From 62b1f39e60f64ec4e05b21d11af3e36f5891a91a Mon Sep 17 00:00:00 2001
From: zc <zc@123>
Date: 星期二, 29 四月 2025 20:10:27 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 2447 +++++++++++++++++++++++++++++++++++++----------------------
1 files changed, 1,521 insertions(+), 926 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 2713265..3ac2728 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1,33 +1,48 @@
package com.zy.asrs.service.impl;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.core.common.Cools;
import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.utils.Utils;
-import com.zy.common.model.*;
+import com.zy.common.model.MapNode;
+import com.zy.common.model.SearchLocParam;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.*;
import com.zy.core.News;
-import com.zy.core.action.ForkLiftAction;
+import com.zy.core.action.LiftAction;
import com.zy.core.action.ShuttleAction;
+import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.*;
import com.zy.core.model.*;
import com.zy.core.model.command.*;
-import com.zy.core.model.protocol.*;
+import com.zy.core.model.protocol.ForkLiftStaProtocol;
+import com.zy.core.model.protocol.LiftProtocol;
+import com.zy.core.model.protocol.ShuttleProtocol;
+import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
-import com.zy.core.thread.*;
-import com.zy.system.entity.Config;
+import com.zy.core.thread.DevpThread;
+import com.zy.core.thread.LedThread;
+import com.zy.core.thread.LiftThread;
+import com.zy.core.thread.ShuttleThread;
+import com.zy.core.thread.impl.FyDevpThread;
+import com.zy.core.thread.impl.NormalLedThread;
import com.zy.system.service.ConfigService;
+import io.swagger.models.auth.In;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
+import java.io.IOException;
import java.util.*;
/**
@@ -61,28 +76,562 @@
@Autowired
private ConfigService configService;
@Autowired
- private NavigateMapUtils navigateMapUtils;
- @Autowired
private NavigateMapData navigateMapData;
- @Autowired
- private NavigateUtils navigateUtils;
@Autowired
private ShuttleOperaUtils shuttleOperaUtils;
@Autowired
private ShuttleAction shuttleAction;
@Autowired
- private ForkLiftAction forkLiftAction;
- @Autowired
private NotifyUtils notifyUtils;
@Autowired
private BasShuttleChargeService basShuttleChargeService;
+ @Autowired
+ private TransportLiftInServiceImpl transportLiftInService;
+ @Autowired
+ private TransportLiftOutServiceImpl transportLiftOutService;
+ @Autowired
+ private ShuttleMoveServiceImpl shuttleMoveService;
+ @Autowired
+ private NoLiftInServiceImpl noLiftInService;
+ @Autowired
+ private NoLiftOutServiceImpl noLiftOutService;
+ @Autowired
+ private LiftAction liftAction;
+ @Autowired
+ private BasWrkStatusService wrkStatusService;
+ @Value("${asrs.wmsUrl}")
+ private String wmsUrl;
+
+
+ public boolean isInEnable(DevpThread devpThread, Integer staNo) {
+ if (staNo == null) {
+ return false;
+ }
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ switch (staNo) {
+ case 1011:
+ case 1012:
+ return devpThread.getStation().get(1012).isInEnable();
+ case 1021:
+ case 1022:
+ case 1023:
+ return devpThread.getStation().get(1022).isInEnable();
+ case 1031:
+ case 1032:
+ return devpThread.getStation().get(1032).isInEnable();
+ case 1024:
+ case 1025:
+ case 1026:
+ return devpThread.getStation().get(1025).isInEnable();
+ case 1013:
+ case 1014:
+ case 1015:
+ return devpThread.getStation().get(1014).isInEnable();
+ }
+ return false;
+ }
+
+ public boolean isOutEnable(DevpThread devpThread, Integer staNo) {
+ if (staNo == null) {
+ return false;
+ }
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ switch (staNo) {
+ case 1011:
+ case 1012:
+ return devpThread.getStation().get(1012).isOutEnable();
+ case 1021:
+ case 1022:
+ case 1023:
+ return devpThread.getStation().get(1022).isOutEnable();
+ case 1024:
+ case 1025:
+ case 1026:
+ return devpThread.getStation().get(1025).isOutEnable();
+ case 1013:
+ case 1014:
+ case 1015:
+ return devpThread.getStation().get(1014).isOutEnable();
+ case 1031:
+ case 1032:
+ return devpThread.getStation().get(1032).isOutEnable();
+ }
+ return false;
+ }
+
+ /**
+ * 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
+ */
+ public synchronized void generateInboundWrk() {
+ try {
+ // 閬嶅巻鍏ュ簱鍙�
+ for (DevpSlave.Sta inSta : slaveProperties.getDevp().get(0).getInSta()) {
+ if (inSta.getStaNo() == 1014 || inSta.getStaNo() == 1025) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ Short workNo = staProtocol.getWorkNo();
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ String errMsg = "";
+ if (!back && staProtocol.isBackErr()) {
+ errMsg = "鍚庤秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isHighErr()) {
+ errMsg = "瓒呴珮寮傚父";
+ back = true;
+ }
+ if (!back && staProtocol.isWeightErr()) {
+ errMsg = "瓒呴噸寮傚父";
+ back = true;
+ }
+ if (!back && staProtocol.isRightErr()) {
+ errMsg = "鍙宠秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isLeftErr()) {
+ errMsg = "宸﹁秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isBarcodeErr()) {
+ errMsg = "鎵爜寮傚父";
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+ // led 寮傚父鏄剧ず
+ if (ledThread != null) {
+ ledThread.error(errMsg);
+ }
+ }
+
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
+ String barcode = staProtocol.getBarcode();
+ if (Cools.isEmpty(barcode) || "?".endsWith(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
+ continue;
+ }
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
+ if (wrkMast != null && wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
+ News.error("宸ヤ綔妗ｅ凡瀛樺湪,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
+ //鍒ゆ柇鏃舵彁鍗囨満渚э紝杩樻槸鏃犳彁鍗囨満娴�
+ staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
+ staProtocol.setStaNo(Short.parseShort(String.valueOf(inSta.getStaNo() + 1)));
+ MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
+ News.info("杈撻�佺嚎鍏ュ簱鍛戒护涓嬪彂锛屼换鍔℃暟鎹�={}", JSON.toJSON(wrkMast));
+ wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
+ wrkMast.setModiTime(new Date());
+ wrkMastService.updateById(wrkMast);
+ } else if (wrkMast != null && wrkMast.getWrkSts() != WrkStsType.NEW_INBOUND.sts) {
+ continue;
+ }
+ try {
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(barcode);
+ param.setIoType(1);
+ param.setSourceStaNo(inSta.getStaNo());
+ param.setLocType1((short) 1);
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ //StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+// String wmsLocNo = dto.getLocNo();
+// int row = Integer.parseInt(wmsLocNo.substring(0, 2));
+// int bay = Integer.parseInt(wmsLocNo.substring(2, 5));
+// int lev = Integer.parseInt(wmsLocNo.substring(5, 7));
+// String wcsLocNo = Utils.getLocNo(row, bay, lev);
+//
+// CreateInTaskParam createInTaskParam = new CreateInTaskParam();
+// createInTaskParam.setTaskNo(String.valueOf(dto.getWorkNo()));
+// createInTaskParam.setDestLoc(wcsLocNo);
+// createInTaskParam.setOriginSite(dto.getSourceStaNo().toString());
+// createInTaskParam.setDestSite(dto.getStaNo().toString());
+// createInTaskParam.setPriority(11);
+// createInTaskParam.setBarcode(barcode);
+//
+// R result = openUtils.createInTask(createInTaskParam);
+// News.info("鍒涘缓鍏ュ簱浠诲姟锛屼换鍔℃暟鎹�={}锛學MS鍝嶅簲={}锛岃姹傚搷搴�={}", JSON.toJSON(param), JSON.toJSON(jsonObject), JSON.toJSON(result));
+// try{
+// String msg = "";
+// HashMap<String, String> hashMap = new HashMap<>();
+// hashMap.put("msg", msg);
+// hashMap.put("sta", inSta.getStaNo().toString());
+// new HttpHandler.Builder()
+// .setUri(wmsUrl)
+// .setPath("/rpc/led/getError")
+// .setJson(JSON.toJSONString(hashMap))
+// .build()
+// .doPost();
+// }catch (Exception e){
+//
+// }
+ } else {
+ String msg = jsonObject.getString("msg");
+ HashMap<String, String> hashMap = new HashMap<>();
+ hashMap.put("msg", msg);
+ hashMap.put("sta", inSta.getStaNo().toString());
+ new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/led/getError")
+ .setJson(JSON.toJSONString(hashMap))
+ .build()
+ .doPost();
+ News.error("鍏ュ簱鐢宠澶辫触锛屼换鍔℃暟鎹�={}锛岃姹傚搷搴�={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
+ }
+ } catch (Exception e) {
+ log.error("璋冪敤wms鎶ラ敊1锛寋}", e.getMessage());
+ }
+ }
+ } else if (inSta.getStaNo() == 1012 || inSta.getStaNo() == 1022) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ String errMsg = "";
+ boolean back = false;
+ if (!back && staProtocol.isBackErr()) {
+ errMsg = "鍚庤秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isHighErr()) {
+ errMsg = "瓒呴珮寮傚父";
+ back = true;
+ }
+ if (!back && staProtocol.isWeightErr()) {
+ errMsg = "瓒呴噸寮傚父";
+ back = true;
+ }
+ if (!back && staProtocol.isRightErr()) {
+ errMsg = "鍙宠秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isLeftErr()) {
+ errMsg = "宸﹁秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isBarcodeErr()) {
+ errMsg = "鎵爜寮傚父";
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+
+ // led 寮傚父鏄剧ず
+ if (ledThread != null) {
+ ledThread.error(errMsg);
+ }
+ }
+
+ Short workNo = staProtocol.getWorkNo();
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
+ String barcode = staProtocol.getBarcode();
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
+ if (wrkMast == null) {
+ try {
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(barcode);
+ param.setIoType(1);
+ param.setSourceStaNo(inSta.getStaNo());
+ param.setLocType1((short) 1);
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+
+ } else {
+ String msg = jsonObject.getString("msg");
+ HashMap<String, String> hashMap = new HashMap<>();
+ hashMap.put("msg", msg);
+ hashMap.put("sta", inSta.getStaNo().toString());
+ new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/led/getError")
+ .setJson(JSON.toJSONString(hashMap))
+ .build()
+ .doPost();
+ News.error("鍏ュ簱鐢宠澶辫触锛屼换鍔℃暟鎹�={}锛岃姹傚搷搴�={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
+ }
+ } catch (Exception e) {
+ log.error("璋冪敤wms鎶ラ敊2锛寋}", e.getMessage());
+ }
+ }
+ }
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ public synchronized void noLiftIn() {
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.INBOUND_DEVICE_RUN.sts).in("source_sta_no", 1014, 1025));
+ for (WrkMast wrkMast : wrkMasts) {
+ if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getSourceStaNo() + 1);
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if ((Utils.getLev(wrkMast.getLocNo()) != 1 && wrkMast.getSourceStaNo() == 1014) || (Utils.getLev(wrkMast.getLocNo()) != 5 && wrkMast.getSourceStaNo() == 1025)) {
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+ WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
+ if (liftWrkMast != null) {
+ if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//鎻愬崌鏈轰换鍔″拰褰撳墠浠诲姟涓嶇浉鍚�
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), 1);
+ continue;
+ }
+ }
