw new CoolException("鏇存柊宸ヤ綔妗ｅけ璐�");
}
--
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