From 5ded08f9ec1b7cef4e57a4d7334f0dc191e2dbb5 Mon Sep 17 00:00:00 2001
From: LSH
Date: 星期五, 24 十一月 2023 11:07:41 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 228 +++++++++++++++++++++++++++-----------------------------
1 files changed, 109 insertions(+), 119 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 87ea97e..25d9bca 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -2,14 +2,12 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
-import com.zy.asrs.mapper.BasCrnErrorMapper;
-import com.zy.asrs.mapper.TaskWrkMapper;
-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.asrs.utils.CommandUtils;
import com.zy.asrs.utils.PostMesDataUtils;
@@ -70,6 +68,8 @@
private TaskWrkService taskWrkService;
@Autowired
private ConfigService configService;
+ @Autowired
+ private StaDescMapper staDescMapper;
@Value("${wms.url}")
private String wmsUrl;
@@ -92,7 +92,7 @@
} else {
staProtocol = staProtocol.clone();
}
- if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
// 鏌ヨ宸ヤ綔妗�
TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staProtocol.getSiteId().toString());
if (taskWrk == null) {
@@ -109,7 +109,7 @@
}
// 鍒ゆ柇鍫嗗灈鏈虹姸鎬佺瓑寰呯‘璁�
if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue())
- && crnProtocol.getTaskFinish() == 1
+ && crnProtocol.getTaskFinish() == 0
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
@@ -215,17 +215,6 @@
if(null == taskWrk) {
continue;
}
- // 鑾峰彇搴撲綅淇℃伅
- String locNo = taskWrk.getTargetPoint();
- LocMast locMast = locMastService.selectById(locNo);
- if (locMast == null) {
- log.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", locNo);
- 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�={}", locNo, locMast.getLocSts());
- continue;
- }
// 鍫嗗灈鏈烘帶鍒惰繃婊�
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
@@ -243,12 +232,13 @@
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()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
+ crnCommand.setSourcePosX(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosY(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setSourcePosZ(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
+ crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
+ crnCommand.setCommand((short)1);
if (!CommandUtils.offer(SlaveType.Crn, taskWrk.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�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
} else {
@@ -269,116 +259,116 @@
* 2022-06-09 TQS淇敼锛屾煡璇㈠伐浣滄。LIST锛岄亶鍘嗕笅鍙戯紝闃叉绗竴涓换鍔″牭濉炲嚭搴�
*/
public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
+ List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null);
+ if (taskWrksInitial.size()==0){
+ return;
+ }
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�
- List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(), crnStn.getStaNo().toString());
- for (TaskWrk taskWrk : taskWrks){
- if (taskWrk == null) {
- continue;
- }
- // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
- if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == 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�={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
- continue;
- }
- // 鑾峰彇婧愬簱浣嶄俊鎭�
- String locNo = taskWrk.getStartPoint();
- LocMast sourceSta = locMastService.selectById(locNo);
- 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�={}", locNo, sourceSta.getLocSts());
- continue;
- }
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- if (staProtocol == null) {
- break;
- } else {
- staProtocol = staProtocol.clone();
- }
+ List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
+ for (StaDesc staDesc : staDescs){
+ // 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�
+ List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(),staDesc.getStnNo().toString());
+ for (TaskWrk taskWrk : taskWrks){
+ if (taskWrk == null) {
+ continue;
+ }
+ // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
+ if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == null || taskWrk.getStartPoint() == 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�={}", taskWrk.getWrkNo(), taskWrk.getStartPoint(), taskWrk.getIoType());
+ continue;
+ }
+ // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ if (staProtocol == null) {
+ break;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
- // 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());
- break;
- }
-
- // 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) {
+ // 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());
break;
}
- // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
- break;
- }
+ // 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� --------------------------------------------------------------------------
- // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
- if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
-
- taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
-
- List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
- if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
- continue;
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+ break;
}
- String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
- TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
- if (!Cools.isEmpty(hallowLocNoTask)){
- if (!Cools.isEmpty(hallowLocNoTask.getTargetPoint())){
+
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
+ break;
+ }
+
+ // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
+ if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
+
+ taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
+
+ List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
+ if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
continue;
}
-// new PostMesDataUtils().postMesData("绉诲簱浠诲姟鍒嗛厤搴撲綅",wmsUrl,movePath,hallowLocNoTask);
- try {
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath(movePath)
- .setJson(JSON.toJSONString(hallowLocNoTask))
- .build()
- .doPost();
- System.out.println("response:"+response);
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- //瑙ｆ瀽
+ String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
+ TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
+ if (!Cools.isEmpty(hallowLocNoTask)){
+ if (!Cools.isEmpty(hallowLocNoTask.getTargetPoint())){
+ continue;
}
- }catch (Exception e){
- log.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+"/"+movePath, JSON.toJSONString(hallowLocNoTask), "璇锋眰绉诲簱浠诲姟鍒嗛厤搴撲綅");
+// new PostMesDataUtils().postMesData("绉诲簱浠诲姟鍒嗛厤搴撲綅",wmsUrl,movePath,hallowLocNoTask);
+ try {
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath(movePath)
+ .setJson(JSON.toJSONString(hallowLocNoTask))
+ .build()
+ .doPost();
+ System.out.println("response:"+response);
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ //瑙ｆ瀽
+ }
+ }catch (Exception e){
+ log.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+"/"+movePath, JSON.toJSONString(hallowLocNoTask), "璇锋眰绉诲簱浠诲姟鍒嗛厤搴撲綅");
+ }
+ continue;
}
- 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�
- 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(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
- if (!CommandUtils.offer(SlaveType.Crn, taskWrk.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�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
- Date now = new Date();
- taskWrk.setWrkSts(12);
- taskWrk.setModiTime(now);
- 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());
+ // 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�
+ 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(Utils.getBayShort(taskWrk.getStartPoint())); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(Utils.getLevShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(Utils.getRowShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY(crnStn.getLev().shortValue()); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ(crnStn.getRow().shortValue()); // 鐩爣搴撲綅灞�
+ crnCommand.setCommand((short)1);
+ if (!CommandUtils.offer(SlaveType.Crn, taskWrk.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�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
+ Date now = new Date();
+ taskWrk.setWrkSts(12);
+ taskWrk.setModiTime(now);
+ 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());
+ }
}
- break;
+ return;
}
- return;
}
}
}
@@ -455,7 +445,7 @@
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
if (crnProtocol == null) { continue; }
// 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
- if (crnProtocol.getTaskFinish() == 1 && crnProtocol.getTaskNo() != 0) {
+ if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
// 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
TaskWrk taskWrk = taskWrkMapper.selectCrnNoWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
if (taskWrk == null) {
--
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