+ wrkMast.setLiftNo(1);
+ }
+ Short finishWorkNo = staProtocol.getFinishWorkNo();
+ if (finishWorkNo == null) {
+ continue;
+ }
+
+
+ String locNo = "1200301";
+ if (wrkMast.getStaNo() == 1026) {
+ locNo = "1200305";
+ }
+ //鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ if (liftThread == null) {
+ continue;
+ }
+
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ continue;
+ }
+
+ if (!liftThread.isIdle()) {
+ continue;
+ }
+
+
+ //鍒ゆ柇鎻愬崌鏈哄唴鏄惁鏈夋墭鐩�
+ if (liftProtocol.getHasTray()) {
+ News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満鍐呮棤鎵樼洏锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+ continue;
+ }
+
+
+ boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleNoLift(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_DEVP");
+ if (!dispatchShuttle) {
+ News.info("{}浠诲姟锛岃皟搴﹀皬杞﹀け璐�", wrkMast.getWrkNo());
+ continue;
+ } else {
+ News.info("{}浠诲姟锛岃皟搴﹀皬杞﹀け鎴愬姛", wrkMast.getWrkNo());
+ }
+ wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);
+ wrkMast.setLiftNo(null);
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMast.setModiTime(new Date());
+ if (!wrkMastService.updateById(wrkMast)) {
+ News.info("{}浠诲姟锛屾洿鏂板伐浣滄。澶辫触", wrkMast.getWrkNo());
+ } else {
+ setLedData(Integer.parseInt(wrkMast.getWmsWrkNo()), wrkMast.getStaNo());
+ }
+ }
+ }
+ }
+
+
+ public void outFirst() {
+ DevpSlave devpSlave = slaveProperties.getDevp().get(0);
+ // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
+ Date now = new Date();
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
+ List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.NEW_OUTBOUND.sts).in("sta_no", 1013, 1024));
+ for (WrkMast wrkMast : wrkSts) {
+ if (devpThread == null) {
+ continue;
+ }
+ Map<Integer, StaProtocol> station = devpThread.getStation();
+ StaProtocol staProtocol = station.get(wrkMast.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ }
+
+ if (!staProtocol.isAutoing()) {
+ News.info("{}浠诲姟锛寋}绔欑偣锛屼笉鍦ㄨ嚜鍔ㄧ姸鎬�", wrkMast.getWrkNo(), staProtocol.getSiteId());
+ continue;
+ }
+ if (!isOutEnable(devpThread, wrkMast.getStaNo())) {
+ News.info("{}浠诲姟锛寋}绔欑偣锛屾病鏈夊彲鍑轰俊鍙�", wrkMast.getWrkNo(), staProtocol.getSiteId());
+ continue;
+ }
+ String locNo = "1200301";
+ if (wrkMast.getStaNo() == 1024) {
+ locNo = "1200305";
+ }
+
+ boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleNoLift(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_DEVP");
+ if (!dispatchShuttle) {
+ News.info("{}浠诲姟锛岃皟搴﹀皬杞﹀け璐�", wrkMast.getWrkNo());
+ continue;
+ }
+ WrkMast wrkMast2 = wrkMastService.selectByMainWrkNo(wrkMast.getWrkNo());
+ wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMast.setModiTime(now);
+ if (wrkMast2 != null) {
+ wrkMast.setShuttleNo(wrkMast2.getShuttleNo());
+ }
+ if (!wrkMastService.updateById(wrkMast)) {
+ News.info("{}浠诲姟锛屾洿鏂板伐浣滄。澶辫触", wrkMast.getWrkNo());
+ } else {
+ WrkMast wrkMast1 = wrkMastService.selectByMainWrkNo(wrkMast.getWrkNo());
+ News.info("{}浠诲姟锛岀Щ鍔ㄤ换鍔＄敓鎴愭垚鍔熲�斺��1", wrkMast1.getWrkNo());
+ }
+ }
+ }
+
+ /**
+ * 鍑哄簱鍒板嚭搴撳彛
+ */
+ public synchronized void stnToOutStn() {
+ ShuttleThread shuttleThread1 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 1);
+ ShuttleThread shuttleThread2 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 2);
+ ShuttleProtocol status1 = shuttleThread1.getStatus();
+ ShuttleProtocol status2 = shuttleThread2.getStatus();
+ List<String> loc = new ArrayList<>();
+ if (status1 != null) {
+ loc.add(status1.getCurrentLocNo());
+ }
+ if (status2 != null) {
+ loc.add(status2.getCurrentLocNo());
+ }
+ DevpSlave devpSlave = slaveProperties.getDevp().get(0);
+ // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
+ for (DevpSlave.Sta outSta : devpSlave.getOutSta()) {
+ if (outSta.getStaNo() == 1013 || outSta.getStaNo() == 1024) {
+ List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).eq("sta_no", outSta.getStaNo()));
+ for (WrkMast wrkMast : wrkSts) {
+ StaProtocol staProtocol = devpThread.getStation().get(outSta.getStaNo() + 2);
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ if (staProtocol.isAutoing() && staProtocol.isLoading()) {
+ // 鏌ヨ宸ヤ綔妗�
+ if (wrkMast == null) {
+ continue;
+ }
+
+ String sourceLocNo = "1200305";
+ String locNo = "1300105";
+ if (wrkMast.getStaNo() == 1013) {
+ sourceLocNo = "1200301";
+ locNo = "1300101";
+ if (loc.contains(locNo)) {
+ locNo = "1100101";
+ }
+ } else {
+ if (loc.contains(locNo)) {
+ locNo = "1100105";
+ }
+ }
+
+ boolean dispatchShuttle = shuttleDispatchUtils.shuttleMoveGenerate(wrkMast.getWrkNo(), sourceLocNo, locNo, wrkMast.getShuttleNo(), null, false);
+ if (!dispatchShuttle) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}灏忚溅锛屾尓杞﹁皟搴﹁嚦鍙栬揣鐐瑰け璐�", wrkMast.getShuttleNo());
+ continue;
+ }
+
+ staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
+ staProtocol.setStaNo(Short.parseShort(String.valueOf(wrkMast.getStaNo())));
+ MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
+ News.info("杈撻�佺嚎鍏ュ簱鍛戒护涓嬪彂锛屼换鍔℃暟鎹�={}", JSON.toJSON(wrkMast));
+ wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN.sts);
+ wrkMast.setModiTime(new Date());
+ wrkMast.setShuttleNo(null);
+ wrkMastService.updateById(wrkMast);
+ setLedData(Integer.parseInt(wrkMast.getWmsWrkNo()), wrkMast.getStaNo());
+ }
+ }
+ }
+ }
+ }
+
+
+ private void setLedData(Integer wrkNo, Integer staNo) {
+ try {
+ Map<String, Object> param = new HashMap<>();
+ param.put("taskNo", wrkNo);
+ String response = null;
+ response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/led/getTask2")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ String data = jsonObject.getString("data");
+ List<LedCommand> wrkDetls = JSONArray.parseArray(data, LedCommand.class);
+ redisUtil.set("LED_" + staNo, wrkDetls, 30);
+ log.info("鐢佃鏈烘暟鎹缃細{},{}", staNo, data);
+ } else {
+ log.info("鐢佃鏈烘暟鎹缃紓甯革細{},{}", wrkNo, response);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
/**
* 鍒濆鍖栧疄鏃跺湴鍥�
*/
public synchronized void initRealtimeBasMap() {
+ //鍒濆鍖栭厤缃�
+// WrkStsType[] values = WrkStsType.values();
+// for (int i = 0; i < values.length; i++) {
+// BasWrkStatus basWrkStatus = wrkStatusService.selectById(values[i].sts);
+// if (basWrkStatus == null) {
+// basWrkStatus = new BasWrkStatus();
+// basWrkStatus.setWrkDesc(values[i].sts+"."+values[i].desc);
+// basWrkStatus.setWrkSts(values[i].sts);
+// basWrkStatus.setModiTime(new Date());
+// basWrkStatus.setAppeTime(new Date());
+// basWrkStatus.setAppeUser(9527L);
+// basWrkStatus.setModiUser(9527L);
+// wrkStatusService.insert(basWrkStatus);
+// }
+// }
try {
-
List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
for (BasMap basMap : basMaps) {
Integer lev = basMap.getLev();
@@ -114,10 +663,7 @@
*/
public synchronized void shuttleInExecute() {
try {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
- .in("wrk_sts"
- , WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
- ));
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts));
for (WrkMast wrkMast : wrkMasts) {
boolean step1 = this.shuttleInExecuteStep1(wrkMast);//灏忚溅鎼叆搴撲腑
if (!step1) {
@@ -144,7 +690,7 @@
}
if (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
- boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄨ緭閫佺珯鐐硅繘琛屽彇璐�
+ boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, liftSta.getLocNo(), null);//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄨ緭閫佺珯鐐硅繘琛屽彇璐�
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岃皟搴﹀皬杞}绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), result ? "鎴愬姛" : "澶辫触");
return false;
}
@@ -225,15 +771,191 @@
/**
* 鍑哄簱 ===>> 鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
*/
- public synchronized void shuttleOutExecute() {
+// public synchronized void shuttleOutExecute() {
+// try {
+// List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts));
+// for (WrkMast wrkMast : wrkMasts) {
+// boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//灏忚溅鎼嚭搴撲腑
+// if (!step1) {
+// continue;
+// }
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// }
+// }
+
+ /**
+ * 鍑哄簱-灏忚溅鎼嚭搴撲腑
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+// public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
+// //101.鐢熸垚鍑哄簱浠诲姟 => 102.灏忚溅鎼繍涓�
+// if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
+// Integer liftNo = wrkMast.getLiftNo();
+// if (liftNo == null) {
+// //閫氳繃杈撻�佺嚎绔欏彿鑾峰彇鎻愬崌鏈哄彿
+// liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
+// if (liftNo == null) {
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾湭鎵惧埌鍖归厤鐨勬彁鍗囨満", wrkMast.getWrkNo());
+// return false;
+// }
+//
+// //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
+// if (liftWrkMast != null) {
+// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//鎻愬崌鏈轰换鍔″拰褰撳墠浠诲姟涓嶇浉鍚�
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), liftNo);
+// return false;
+// }
+// }
+//
+// wrkMast.setLiftNo(liftNo);
+// wrkMast.setModiTime(new Date());
+// wrkMastService.updateById(wrkMast);
+// return false;
+// }
+//
+// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
+// if (forkLiftThread == null) {
+// return false;
+// }
+// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
+// if (forkLiftProtocol == null) {
+// return false;
+// }
+//
+// //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庡嚭搴撴ā寮�
+// if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾彁鍗囨満涓嶅浜庡嚭搴撴ā寮忥紝绂佹鍑哄簱", wrkMast.getWrkNo());
+// return false;
+// }
+//
+// //鑾峰彇婧愮珯
+// ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
+// if (liftSta == null) {
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀己灏戠珯鐐逛俊鎭紝绂佹娲惧彂", wrkMast.getWrkNo());
+// return false;
+// }
+//
+// if (liftSta.getHasCar()) {
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}绔欑偣瀛樺湪灏忚溅锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftSta.getStaNo());
+// return false;
+// }
+//
+// if (liftSta.getHasTray()) {
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}绔欑偣鏈夋墭鐩橈紝绂佹娲惧彂", wrkMast.getWrkNo(), liftSta.getStaNo());
+// return false;
+// }
+//
+// if (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
+// //寮哄埗棰勭暀涓�鍙板皬杞︾粰鍏ュ簱浠诲姟
+// int lev = Utils.getLev(wrkMast.getSourceLocNo());
+// //鑾峰彇褰撳墠妤煎眰鏈夊嚑鍙板彲鐢ㄥ皬杞�
+// int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
+// if (shuttleCount >= 2) {//鍙湁鍙敤灏忚溅鏁伴噺澶т簬2锛屾墠杩涜鍏ュ簱浠诲姟棰勭暀灏忚溅
+// int shuttleWrkInObligateCount = 1;//棰勭暀灏忚溅鏁伴噺
+// Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
+// if (config != null) {
+// shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
+// }
+// //鍙敤鍑哄簱灏忚溅鏁伴噺(缁欏叆搴撲换鍔￠鐣欎竴鍙拌溅)
+// int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
+// //鏌ヨ妤煎眰宸插垎閰嶈溅杈嗙殑鍑哄簱浠诲姟鏁伴噺
+// List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
+// if (wrkMasts.size() >= useShuttleCount) {
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽綋鍓嶆ゼ灞傚彲鐢ㄥ皬杞}鍙帮紝鍑哄簱浠诲姟宸插垎閰峽}鍙帮紝绯荤粺绛夊緟涓��", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
+// return false;
+// }
+// }
+// boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄥ簱浣嶈繘琛屽彇璐�
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岃皟搴﹀皬杞}绯荤粺绛夊緟涓��", wrkMast.getWrkNo(), result ? "鎴愬姛" : "澶辫触");
+// return false;
+// }
+//
+// //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+// if (shuttleThread == null) {
+// return false;
+// }
+// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+// if (shuttleProtocol == null) {
+// return false;
+// }
+// if (!shuttleThread.isIdle()) {
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽繖纰屼腑", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+// return false;
+// }
+//
+// //鍒ゆ柇灏忚溅鏄惁鍒拌揪璐х墿搴撲綅
+// if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
+// //灏忚溅涓嶅湪杈撻�佺珯鐐逛綅缃�
+// shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄥ簱浣嶈繘琛屽彇璐�
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屾湭鍒拌揪杈撻�佺珯鐐癸紝绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+// return false;
+// }
+//
+// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+// assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//灏忚溅绉诲簱浠诲姟
+// assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+// assignCommand.setAuto(true);//鑷姩妯″紡
+//
+// //鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
+// List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
+// if (commands == null) {
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+// return false;
+// }
+//
+// List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
+// if (liftCommand == null) {
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇椤跺崌鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+// return false;
+// }
+//
+// List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
+// if (liftCommand2 == null) {
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇涓嬮檷鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+// return false;
+// }
+//
+// commands.add(0, liftCommand.get(0));
+// commands.add(liftCommand2.get(0));
+// assignCommand.setCommands(commands);
+//
+// wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//灏忚溅鎼繍涓� 101.鐢熸垚鍑哄簱浠诲姟 ==> 102.灏忚溅鎼繍涓�
+// wrkMast.setSourceStaNo(liftSta.getStaNo());
+// wrkMast.setModiTime(new Date());
+// wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+// if (wrkMastService.updateById(wrkMast)) {
+// //涓嬪彂浠诲姟
+// shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+// //瑙﹀彂閫氱煡
+// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
+// return false;
+// }
+// return false;
+// }
+// return true;
+// }
+ public synchronized void liftInExecute() {
try {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
- .in("wrk_sts"
- , WrkStsType.NEW_OUTBOUND.sts
- ));
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts).in("source_sta_no", 1012, 1022, 1031));
for (WrkMast wrkMast : wrkMasts) {
- boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//灏忚溅鎼嚭搴撲腑
+ boolean step0 = this.liftInExecuteStep0(wrkMast);//璁惧涓婅蛋
+ if (!step0) {
+ continue;
+ }
+
+ boolean step1 = this.liftInExecuteStep1(wrkMast);//鎻愬崌鏈烘惉杩�
if (!step1) {
+ continue;
+ }
+
+ boolean step2 = this.liftInExecuteStep2(wrkMast);//瑙﹀彂鎼繍浠诲姟
+ if (!step2) {
continue;
}
}
@@ -242,159 +964,463 @@
}
}
- /**
- * 鍑哄簱-灏忚溅鎼嚭搴撲腑
- * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
- * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
- */
- public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
- //101.鐢熸垚鍑哄簱浠诲姟 => 102.灏忚溅鎼繍涓�
- if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
- Integer liftNo = wrkMast.getLiftNo();
- if (liftNo == null) {
- //閫氳繃杈撻�佺嚎绔欏彿鑾峰彇鎻愬崌鏈哄彿
- liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
- if (liftNo == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾湭鎵惧埌鍖归厤鐨勬彁鍗囨満", wrkMast.getWrkNo());
+ private boolean liftInExecuteStep0(WrkMast wrkMast) {
+ Date now = new Date();
+ if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
+ FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ if (devpThread == null) {
+ return false;
+ }
+
+ Map<Integer, StaProtocol> station = devpThread.getStation();
+ StaProtocol staProtocol = station.get(wrkMast.getSourceStaNo());
+ if (staProtocol == null) {
+ return false;
+ }
+ int led = 1;
+ if (wrkMast.getSourceStaNo() == 1022) {
+ led = 3;
+ } else if (wrkMast.getSourceStaNo() == 1031) {
+ }
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led);
+ String errMsg = "";
+ if (!back && staProtocol.isBackErr()) {
+ errMsg = "鍚庤秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isHighErr()) {
+ errMsg = "瓒呴珮寮傚父";
+ back = true;
+ }
+ if (!back && staProtocol.isWeightErr()) {
+ errMsg = "瓒呴噸寮傚父";
+ back = true;
+ }
+ if (!back && staProtocol.isRightErr()) {
+ errMsg = "鍙宠秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isLeftErr()) {
+ errMsg = "宸﹁秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isBarcodeErr()) {
+ errMsg = "鎵爜寮傚父";
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+ // led 寮傚父鏄剧ず
+ if (ledThread != null) {
+ MessageQueue.offer(SlaveType.Led, led, new Task(3, errMsg));
+ ledThread.error(errMsg);
+ }
+ }
+ String barcode = staProtocol.getBarcode();
+
+
+ if (!staProtocol.isLoading()) {
+ News.info("{}浠诲姟锛寋}绔欑偣锛屾棤鎵樼洏", wrkMast.getWrkNo(), staProtocol.getSiteId());
+ return false;
+ }
+ if (wrkMast.getSourceStaNo() != 1031) {
+ if (!staProtocol.isAutoing()) {
+ News.info("{}浠诲姟锛寋}绔欑偣锛屼笉鍦ㄨ嚜鍔ㄧ姸鎬�", wrkMast.getWrkNo(), staProtocol.getSiteId());
return false;
}
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
- WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
- if (liftWrkMast != null) {
- if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//鎻愬崌鏈轰换鍔″拰褰撳墠浠诲姟涓嶇浉鍚�
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), liftNo);
- return false;
- }
+ if (Cools.isEmpty(barcode) || "?".endsWith(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
+ return false;
}
-
- wrkMast.setLiftNo(liftNo);
- wrkMast.setModiTime(new Date());
- wrkMastService.updateById(wrkMast);
- return false;
- }
-
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
- if (forkLiftThread == null) {
- return false;
- }
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
- return false;
- }
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庡嚭搴撴ā寮�
- if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾彁鍗囨満涓嶅浜庡嚭搴撴ā寮忥紝绂佹鍑哄簱", wrkMast.getWrkNo());
- return false;
- }
-
- //鑾峰彇婧愮珯
- ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
- if (liftSta == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀己灏戠珯鐐逛俊鎭紝绂佹娲惧彂", wrkMast.getWrkNo());
- return false;
- }
-
- if (liftSta.getHasCar()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}绔欑偣瀛樺湪灏忚溅锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftSta.getStaNo());
- return false;
- }
-
- if (liftSta.getHasTray()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}绔欑偣鏈夋墭鐩橈紝绂佹娲惧彂", wrkMast.getWrkNo(), liftSta.getStaNo());
- return false;
- }
-
- if (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
- //寮哄埗棰勭暀涓�鍙板皬杞︾粰鍏ュ簱浠诲姟
- int lev = Utils.getLev(wrkMast.getSourceLocNo());
- //鑾峰彇褰撳墠妤煎眰鏈夊嚑鍙板彲鐢ㄥ皬杞�
- int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
- if (shuttleCount >= 2) {//鍙湁鍙敤灏忚溅鏁伴噺澶т簬2锛屾墠杩涜鍏ュ簱浠诲姟棰勭暀灏忚溅
- int shuttleWrkInObligateCount = 1;//棰勭暀灏忚溅鏁伴噺
- Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
- if (config != null) {
- shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
- }
- //鍙敤鍑哄簱灏忚溅鏁伴噺(缁欏叆搴撲换鍔￠鐣欎竴鍙拌溅)
- int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
- //鏌ヨ妤煎眰宸插垎閰嶈溅杈嗙殑鍑哄簱浠诲姟鏁伴噺
- List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
- if (wrkMasts.size() >= useShuttleCount) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽綋鍓嶆ゼ灞傚彲鐢ㄥ皬杞}鍙帮紝鍑哄簱浠诲姟宸插垎閰峽}鍙帮紝绯荤粺绛夊緟涓��", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
- return false;
- }
+ if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
+ News.info("{}浠诲姟锛寋}绔欑偣锛屾墭鐩樼爜涓嶅尮閰嶏紝绔欑偣鎵樼洏鐮侊細{}锛屼换鍔℃墭鐩樼爜锛歿}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
+ return false;
}
- boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄥ簱浣嶈繘琛屽彇璐�
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岃皟搴﹀皬杞}绯荤粺绛夊緟涓��", wrkMast.getWrkNo(), result ? "鎴愬姛" : "澶辫触");
- return false;
}
- //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- if (shuttleThread == null) {
- return false;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if (shuttleProtocol == null) {
- return false;
- }
- if (!shuttleThread.isIdle()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽繖纰屼腑", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
- return false;
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+ WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
+ if (liftWrkMast != null) {
+ if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//鎻愬崌鏈轰换鍔″拰褰撳墠浠诲姟涓嶇浉鍚�
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), 1);
+ return false;
+ }
}
- //鍒ゆ柇灏忚溅鏄惁鍒拌揪璐х墿搴撲綅
- if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
- //灏忚溅涓嶅湪杈撻�佺珯鐐逛綅缃�
- shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄥ簱浣嶈繘琛屽彇璐�
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屾湭鍒拌揪杈撻�佺珯鐐癸紝绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
- return false;
+ short staNo = 1012;
+ if (wrkMast.getSourceStaNo() == 1022) {
+ staNo = 1023;
+ } else if (wrkMast.getSourceStaNo() == 1031) {
+ staNo = 1032;
}
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//灏忚溅绉诲簱浠诲姟
- assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
- assignCommand.setAuto(true);//鑷姩妯″紡
+ staProtocol = staProtocol.clone();
+ staProtocol.setStaNo(staNo);
+ staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
- //鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
- if (commands == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
- return false;
- }
-
- List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
- if (liftCommand == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇椤跺崌鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
- return false;
- }
-
- List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
- if (liftCommand2 == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇涓嬮檷鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
- return false;
- }
-
- commands.add(0, liftCommand.get(0));
- commands.add(liftCommand2.get(0));
- assignCommand.setCommands(commands);
-
- wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//灏忚溅鎼繍涓� 101.鐢熸垚鍑哄簱浠诲姟 ==> 102.灏忚溅鎼繍涓�
- wrkMast.setSourceStaNo(liftSta.getStaNo());
- wrkMast.setModiTime(new Date());
+ wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMast.setModiTime(now);
if (wrkMastService.updateById(wrkMast)) {
- //涓嬪彂浠诲姟
- shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
- //瑙﹀彂閫氱煡
- notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
+ setLedData(Integer.parseInt(wrkMast.getWmsWrkNo()), wrkMast.getStaNo());
return false;
}
return false;
}
+
+ return true;
+ }
+
+ private boolean liftInExecuteStep1(WrkMast wrkMast) {
+ Date now = new Date();
+ if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
+ //鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ if (liftThread == null) {
+ return false;
+ }
+
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return false;
+ }
+
+ if (!liftThread.isIdle()) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟(璇ヤ换鍔￠渶瑕佹崲灞傚繀椤绘彁鍓嶇嫭鍗犳彁鍗囨満)
+ WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
+ if (liftWrkMast != null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+ return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+ }
+
+ //鍒ゆ柇鎻愬崌鏈哄唴鏄惁鏈夊皬杞�
+ if (liftProtocol.getHasCar()) {
+ News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満鍐呮湁灏忚溅锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈哄唴鏄惁鏈夋墭鐩�
+ if (liftProtocol.getHasTray()) {
+ News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満鍐呮湁鎵樼洏锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+ return false;
+ }
+
+ FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ if (devpThread == null) {
+ return false;
+ }
+
+ Map<Integer, StaProtocol> station = devpThread.getStation();
+
+ Integer sourceStaNo = wrkMast.getSourceStaNo();
+ if (wrkMast.getSourceStaNo() == 1022) {
+ sourceStaNo = 1023;
+ } else if (wrkMast.getSourceStaNo() == 1031) {
+ sourceStaNo = 1032;
+ }
+
+ StaProtocol staProtocol = station.get(sourceStaNo);
+ if (staProtocol == null) {
+ return false;
+ }
+
+ if (!staProtocol.isAutoing()) {
+ News.info("{}浠诲姟锛寋}绔欑偣锛屼笉鍦ㄨ嚜鍔ㄧ姸鎬�", wrkMast.getWrkNo(), staProtocol.getSiteId());
+ return false;
+ }
+
+ if (!staProtocol.isLoading()) {
+ News.info("{}浠诲姟锛寋}绔欑偣锛屾棤鎵樼洏", wrkMast.getWrkNo(), staProtocol.getSiteId());
+ return false;
+ }
+ if (sourceStaNo == 1023) {
+ if (staProtocol.getFinishWorkNo().intValue() != wrkMast.getWrkNo()) {
+ News.info("{}浠诲姟锛寋}绔欑偣锛屼换鍔″彿涓嶄竴鑷�", wrkMast.getWrkNo(), staProtocol.getSiteId());
+ return false;
+ }
+ } else if (sourceStaNo == 1012) {
+ if (staProtocol.getFinishWorkNo().intValue() != wrkMast.getWrkNo()) {
+ News.info("{}浠诲姟锛寋}绔欑偣锛屼换鍔″彿涓嶄竴鑷�", wrkMast.getWrkNo(), staProtocol.getSiteId());
+ return false;
+ }
+ } else if (sourceStaNo == 1032) {
+ if (staProtocol.getFinishWorkNo().intValue() != wrkMast.getWrkNo()) {
+ News.info("{}浠诲姟锛寋}绔欑偣锛屼换鍔″彿涓嶄竴鑷�", wrkMast.getWrkNo(), staProtocol.getSiteId());
+ return false;
+ }
+ }
+
+ String locNo = "0200305";
+ if (wrkMast.getSourceStaNo() == 1012) {
+ locNo = "0200301";
+ } else if (wrkMast.getSourceStaNo() == 1032) {
+ locNo = "0200308";
+ }
+ boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleNoLift(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_LIFT");
+ if (!dispatchShuttle) {
+ News.info("{}浠诲姟锛岃皟搴﹀皬杞﹀け璐�", wrkMast.getWrkNo());
+ return false;
+ }
+
+ int lev = 101;
+ if (wrkMast.getSourceStaNo() == 1021) {
+ lev = 100 + Utils.getLev(wrkMast.getLocNo());
+ } else if (wrkMast.getSourceStaNo() == 1031) {
+ lev = 100 + Utils.getLev(wrkMast.getLocNo());
+ }
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ List<LiftCommand> liftCommands = liftThread.getPalletInCommand(wrkMast.getWrkNo(), sourceStaNo, lev);
+ LiftCommand liftCommand = liftCommands.get(0);
+
+ int deviceWrk = commonService.getWorkNo(8);//鐢熸垚鎻愬崌鏈鸿澶囧伐浣滃彿
+ liftCommand.setTaskNo(deviceWrk);//鏇存崲闅忔満浠诲姟鍙�
+
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ assignCommand.setTaskMode(LiftCommandModeType.PALLET_IN.id.shortValue());
+
+ wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);
+ wrkMast.setLiftNo(liftProtocol.getLiftNo());//鎻愬墠閿佸畾鎻愬崌鏈�
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMast.setModiTime(now);
+ if (wrkMastService.updateById(wrkMast)) {
+ //涓嬪彂浠诲姟
+ liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+ return false;
+ }
+ return false;
+ }
+
+ return true;
+ }
+
+ private boolean liftInExecuteStep2(WrkMast wrkMast) {
+ Date now = new Date();
+ if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) {
+ //鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ if (liftThread == null) {
+ return false;
+ }
+
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return false;
+ }
+
+ if (!liftThread.isIdle()) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈哄唴鏄惁鏈夊皬杞�
+ if (liftProtocol.getHasCar()) {
+ News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満鍐呮湁灏忚溅锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈哄唴鏄惁鏈夋墭鐩�
+ if (!liftProtocol.getHasTray()) {
+ News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満鍐呮棤鎵樼洏锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+ return false;
+ }
+// String locNo = "0200305";
+// if (wrkMast.getStaNo() == 1011) {
+// locNo = "0200301";
+// }
+// boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_LIFT");
+// if (!dispatchShuttle) {
+// News.info("{}浠诲姟锛岃皟搴﹀皬杞﹀け璐�", wrkMast.getWrkNo());
+// return false;
+// }
+
+ wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);
+ // TODO 娴嬭瘯涓彂鐜颁笉鑳借В绂侊紝鍥犱负鎻愬崌鏈洪噷瀛樺湪鎵樼洏锛屽氨涓嶈兘瑙ｇ锛屼笉鐒跺彟涓�杈嗗皬杞﹀彲鑳戒細杩戞彁鍗囨満
+ //wrkMast.setLiftNo(null);
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMast.setModiTime(now);
+ if (wrkMastService.updateById(wrkMast)) {
+ return false;
+ }
+ return false;
+ }
+
+ return true;
+ }
+
+ public synchronized void liftOutExecute() {
+ try {
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).in("sta_no", 1011, 1021, 1031));
+ for (WrkMast wrkMast : wrkMasts) {
+ boolean step1 = this.liftOutExecuteStep1(wrkMast);//瑙﹀彂鎼繍浠诲姟
+ if (!step1) {
+ continue;
+ }
+
+ boolean step2 = this.liftOutExecuteStep2(wrkMast);//鎻愬崌鏈烘惉杩�
+ if (!step2) {
+ continue;
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ private boolean liftOutExecuteStep1(WrkMast wrkMast) {
+ Date now = new Date();
+ if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
+ FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ if (devpThread == null) {
+ return false;
+ }
+
+ Map<Integer, StaProtocol> station = devpThread.getStation();
+ StaProtocol staProtocol = station.get(wrkMast.getStaNo());
+ if (staProtocol == null) {
+ return false;
+ }
+
+ if (!staProtocol.isAutoing()) {
+ News.info("{}浠诲姟锛寋}绔欑偣锛屼笉鍦ㄨ嚜鍔ㄧ姸鎬�", wrkMast.getWrkNo(), staProtocol.getSiteId());
+ return false;
+ }
+ if (wrkMast.getStaNo() == 1031) {
+// if (staProtocol.getOutInModel() != 1) {
+// News.info("{}浠诲姟锛寋}绔欑偣锛屾病鏈夊彲鍑轰俊鍙�", wrkMast.getWrkNo(), staProtocol.getSiteId());
+// return false;
+// }
+ } else {
+ if (!isOutEnable(devpThread, wrkMast.getStaNo())) {
+ News.info("{}浠诲姟锛寋}绔欑偣锛屾病鏈夊彲鍑轰俊鍙�", wrkMast.getWrkNo(), staProtocol.getSiteId());
+ return false;
+ }
+ }
+
+ String locNo = "0200305";
+ if (wrkMast.getStaNo() == 1011) {
+ locNo = "0200301";
+ } else if (wrkMast.getStaNo() == 1031) {
+ locNo = "0200308";
+ }
+ boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_LIFT");
+ if (!dispatchShuttle) {
+ News.info("{}浠诲姟锛岃皟搴﹀皬杞﹀け璐�", wrkMast.getWrkNo());
+ return false;
+ } else {
+ News.info("{}浠诲姟锛屾棤鎻愬崌鏈哄璋冨害灏忚溅鎴愬姛", wrkMast.getWrkNo());
+ }
+
+ wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMast.setModiTime(now);
+ if (wrkMastService.updateById(wrkMast)) {
+ return false;
+ }
+ return false;
+ }
+ return true;
+ }
+
+ private boolean liftOutExecuteStep2(WrkMast wrkMast) {
+ Date now = new Date();
+ if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
+ //鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ if (liftThread == null) {
+ return false;
+ }
+
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return false;
+ }
+
+ if (!liftThread.isIdle()) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟(璇ヤ换鍔￠渶瑕佹崲灞傚繀椤绘彁鍓嶇嫭鍗犳彁鍗囨満)
+ WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
+ if (liftWrkMast != null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+ return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+ }
+
+ //鍒ゆ柇鎻愬崌鏈哄唴鏄惁鏈夊皬杞�
+ if (liftProtocol.getHasCar()) {
+ News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満鍐呮湁灏忚溅锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈哄唴鏄惁鏈夋墭鐩�
+ if (!liftProtocol.getHasTray()) {
+ News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満鍐呮棤鎵樼洏锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+ return false;
+ }
+
+ FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ if (devpThread == null) {
+ return false;
+ }
+
+ Map<Integer, StaProtocol> station = devpThread.getStation();
+ StaProtocol staProtocol = station.get(wrkMast.getStaNo());
+ if (staProtocol == null) {
+ return false;
+ }
+
+ if (!staProtocol.isAutoing()) {
+ News.info("{}浠诲姟锛寋}绔欑偣锛屼笉鍦ㄨ嚜鍔ㄧ姸鎬�", wrkMast.getWrkNo(), staProtocol.getSiteId());
+ return false;
+ }
+
+ Integer sourceLev = liftThread.getLevToStaNo(Utils.getLev(wrkMast.getSourceLocNo()));
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ List<LiftCommand> liftCommands = liftThread.getPalletOutCommand(wrkMast.getWrkNo(), sourceLev, wrkMast.getStaNo());
+ LiftCommand liftCommand = liftCommands.get(0);
+// if (wrkMast.getMainWrkNo() != null) {
+ liftCommand.setTaskNo(wrkMast.getWrkNo());
+// } else {
+// int deviceWrk = commonService.getWorkNo(8);//鐢熸垚鎻愬崌鏈鸿澶囧伐浣滃彿
+// liftCommand.setTaskNo(deviceWrk);//鏇存崲闅忔満浠诲姟鍙�
+// }
+
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ assignCommand.setTaskMode(LiftCommandModeType.PALLET_OUT.id.shortValue());
+
+ wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);
+ wrkMast.setLiftNo(liftProtocol.getLiftNo());//鎻愬墠閿佸畾鎻愬崌鏈�
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMast.setModiTime(now);
+
+ if (wrkMastService.updateById(wrkMast)) {
+ setLedData(Integer.parseInt(wrkMast.getWmsWrkNo()), wrkMast.getStaNo());
+ //涓嬪彂浠诲姟
+ liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+ return false;
+ }
+ return false;
+ }
+
return true;
}
@@ -413,8 +1439,7 @@
//鍥涘悜绌挎杞︾姸鎬佷负绛夊緟纭銆佸皬杞﹀浜庣┖闂茬姸鎬�
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //浠诲姟瀹屾垚绛夊緟纭
- && shuttleProtocol.getTaskNo() != 0
- ) {
+ && shuttleProtocol.getTaskNo() != 0) {
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
if (wrkMast != null) {
@@ -430,6 +1455,10 @@
//302.灏忚溅绉诲姩鑷崇珯鐐� ==> 303.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴�
wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
shuttleThread.setSyncTaskNo(0);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT.sts) {
+ //304.灏忚溅杩佸叆鎻愬崌鏈轰腑 ==> 305.灏忚溅杩佸叆鎻愬崌鏈哄畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE.sts);
+ shuttleThread.setSyncTaskNo(0);
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
//308.灏忚溅杩佸嚭鎻愬崌鏈轰腑 ==> 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴�
if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
@@ -442,16 +1471,87 @@
wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
shuttleThread.setSyncTaskNo(0);
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//瑙﹀彂閫氱煡
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT.sts) {
+ //灏忚溅绉诲姩鑷崇珯鐐� ==> 灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT.sts);
+ shuttleThread.setSyncTaskNo(0);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT.sts) {
+ //灏忚溅杩佸叆鎻愬崌鏈轰腑 ==> 灏忚溅杩佸叆鎻愬崌鏈哄畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT.sts);
+ shuttleThread.setSyncTaskNo(0);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT.sts) {
+ //灏忚溅杩佸嚭鎻愬崌鏈轰腑 ==> 灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE_TRANSPORT_LIFT.sts);
+ shuttleThread.setSyncTaskNo(0);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE_TRANSPORT_LIFT.sts) {
+ //灏忚溅鏀捐揣涓� ==> 灏忚溅鏀捐揣瀹屾垚
+ wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT.sts);
+ shuttleThread.setSyncTaskNo(0);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT_OUT.sts) {
+ //灏忚溅绉诲姩鑷崇珯鐐� ==> 灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
+ shuttleThread.setSyncTaskNo(0);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT_OUT.sts) {
+ //灏忚溅杩佸叆鎻愬崌鏈轰腑 ==> 灏忚溅杩佸叆鎻愬崌鏈哄畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT_OUT.sts);
+ shuttleThread.setSyncTaskNo(0);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT_OUT.sts) {
+ //灏忚溅杩佸嚭鎻愬崌鏈轰腑 ==> 灏忚溅鏀捐揣瀹屾垚
+ wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT_OUT.sts);
+ shuttleThread.setSyncTaskNo(0);
} else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
//204.灏忚溅鍏呯數涓� ==> 205.灏忚溅鍏呯數瀹屾垚
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
shuttleThread.setSyncTaskNo(0);
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
- } else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts) {
- //502.灏忚溅鎼繍涓� ==> 509.绉诲簱瀹屾垚
- wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);
+ }
+// else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) {
+// wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_2.sts);
+// shuttleThread.setSyncTaskNo(0);
+// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
+// }
+ else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_3.sts) {
+ wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_4.sts);
shuttleThread.setSyncTaskNo(0);
- notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_DELIVERY);//瑙﹀彂閫氱煡
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_7.sts) {
+ wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_8.sts);
+ shuttleThread.setSyncTaskNo(0);
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_11.sts) {
+ wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_12.sts);
+ wrkMast.setLiftNo(null);
+ shuttleThread.setSyncTaskNo(0);
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_13.sts) {
+ wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_14.sts);
+ shuttleThread.setSyncTaskNo(0);
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_12.sts) {
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_13.sts);
+ shuttleThread.setSyncTaskNo(0);
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_10.sts) {
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_11.sts);
+ wrkMast.setLiftNo(null);
+ shuttleThread.setSyncTaskNo(0);
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
+ shuttleThread.setSyncTaskNo(0);
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_6.sts) {
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_7.sts);
+ shuttleThread.setSyncTaskNo(0);
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
+ shuttleThread.setSyncTaskNo(0);
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_2.sts) {
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_3.sts);
+ shuttleThread.setSyncTaskNo(0);
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
} else {
continue;
}
@@ -465,7 +1565,7 @@
}
} else {
Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
- if(object != null){
+ if (object != null) {
ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class);
if (!assignCommand.getAuto()) {
//鎵嬪姩妯″紡
@@ -491,10 +1591,20 @@
public synchronized void shuttleLocMoveExecute() {
try {
//鏌ヨ绉诲簱浠诲姟
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts));
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts, WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts, WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts));
for (WrkMast wrkMast : wrkMasts) {
- boolean stepToTarget = this.shuttleLocMoveExecuteToTarget(wrkMast);//绉诲簱浠诲姟-灏忚溅鍘荤洰鏍囩偣
- if (!stepToTarget) {
+ boolean stepTake = this.shuttleLocMoveExecuteTake(wrkMast);//绉诲簱浠诲姟-灏忚溅鍙栬揣涓�
+ if (!stepTake) {
+ continue;
+ }
+
+ boolean stepPut = this.shuttleLocMoveExecutePut(wrkMast);//绉诲簱浠诲姟-灏忚溅鍙栬揣涓�
+ if (!stepPut) {
+ continue;
+ }
+
+ boolean stepComplete = this.shuttleLocMoveComplete(wrkMast);//绉诲簱浠诲姟-浠诲姟瀹屾垚
+ if (!stepComplete) {
continue;
}
@@ -505,22 +1615,46 @@
}
/**
- * 绉诲簱浠诲姟-灏忚溅鍘荤洰鏍囩偣
+ * 绉诲簱浠诲姟-灏忚溅鍙栬揣涓�
* 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
* ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
*/
- private boolean shuttleLocMoveExecuteToTarget(WrkMast wrkMast) {
+ private boolean shuttleLocMoveExecuteTake(WrkMast wrkMast) {
//--------------------------------------灏忚溅绉诲姩鑷崇珯鐐�-----------------------------------------//
Date now = new Date();
- //灏忚溅绉诲姩鑷崇珯鐐� 501.鐢熸垚绉诲簱浠诲姟 ==> 502.灏忚溅鎼繍涓�
+ //灏忚溅绉诲姩鑷崇珯鐐� 501.鐢熸垚绉诲簱浠诲姟 ==> 502.灏忚溅鍙栬揣涓�
if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
if (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
- boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//璋冨害灏忚溅鍒拌揣鐗╃偣杩涜鍙栬揣
+ boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//璋冨害灏忚溅鍒拌揣鐗╃偣杩涜鍙栬揣
News.info("{}浠诲姟锛岃皟搴﹀皬杞}绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), result ? "鎴愬姛" : "澶辫触");
+
+ if (result) {
+ wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts);//灏忚溅鎼繍涓� 501.鐢熸垚绉诲簱浠诲姟 ==> 502.灏忚溅鍙栬揣涓�
+ wrkMast.setModiTime(now);
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ if (wrkMastService.updateById(wrkMast)) {
+ return false;
+ }
+ }
+
return false;
}
+ }
+ return true;
+ }
+ /**
+ * 绉诲簱浠诲姟-灏忚溅鏀捐揣涓�
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleLocMoveExecutePut(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅绉诲姩鑷崇珯鐐�-----------------------------------------//
+ Date now = new Date();
+
+ //灏忚溅绉诲姩鑷崇珯鐐� 502.灏忚溅鍙栬揣涓� ==> 503.灏忚溅鏀捐揣涓�
+ if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
if (shuttleThread == null) {
@@ -536,43 +1670,57 @@
return false;
}
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//灏忚溅绉诲簱浠诲姟
- assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
- assignCommand.setAuto(true);//鑷姩妯″紡
+ boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getLocNo(), wrkMast.getShuttleNo(), "TRANSPORT");//璋冨害灏忚溅鏀捐揣
+ News.info("{}浠诲姟锛岃皟搴﹀皬杞}绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), result ? "鎴愬姛" : "澶辫触");
- //鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
- if (commands == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ if (result) {
+ wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts);//灏忚溅鎼繍涓� 502.灏忚溅鍙栬揣涓� ==> 503.灏忚溅鏀捐揣涓�
+ wrkMast.setModiTime(now);
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ if (wrkMastService.updateById(wrkMast)) {
+ return false;
+ }
+ }
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 绉诲簱浠诲姟-浠诲姟瀹屾垚
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleLocMoveComplete(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅绉诲姩鑷崇珯鐐�-----------------------------------------//
+ Date now = new Date();
+
+ //灏忚溅绉诲姩鑷崇珯鐐� 503.灏忚溅鏀捐揣涓� ==> 509.绉诲簱瀹屾垚
+ if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
return false;
}
- List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
- if (liftCommand == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇椤跺崌鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽皬杞︽湭鍒拌揪鏀捐揣浣嶇疆", wrkMast.getWrkNo());
return false;
}
- List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
- if (liftCommand2 == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇涓嬮檷鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ if (shuttleProtocol.getHasLift()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽皬杞﹀浜庨《鍗囩姸鎬�", wrkMast.getWrkNo());
return false;
}
- commands.add(0, liftCommand.get(0));
- commands.add(liftCommand2.get(0));
- assignCommand.setCommands(commands);
-
- wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts);//灏忚溅鎼繍涓� 501.鐢熸垚绉诲簱浠诲姟 ==> 502.灏忚溅鎼繍涓�
+ wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);//灏忚溅鎼繍涓� 503.灏忚溅鏀捐揣涓� ==> 509.绉诲簱瀹屾垚
wrkMast.setModiTime(now);
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
if (wrkMastService.updateById(wrkMast)) {
- //涓嬪彂浠诲姟
- shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
- //瑙﹀彂閫氱煡
- notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
return false;
}
return false;
@@ -581,79 +1729,71 @@
}
/**
- * 璐у弶鎻愬崌鏈轰换鍔�
+ * 鎻愬崌鏈轰换鍔″畬鎴�
*/
- public synchronized void forkLiftIoExecute() {
+ public synchronized void liftFinished() {
try {
- //鎼滅储鏄惁鏈夊緟澶勭悊鐨勪换鍔�
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
- .in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts));
- if (wrkMasts.isEmpty()) {
- return;
- }
+ for (LiftSlave slave : slaveProperties.getLift()) {
+ //鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ continue;
+ }
- for (WrkMast wrkMast : wrkMasts) {
- Integer liftNo = wrkMast.getLiftNo();
- if (liftNo == null) {
- //鏈垎閰嶆彁鍗囨満
- Integer staNo = wrkMast.getIoType() == WrkIoType.IN.id ? wrkMast.getSourceStaNo() : wrkMast.getStaNo();
- liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
- if(liftNo == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾湭鎵惧埌鍖归厤鐨勬彁鍗囨満", wrkMast.getWrkNo());
- continue;
- }
-
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
- if (forkLiftThread == null) {
- continue;
- }
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
- continue;
- }
-
- if (!forkLiftThread.isIdle()) {
- News.info("{}鍙锋彁鍗囨満锛屽繖纰屼腑", liftNo);
- continue;
- }
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
- WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
- if (liftWrkMast != null) {
- if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//鎻愬崌鏈轰换鍔″拰褰撳墠浠诲姟涓嶇浉鍚�
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), wrkMast.getLiftNo());
- continue;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+ //鎻愬崌鏈轰负绛夊緟纭涓旂┖闂�
+ if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
+ //灏嗕换鍔℃。鏍囪涓哄畬鎴�
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
+ if (wrkMast != null) {
+ if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
+ //3.鎻愬崌鏈烘惉杩愪腑 ==> 4.鎻愬崌鏈烘惉杩愬畬鎴�
+ wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
+ } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
+ //104.鎻愬崌鏈烘惉杩愪腑 ==> 109.鍑哄簱瀹屾垚
+ if (wrkMast.getStaNo() == 1031) {
+ wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN_2.sts);
+ } else {
+ wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
+ }
+ wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
+ //306.鎻愬崌鏈烘惉杩愪腑 ==> 307.鎻愬崌鏈烘惉杩愬畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT.sts) {
+ //鎻愬崌鏈鸿嚦灏忚溅灞� ==> 鎻愬崌鏈鸿嚦灏忚溅灞傚畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT.sts);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_TARGET_TRANSPORT_LIFT.sts) {
+ //鎻愬崌鏈鸿嚦鏀捐揣灞� ==> 鎻愬崌鏈鸿嚦鏀捐揣灞傚畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_TARGET_COMPLETE_TRANSPORT_LIFT.sts);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT_OUT.sts) {
+ //鎻愬崌鏈鸿嚦灏忚溅灞� ==> 鎻愬崌鏈鸿嚦灏忚溅灞傚畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_5.sts) {
+ //鎻愬崌鏈鸿嚦灏忚溅灞� ==> 鎻愬崌鏈鸿嚦灏忚溅灞傚畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_6.sts);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_9.sts) {
+ //鎻愬崌鏈鸿嚦灏忚溅灞� ==> 鎻愬崌鏈鸿嚦灏忚溅灞傚畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_10.sts);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
+ //鎻愬崌鏈鸿嚦灏忚溅灞� ==> 鎻愬崌鏈鸿嚦灏忚溅灞傚畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
+ //鎻愬崌鏈鸿嚦灏忚溅灞� ==> 鎻愬崌鏈鸿嚦灏忚溅灞傚畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
+ }
+ wrkMast.setModiTime(new Date());
+ if (wrkMastService.updateById(wrkMast)) {
+ liftThread.setSyncTaskNo(0);
+ liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
+ News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬併�傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
+ } else {
+ News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
}
}
-
- wrkMast.setLiftNo(liftNo);
- wrkMast.setModiTime(new Date());
- wrkMastService.updateById(wrkMast);
- continue;
- }
-
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
- if (forkLiftThread == null) {
- continue;
- }
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
- continue;
- }
-
- if (!forkLiftThread.isIdle()) {
- News.info("{}鍙锋彁鍗囨満锛屽繖纰屼腑", liftNo);
- continue;
- }
-
- boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//鎻愬崌鏈哄叆搴�
- if (!stepIn) {
- continue;
- }
-
- boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//鎻愬崌鏈哄嚭搴�
- if (!stepOut) {
- continue;
}
}
} catch (Exception e) {
@@ -662,260 +1802,38 @@
}
/**
- * 鎻愬崌鏈哄叆搴�
- * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
- * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ * 杈撻�佺嚎浠诲姟瀹屾垚
*/
- private boolean liftIoExecuteStepIn(WrkMast wrkMast) {
- //--------------------------------------鎻愬崌鏈哄叆搴�-----------------------------------------//
- Date now = new Date();
-
- //1.鐢熸垚鍏ュ簱浠诲姟 ==> 3.鎻愬崌鏈烘惉杩愪腑
- if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
- //鑾峰彇鐩爣杈撻�佺珯
- ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
- if (liftSta == null) {
- return false;//鎵句笉鍒扮珯鐐�
- }
-
- if (liftSta.getHasTray()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪鎵樼洏", wrkMast.getWrkNo());
- return false;
- }
-
- if (liftSta.getHasCar()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪灏忚溅", wrkMast.getWrkNo());
- return false;
- }
-
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSta.getLiftNo());
- if (forkLiftThread == null) {
- return false;
- }
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
- return false;
- }
- if (!forkLiftThread.isIdle()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屽繖纰屼腑", wrkMast.getWrkNo(), liftSta.getLiftNo());
- return false;
- }
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庡叆搴撴ā寮�
- if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾彁鍗囨満涓嶅浜庡叆搴撴ā寮忥紝绂佹鍏ュ簱", wrkMast.getWrkNo());
- return false;
- }
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
- WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
- if (liftWrkMast != null) {
- if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//鎻愬崌鏈轰换鍔″拰褰撳墠浠诲姟涓嶇浉鍚�
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), wrkMast.getLiftNo());
- return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
- }
- }
-
- //妫�娴嬫ゼ灞傛槸鍚︽湁鍙敤绌挎杞�
- boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev());
- if (!checkLevHasShuttle) {
- if (wrkMast.getShuttleNo() != null) {
- return false;
- }
-
- //鑾峰彇灏忚溅寰呮満浣�
- String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
- if (standbyLocNo == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岃幏鍙栧皬杞﹀緟鏈轰綅澶辫触", wrkMast.getWrkNo());
- return false;
- }
-
- //璋冨害灏忚溅鍘诲緟鏈轰綅
- boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo);
- if (!dispatchShuttle) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岃皟搴﹀皬杞﹀け璐�", wrkMast.getWrkNo());
- return false;
- }
- return false;
- }
-
- //鑾峰彇鎻愬崌鏈哄懡浠�
- List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev());
- ArrayList<ForkLiftCommand> commands = new ArrayList<>();
- commands.addAll(liftCommands);
-
- //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
- LiftAssignCommand assignCommand = new LiftAssignCommand();
- assignCommand.setCommands(commands);
- assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
- assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
-
- wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);//鎻愬崌鏈烘惉杩愪腑 1.鐢熸垚鍏ュ簱浠诲姟 ==> 3.鎻愬崌鏈烘惉杩愪腑
- wrkMast.setSystemMsg("");//娓呯┖娑堟伅
- wrkMast.setModiTime(now);
- if (wrkMastService.updateById(wrkMast)) {
- //涓嬪彂浠诲姟
- forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
- }
- return false;
- }
- return true;
- }
-
- /**
- * 鎻愬崌鏈哄嚭搴�
- * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
- * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
- */
- private boolean liftIoExecuteStepOut(WrkMast wrkMast) {
- //--------------------------------------鎻愬崌鏈哄嚭搴�-----------------------------------------//
- //103.灏忚溅鎼繍瀹屾垚 ==> 104.鎻愬崌鏈烘惉杩愪腑
- if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- if (shuttleThread == null) {
- return false;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if(shuttleProtocol == null) {
- return false;
- }
-
- //鑾峰彇婧愮珯
- ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
- if (liftSta == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾壘涓嶅埌绔欑偣锛岀姝㈡淳鍙�", wrkMast.getWrkNo());
- return false;//鎵句笉鍒扮珯鐐�
- }
-
- if (shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
- //灏忚溅杩樺湪杈撻�佺珯鐐�
- //鑾峰彇灏忚溅寰呮満浣�
- String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
- if(standbyLocNo == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岃幏鍙栧皬杞﹀緟鏈轰綅澶辫触", wrkMast.getWrkNo());
- return false;
- }
- //璋冨害灏忚溅鍘诲緟鏈轰綅
- boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo, wrkMast.getShuttleNo());
- if (!dispatchShuttle) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽皬杞﹀湪杈撻�佺珯鐐硅皟搴﹀皬杞﹂伩璁╁け璐�", wrkMast.getWrkNo());
- return false;
- }
- }
-
- if (liftSta.getHasCar()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}绔欑偣瀛樺湪灏忚溅锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftSta.getStaNo());
- return false;
- }
-
- if (!liftSta.getHasTray()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}绔欑偣鏃犳墭鐩橈紝绂佹娲惧彂", wrkMast.getWrkNo(), liftSta.getStaNo());
- return false;
- }
-
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSta.getLiftNo());
- if (forkLiftThread == null) {
- return false;
- }
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
- return false;
- }
- if (!forkLiftThread.isIdle()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屽繖纰屼腑", wrkMast.getWrkNo(), liftSta.getLiftNo());
- return false;
- }
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庡嚭搴撴ā寮�
- if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾彁鍗囨満涓嶅浜庡嚭搴撴ā寮忥紝绂佹鍑哄簱", wrkMast.getWrkNo());
- return false;
- }
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
- WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
- if (liftWrkMast != null) {
- if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//鎻愬崌鏈轰换鍔″拰褰撳墠浠诲姟涓嶇浉鍚�
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), wrkMast.getLiftNo());
- return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
- }
- }
-
- //璇锋眰涓婄骇绯荤粺锛屾槸鍚﹀厑璁稿嚭搴�
- boolean outMission = ForkLiftUtils.queryOutMission(wrkMast.getStaNo());
- if (!outMission) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屼笂绾х郴缁熶笉鍏佽鍑哄簱", wrkMast.getWrkNo());
- return false;
- }
-
- //鑾峰彇鎻愬崌鏈哄懡浠�
- List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo());
- ArrayList<ForkLiftCommand> commands = new ArrayList<>();
- commands.addAll(liftCommands);
-
- //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
- LiftAssignCommand assignCommand = new LiftAssignCommand();
- assignCommand.setCommands(commands);
- assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
- assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
-
- wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);//鎻愬崌鏈烘惉杩愪腑 103.鐢熸垚鍏ュ簱浠诲姟 ==> 104.鎻愬崌鏈烘惉杩愪腑
- wrkMast.setShuttleNo(null);//閲婃斁灏忚溅
- wrkMast.setSystemMsg("");//娓呯┖娑堟伅
- wrkMast.setModiTime(new Date());
- if (wrkMastService.updateById(wrkMast)) {
- //涓嬪彂浠诲姟
- forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
- }
- return false;
- }
- return true;
- }
-
- /**
- * 璐у弶鎻愬崌鏈轰换鍔″畬鎴�
- */
- public synchronized void forkLiftFinished() {
+ public synchronized void devpFinished() {
try {
- for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
- //鑾峰彇鎻愬崌鏈轰俊鎭�
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
- continue;
- }
-
- //鎻愬崌鏈轰负绛夊緟纭涓旂┖闂�
- if (forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.WAITING.id
- && forkLiftProtocol.getWrkNo() != 0
- ) {
- //灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo());
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ Map<Integer, StaProtocol> station = devpThread.getStation();
+ WrkMast wrkMast = null;
+ for (StaProtocol staProtocol : station.values()) {
+ if ((staProtocol.getSiteId() == 1013 || staProtocol.getSiteId() == 1024) && staProtocol.isLoading()) {
+ wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN.sts));
if (wrkMast != null) {
- if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
- //3.鎻愬崌鏈烘惉杩愪腑 ==> 4.鎻愬崌鏈烘惉杩愬畬鎴�
- wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
- wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
- forkLiftThread.setSyncTaskNo(0);
- } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
- //104.鎻愬崌鏈烘惉杩愪腑 ==> 109.鍑哄簱瀹屾垚
- wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
- wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
- forkLiftThread.setSyncTaskNo(0);
- } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
- //306.鎻愬崌鏈烘惉杩愪腑 ==> 307.鎻愬崌鏈烘惉杩愬畬鎴�
- wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
- forkLiftThread.setSyncTaskNo(0);
- }
-
+ wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
wrkMast.setModiTime(new Date());
if (wrkMastService.updateById(wrkMast)) {
- forkLiftThread.reset();
- News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬併�傛彁鍗囨満鍙�={}", forkLiftProtocol.getLiftNo());
+ News.info("杈撻�佺嚎宸茬‘璁や笖浠诲姟瀹屾垚鐘舵�併�傝緭閫佺嚎鍙�={},瀹岀粨宸ヤ綔鍙�={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
} else {
- News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", forkLiftProtocol.getLiftNo(), forkLiftProtocol.getWrkNo());
+ News.error("杈撻�佺嚎宸茬‘璁や笖浠诲姟瀹屾垚鐘舵��,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傝緭閫佺嚎鍙�={}锛屽畬缁撳伐浣滃彿={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
+ }
+ }
+ } else if (staProtocol.getSiteId() == 1031 && staProtocol.isLoading()) {
+ wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN_2.sts));
+ if (wrkMast != null) {
+ staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
+ staProtocol.setStaNo(Short.parseShort(String.valueOf(1135)));
+ MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
+ News.info("杈撻�佺嚎鍏ュ簱鍛戒护涓嬪彂锛屼换鍔℃暟鎹�={}", JSON.toJSON(wrkMast));
+ wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
+ wrkMast.setModiTime(new Date());
+ if (wrkMastService.updateById(wrkMast)) {
+ News.info("杈撻�佺嚎宸茬‘璁や笖浠诲姟瀹屾垚鐘舵�併�傝緭閫佺嚎鍙�={},瀹岀粨宸ヤ綔鍙�={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
+ } else {
+ News.error("杈撻�佺嚎宸茬‘璁や笖浠诲姟瀹屾垚鐘舵��,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傝緭閫佺嚎鍙�={}锛屽畬缁撳伐浣滃彿={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
}
}
}
@@ -932,6 +1850,14 @@
try {
this.recShuttleErr();
this.recLiftErr();
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 1);
+ ledThread.errorReset();
+ ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 2);
+ ledThread.errorReset();
+ ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 3);
+ ledThread.errorReset();
+ ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, 4);
+ ledThread.errorReset();
} catch (Exception e) {
News.error("recErr fail", e);
}
@@ -965,9 +1891,8 @@
}
int errorCode = Integer.parseInt(shuttleProtocol.getErrorCode());
BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(errorCode);
- String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName();
- BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
- null, // 缂栧彿
+ String errName = basShuttleErr == null ? "鏈煡寮傚父" : basShuttleErr.getErrName();
+ BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(null, // 缂栧彿
wrkMast.getWrkNo(), // 宸ヤ綔鍙�
now, // 鍙戠敓鏃堕棿
null, // 缁撴潫鏃堕棿
@@ -1014,39 +1939,38 @@
*/
private void recLiftErr() {
Date now = new Date();
- for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
+ for (LiftSlave slave : slaveProperties.getLift()) {
// 鑾峰彇鎻愬崌鏈轰俊鎭�
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
- if (forkLiftThread == null) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
+ if (liftThread == null) {
continue;
}
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
continue;
}
- if (forkLiftProtocol.getTaskNo() != 0) {
+ if (liftProtocol.getTaskNo() != 0) {
//鏈変换鍔�
- BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(forkLiftSlave.getId(), forkLiftProtocol.getTaskNo());
+ BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(slave.getId(), liftProtocol.getTaskNo());
// 鏈夊紓甯�
if (latest == null) {
- if (forkLiftProtocol.getErrorCode() != null && forkLiftProtocol.getErrorCode() != 0) {
- WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo());
+ if (liftProtocol.getErrorCode() != null && !liftProtocol.getErrorCode().equals("0")) {
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
if (wrkMast == null) {
continue;
}
- BasLiftErr basLiftErr = basLiftErrService.queryByCode(forkLiftProtocol.getErrorCode());
- String errName = basLiftErr==null? "鏈煡寮傚父":basLiftErr.getErrName();
+ BasLiftErr basLiftErr = basLiftErrService.queryByCode(Integer.parseInt(liftProtocol.getErrorCode()));
+ String errName = basLiftErr == null ? "鏈煡寮傚父" : basLiftErr.getErrName();
- BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
- null, // 缂栧彿
+ BasLiftErrLog basLiftErrLog = new BasLiftErrLog(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�
- forkLiftSlave.getId(), // 鎻愬崌鏈�
+ slave.getId(), // 鎻愬崌鏈�
null, // plc
wrkMast.getLocNo(), // 鐩爣搴撲綅
wrkMast.getStaNo(), // 鐩爣绔�
@@ -1061,20 +1985,20 @@
now, // 淇敼鏃堕棿
null, // 淇敼浜哄憳
"浠诲姟涓紓甯�", // 澶囨敞
- JSON.toJSONString(forkLiftProtocol) // 绯荤粺鐘舵�佹暟鎹�
+ JSON.toJSONString(liftProtocol) // 绯荤粺鐘舵�佹暟鎹�
);
if (!basLiftErrLogService.insert(basLiftErrLog)) {
- News.error("鎻愬崌鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", forkLiftSlave.getId(), errName);
+ News.error("鎻愬崌鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", slave.getId(), errName);
}
}
} else {
// 寮傚父淇
- if (forkLiftProtocol.getErrorCode() == null || forkLiftProtocol.getErrorCode() == 0) {
+ if (liftProtocol.getErrorCode() == null || liftProtocol.getErrorCode().equals("0")) {
latest.setEndTime(now);
latest.setUpdateTime(now);
latest.setStatus(2);
if (!basLiftErrLogService.updateById(latest)) {
- News.error("鎻愬崌鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", forkLiftSlave.getId(), latest.getId());
+ News.error("鎻愬崌鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", slave.getId(), latest.getId());
}
}
}
@@ -1141,7 +2065,7 @@
ArrayList<String> locs = new ArrayList<>();
locs.add(charge.getLocNo());
Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs);
- if(checkHasShuttle != null) {
+ if (checkHasShuttle != null) {
//褰撳墠鍏呯數妗╂湁绌挎杞︼紝涓嶅垎閰嶈鍏呯數妗�
continue;
}
@@ -1191,7 +2115,7 @@
//鏌ヨ灏忚溅鍏呯數浠诲姟
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId());
- if(wrkMast == null) {
+ if (wrkMast == null) {
continue;
}
@@ -1277,7 +2201,7 @@
//鍒ゆ柇鏄惁瀛樺湪鏈畬鎴愮殑绉诲姩浠诲姟
WrkMast moveWrk = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
- if(moveWrk != null) {
+ if (moveWrk != null) {
return false;
}
@@ -1378,7 +2302,7 @@
}
BasShuttleCharge basShuttleCharge = basShuttleChargeService.selectOne(new EntityWrapper<BasShuttleCharge>().eq("charge_id", wrkMast.getMk()));
- if(basShuttleCharge == null) {
+ if (basShuttleCharge == null) {
return false;
}
@@ -1406,410 +2330,81 @@
//鏌ヨ灏忚溅绉诲簱浠诲姟
List<WrkMast> wrkMasts = wrkMastService.selectShuttleMoveWrk();
for (WrkMast wrkMast : wrkMasts) {
- boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//灏忚溅绉诲姩鍒扮珯鐐�
- if (!stepMoveSta) {
- continue;
+ if ("TRANSPORT_LIFT".equals(wrkMast.getMk())) {
+ this.shuttleMoveExecuteTransportLift(wrkMast);
+ } else if ("TRANSPORT_DEVP".equals(wrkMast.getMk())) {
+ this.shuttleMoveExecuteTransportNoLift(wrkMast);
+ } else {
+ shuttleMoveService.shuttleMoveExecuteMove(wrkMast);
}
-
- boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//鎻愬崌鏈烘惉杩愪腑
- if (!stepLiftMove) {
- continue;
- }
-
- boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//鎻愬崌鏈烘惉杩愬畬鎴愭洿鏂板皬杞﹀潗鏍�
- if (!updateShuttleLocation) {
- continue;
- }
-
- boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
- if (!stepMoveLoc) {
- continue;
- }
-
}
} catch (Exception e) {
e.printStackTrace();
}
}
- /**
- * 灏忚溅杩佺Щ-灏忚溅绉诲姩鍒扮珯鐐�
- * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
- * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
- */
- private boolean shuttleMoveExecuteStepMoveSta(WrkMast wrkMast) {
- //--------------------------------------灏忚溅绉诲姩鑷崇珯鐐�-----------------------------------------//
- Date now = new Date();
-
- //灏忚溅绉诲姩鑷崇珯鐐� 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 302.灏忚溅绉诲姩鑷崇珯鐐逛腑
- if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
- //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- if (shuttleThread == null) {
- return false;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if (shuttleProtocol == null) {
- return false;
- }
-
- //灏忚溅澶勪簬绌洪棽鐘舵��
- if (!shuttleThread.isIdle()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽皬杞﹀繖纰屼腑", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
- return false;
- }
-
- if (Utils.getLev(wrkMast.getLocNo()) == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
- //鐩爣搴撲綅鍜屽皬杞﹀簱浣嶅浜庡悓涓�妤煎眰锛屼笉闇�瑕侀�氳繃鎻愬崌鏈鸿皟搴�
- wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);// 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 310.灏忚溅绉诲姩涓�
- wrkMast.setModiTime(now);
- if (wrkMastService.updateById(wrkMast)) {
- //涓嬪彂浠诲姟
- return true;//鐩存帴杩涘叆309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 310.灏忚溅绉诲姩涓�
- }
- return false;
- }
-
- //鑾峰彇婧愯緭閫佺珯
- ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
- if (liftSta == null) {
- return false;//鎵句笉鍒扮珯鐐�
- }
-
- if (wrkMast.getLiftNo() == null) {
- //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟(璇ヤ换鍔￠渶瑕佹崲灞傚繀椤绘彁鍓嶇嫭鍗犳彁鍗囨満)
- WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftSta.getLiftNo());
- if (liftWrkMast != null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), liftSta.getLiftNo());
- return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
- }
-
- wrkMast.setModiTime(now);
- wrkMast.setLiftNo(liftSta.getLiftNo());//鎻愬墠閿佸畾鎻愬崌鏈�
- wrkMast.setSystemMsg("");//娓呯┖娑堟伅
- wrkMastService.updateById(wrkMast);
- return false;
- }
-
- //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
- List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
- if (targetNodes == null) {
- return false;//鏈幏鍙栧埌鑺傜偣
- }
- boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
- if (!checkPathIsAvailable) {
- News.info("{}浠诲姟锛寋}灏忚溅锛岀洰鏍囩珯鐐硅矾寰勮鍗犵敤锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
- return false;//妫�娴嬬洰鏍囩珯鐐硅矾寰勬槸鍚︽湭琚崰鐢�
- }
- //灏濊瘯閿佸畾鐩爣绔欒矾寰�
- boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
- if (!result2) {
- News.info("{}浠诲姟锛寋}灏忚溅锛岃矾寰勯攣瀹氬け璐ワ紝绂佹娲惧彂", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
- return false;//璺緞閿佸畾澶辫触
- }
- //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
-
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//灏忚溅绉诲簱浠诲姟
- assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
- assignCommand.setAuto(true);//鑷姩妯″紡
-
- //鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
- if (commands == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
-
- //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
- navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, false);
- return false;//璺緞瑙ｉ攣澶辫触
- }
-
- assignCommand.setCommands(commands);
-
- wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 302.灏忚溅绉诲姩鑷崇珯鐐�
- wrkMast.setModiTime(now);
- wrkMast.setSystemMsg("");//娓呯┖娑堟伅
- if (wrkMastService.updateById(wrkMast)) {
- //涓嬪彂浠诲姟
- shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
- notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
- //瑙﹀彂閫氱煡
- return false;
- }
- return false;
- }
- return true;
- }
-
- /**
- * 灏忚溅杩佺Щ-鎻愬崌鏈烘惉杩愪腑
- * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
- * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
- */
- private boolean shuttleMoveExecuteStepLiftMove(WrkMast wrkMast) {
- //--------------------------------------鎻愬崌鏈烘惉杩愪腑-----------------------------------------//
- Date now = new Date();
-
- //鎻愬崌鏈烘惉杩愪腑 303.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴� ==> 306.鎻愬崌鏈烘惉杩愪腑
- if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE.sts) {
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, wrkMast.getLiftNo());
- if (forkLiftThread == null) {
- return false;
- }
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
- return false;
- }
- if (!forkLiftThread.isIdle()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満蹇欑涓紝绂佹娲惧彂", wrkMast.getWrkNo(), wrkMast.getLiftNo());
- return false;
- }
- //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
- WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
- if (liftWrkMast != null) {
- if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//鎻愬崌鏈轰换鍔″拰褰撳墠浠诲姟涓嶇浉鍚�
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), wrkMast.getLiftNo());
- return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
- }
- }
-
- //鑾峰彇婧愮珯
- ForkLiftStaProtocol sourceLiftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
- //鑾峰彇鐩爣绔�
- ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
- if (sourceLiftSta == null || liftSta == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀己灏戠珯鐐逛俊鎭紝绂佹娲惧彂", wrkMast.getWrkNo());
- return false;//缂哄皯绔欑偣淇℃伅
- }
-
- if (liftSta.getHasTray()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪鎵樼洏锛岀姝㈡淳鍙�", wrkMast.getWrkNo());
- return false;//鏈夋墭鐩樿烦杩�
- }
-
- //鑾峰彇鎻愬崌鏈哄懡浠�
- List<ForkLiftCommand> liftCommands = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
- ArrayList<ForkLiftCommand> commands = new ArrayList<>();
- commands.addAll(liftCommands);
-
- //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
- LiftAssignCommand assignCommand = new LiftAssignCommand();
- assignCommand.setCommands(commands);
- assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
- assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
-
- wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//鎻愬崌鏈烘惉杩愪腑 303.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴� ==> 306.鎻愬崌鏈烘惉杩愪腑
- wrkMast.setSystemMsg("");//娓呯┖娑堟伅
- wrkMast.setModiTime(now);
- if (wrkMastService.updateById(wrkMast)) {
- //涓嬪彂浠诲姟
- forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+ private void shuttleMoveExecuteTransportLift(WrkMast wrkMast) {
+ WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
+ LiftThread liftThread;
+ if (wrkMast1 != null && wrkMast1.getLiftNo() != null) {
+ liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ } else {
+ liftThread = LiftUtils.getRecentLift(wrkMast.getLocNo());
+ if (liftThread == null) {
+ return;
}
}
- return true;
+ //liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast1.getLiftNo());
+ String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo()));
+ if (Utils.getRow(liftLocNo) == Utils.getRow(wrkMast.getSourceLocNo()) && Utils.getBay(liftLocNo) == Utils.getBay(wrkMast.getSourceLocNo())) {
+ //鍙栬揣浣嶇疆鏄彁鍗囨満
+ transportLiftInService.shuttleMoveExecuteTransportLiftTake(wrkMast);
+ } else {
+ //鏀捐揣浣嶇疆鏄彁鍗囨満
+ transportLiftOutService.shuttleMoveExecuteTransportLiftPut(wrkMast);
+ }
}
+
+ private void shuttleMoveExecuteTransportNoLift(WrkMast wrkMast) {
+ WrkMast mainWrk = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
+ if (mainWrk != null && mainWrk.getIoType() == 1) {
+ //鍏ュ簱
+ noLiftInService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo(), Utils.getLev(mainWrk.getLocNo()));
+ } else if (mainWrk != null && mainWrk.getIoType() == 101) {
+ //鍑哄簱
+ noLiftOutService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo(), Utils.getLev(mainWrk.getSourceLocNo()));
+ }
+ }
+
/**
- * 灏忚溅杩佺Щ-鎻愬崌鏈烘惉杩愬畬鎴愭洿鏂板皬杞﹀潗鏍�
- * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
- * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ * 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
*/
- private boolean shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) {
- //--------------------------------------鎻愬崌鏈烘惉杩愪腑-----------------------------------------//
- Date now = new Date();
-
- //鎻愬崌鏈烘惉杩愪腑 307.鎻愬崌鏈烘惉杩愬畬鎴� ==> 308.灏忚溅杩佸嚭鎻愬崌鏈轰腑
- if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts) {
- //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- if (shuttleThread == null) {
- return false;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if (shuttleProtocol == null) {
- return false;
- }
-
- //灏忚溅澶勪簬绌洪棽鐘舵��
- if (!shuttleThread.isIdle()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽皬杞﹀繖纰屼腑锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
- return false;
- }
-
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//鏇存柊鍧愭爣
- assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
- assignCommand.setAuto(true);//鑷姩妯″紡
- assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
- assignCommand.setLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
-
- //鏇存柊灏忚溅鍧愭爣
- ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
- ArrayList<ShuttleCommand> commands = new ArrayList<>();
- commands.add(command);
-
- assignCommand.setCommands(commands);
-
- wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//灏忚溅杩佸嚭鎻愬崌鏈轰腑
- wrkMast.setSystemMsg("");//娓呯┖娑堟伅
- wrkMast.setModiTime(now);
-
- if (wrkMastService.updateById(wrkMast)) {
- //涓嬪彂浠诲姟
- shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
- }
+ public synchronized void ioConvert() {
+ for (LedSlave led : slaveProperties.getLed()) {
+ NormalLedThread ledThread = (NormalLedThread) SlaveConnection.get(SlaveType.Led, led.getId());
+ ledThread.reset();
}
- return true;
- }
-
- /**
- * 灏忚溅杩佺Щ-灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
- * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
- * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
- */
- private boolean shuttleMoveExecuteStepMoveLoc(WrkMast wrkMast) {
- //--------------------------------------灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑-----------------------------------------//
- Date now = new Date();
-
- //灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 310.灏忚溅绉诲姩涓�
- if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts) {
-
- //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- if (shuttleThread == null) {
- return false;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if (shuttleProtocol == null) {
- return false;
- }
-
- //灏忚溅澶勪簬绌洪棽鐘舵��
- if (!shuttleThread.isIdle()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽皬杞﹀繖纰屼腑锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
- return false;
- }
-
- //灏忚溅宸茬粡鍦ㄧ洰鏍囧簱浣嶏紝鐩存帴璁ゅ畾灏忚溅绉诲姩浠诲姟瀹屾垚
- if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
- wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.灏忚溅绉诲姩瀹屾垚
- wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
- wrkMast.setModiTime(now);
- wrkMastService.updateById(wrkMast);
- return false;
- }
-
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//灏忚溅绉诲簱浠诲姟
- assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
- assignCommand.setAuto(true);//鑷姩妯″紡
- assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
- assignCommand.setLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
-
- List<ShuttleCommand> commands = null;
- //璺ㄦゼ灞傜Щ鍔ㄤ换鍔�
- if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
- if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
- return false;//灏忚溅鏈埌杈剧洰鏍囧眰
+ try {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ WrkMast pakout = wrkMastService.selectWorkingPakout(1031);
+ if (pakout != null) {
+ if (devpThread.ioModeOf2_5 != IoModeType.PAKOUT_MODE) {
+ // 鍑哄簱鍒囨崲涓�
+ WrkMast pakin = wrkMastService.selectWorkingPakin(1032);
+ if (pakin == null && !devpThread.getStation().get(1031).isLoading()
+ && !devpThread.getStation().get(1032).isLoading()) {
+ // 鍑哄簱妯″紡
+ devpThread.ioModeOf2_5 = IoModeType.PAKOUT_MODE;
+ }
}
-
- //闇�瑕佸皢鍓嶄袱涓妭鐐逛綔涓虹櫧鍚嶅崟鑺傜偣浼犲叆
- List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
- if (targetNodes == null) {
- return false;//鏈幏鍙栧埌鑺傜偣
- }
-
- //璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
- ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
- for (NavigateNode node : targetNodes) {
- whiteList.add(new int[]{node.getX(), node.getY()});
- }
- commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList, assignCommand, shuttleThread);
- }else {
- //鑾峰彇灏忚溅鍒扮洰鏍囧簱浣嶅懡浠�
- commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+ } else {
+ // 鍏ュ簱妯″紡
+ devpThread.ioModeOf2_5 = IoModeType.PAKIN_MODE;
}
-
- if (commands == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
- return false;//璺緞璁＄畻澶辫触
- }
-
- assignCommand.setCommands(commands);
-
- wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 310.灏忚溅绉诲姩涓�
- wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
- wrkMast.setSystemMsg("");//娓呯┖娑堟伅
- wrkMast.setModiTime(now);
-
- if (wrkMastService.updateById(wrkMast)) {
- //涓嬪彂浠诲姟
- shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
- }
- }
- return true;
- }
-
- //鑷姩鍒囨崲鍑哄叆搴撴ā寮�
- public void autoSwitchForkLiftIOMode() {
- for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
- Integer liftNo = forkLiftSlave.getId();
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
- if (forkLiftThread == null) {
- continue;
- }
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
- continue;
- }
-
- //鑾峰彇鍏ュ簱浠诲姟
- List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
- .eq("lift_no", liftNo)
- .in("wrk_sts"
- , WrkStsType.NEW_INBOUND.sts
- , WrkStsType.INBOUND_DEVICE_RUN.sts
- , WrkStsType.INBOUND_LIFT_RUN.sts
- , WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
- , WrkStsType.INBOUND_SHUTTLE_RUN.sts
- , WrkStsType.INBOUND_SHUTTLE_RUN_COMPLETE.sts
- ));
-
- //鑾峰彇鍑哄簱浠诲姟
- List<WrkMast> outWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
- .eq("lift_no", liftNo)
- .in("wrk_sts"
- , WrkStsType.NEW_OUTBOUND.sts
- , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
- , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
- , WrkStsType.OUTBOUND_LIFT_RUN.sts
- , WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts
- ));
-
- if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.NONE)) {
- //鏈煡妯″紡
- if (!inWrkMasts.isEmpty()) {
- forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
- } else if (!outWrkMasts.isEmpty()) {
- forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
- }else {
- forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
- }
- } else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
- //鍏ュ簱妯″紡
- if (inWrkMasts.isEmpty() && !outWrkMasts.isEmpty()) {
- forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
- }
- } else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
- //鍑哄簱妯″紡
- if (outWrkMasts.isEmpty() && !inWrkMasts.isEmpty()) {
- forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
- }
- }
+ } catch (Exception e) {
+ e.printStackTrace();
}
}
--
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