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 | 4585 +++++++++++++++++++++++++++--------------------------------
1 files changed, 2,083 insertions(+), 2,502 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 d04c53d..3ac2728 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1,40 +1,49 @@
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.core.common.SpringUtils;
-import com.core.exception.CoolException;
+import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.*;
-import com.zy.asrs.mapper.*;
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.enums.WrkChargeType;
+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.service.erp.ErpService;
import com.zy.common.utils.*;
-import com.zy.core.CrnThread;
-import com.zy.core.DevpThread;
import com.zy.core.News;
+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.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 org.springframework.transaction.annotation.Transactional;
-import org.springframework.transaction.interceptor.TransactionAspectSupport;
+import java.io.IOException;
import java.util.*;
-import java.util.stream.Collectors;
/**
* 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
@@ -42,1685 +51,1795 @@
*/
@Slf4j
@Service("mainService")
-@Transactional
public class MainServiceImpl {
- @Value("${wms.url}")
- private String wmsUrl;
@Autowired
private SlaveProperties slaveProperties;
@Autowired
- private WrkMastMapper wrkMastMapper;
- @Autowired
- private WrkDetlService wrkDetlService;
- @Autowired
- private LocMastService locMastService;
- @Autowired
- private LocDetlService locDetlService;
- @Autowired
- private StaDescService staDescService;
- @Autowired
- private BasCrnpService basCrnpService;
- @Autowired
- private BasDevpService basDevpService;
- @Autowired
- private BasErrLogService basErrLogService;
- @Autowired
- private BasSteErrLogService basSteErrLogService;
+ private WrkMastService wrkMastService;
@Autowired
private BasShuttleErrLogService basShuttleErrLogService;
@Autowired
+ private BasLiftErrLogService basLiftErrLogService;
+ @Autowired
private BasShuttleErrService basShuttleErrService;
@Autowired
- private BasCrnErrorMapper basCrnErrorMapper;
- @Autowired
- private BasSteService basSteService;
- @Autowired
- private WrkChargeService wrkChargeService;
- @Autowired
- private BasSteErrService basSteErrService;
+ private BasLiftErrService basLiftErrService;
@Autowired
private CommonService commonService;
@Autowired
- private WrkChargeMapper wrkChargeMapper;
+ private BasMapService basMapService;
@Autowired
- private ErpService erpService;
- @Autowired
- private OrderMapper orderMapper;
- @Autowired
- private OrderDetlMapper orderDetlMapper;
+ private ShuttleDispatchUtils shuttleDispatchUtils;
@Autowired
private RedisUtil redisUtil;
+ @Autowired
+ private ConfigService configService;
+ @Autowired
+ private NavigateMapData navigateMapData;
+ @Autowired
+ private ShuttleOperaUtils shuttleOperaUtils;
+ @Autowired
+ private ShuttleAction shuttleAction;
+ @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 void generateStoreWrkFile() {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
+ public synchronized void generateInboundWrk() {
+ try {
// 閬嶅巻鍏ュ簱鍙�
- for (DevpSlave.Sta inSta : devp.getInSta()) {
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- Short workNo = staProtocol.getWorkNo();
- // 灏哄妫�娴嬪紓甯�
- boolean back = false;
- String errMsg = "寮傚父锛�";
- if (staProtocol.isFrontErr()) {
- errMsg = errMsg+"鍓嶈秴闄愶紱";
- back = true;
- }
- if (staProtocol.isBackErr()) {
- errMsg = errMsg+"鍚庤秴闄�";
- back = true;
- }
- if (staProtocol.isHighErr()) {
- errMsg = errMsg+"楂樿秴闄�";
- back = true;
- }
- if (staProtocol.isLeftErr()) {
- errMsg = errMsg+"宸﹁秴闄�";
- back = true;
- }
- if (staProtocol.isRightErr()) {
- errMsg = errMsg+"鍙宠秴闄�";
- back = true;
- }
- if (staProtocol.isWeightErr()) {
- errMsg = errMsg+"瓒呴噸";
- back = true;
- }
- if (staProtocol.isBarcodeErr()) {
- errMsg = errMsg+"鎵爜澶辫触";
- back = true;
- }
- // 閫�鍥�
- if (back) {
- // led 寮傚父鏄剧ず
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
- if (ledThread != null) {
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
- }
- continue;
- }
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading()
- && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
- && staProtocol.isPakMk()) {
-
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
- if (barcodeThread == null) {
+ 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;
- }
- String barcode = barcodeThread.getBarcode();
- if(!Cools.isEmpty(barcode)) {
-// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
- if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)|| "00000000".equals(barcode)) {
- staProtocol.setWorkNo((short) 32002);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- // led 寮傚父鏄剧ず
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
- if (ledThread != null) {
- String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
- }
- continue;
- }
} else {
- staProtocol.setWorkNo((short) 32002);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- // led 寮傚父鏄剧ず
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
- if (ledThread != null) {
- String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
- }
- continue;
+ staProtocol = staProtocol.clone();
}
-
- // 杩囨护鐩樼偣/鎷ｆ枡/骞舵澘浠诲姟
-// if (null != wrkMastMapper.selectPickStepByBarcode(barcode)) {
-// continue;
-// }
-
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
-// WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
-// if (wrkMast != null) {
-// News.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
-// continue;
-// }
-
- try {
- LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
- SearchLocParam param = new SearchLocParam();
- param.setBarcode(barcode);
- param.setIoType(1);
- param.setSourceStaNo(inSta.getStaNo());
-// param.setLocType1(locTypeDto.getLocType1());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/pakin/loc/v1")
- .setJson(JSON.toJSONString(param))
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
- Integer code = jsonObject.getInteger("code");
- if (code.equals(200)) {
- StartupDto dto = jsonObject.getObject("data", StartupDto.class);
- // plc 澶勭悊
- barcodeThread.setBarcode("");
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
-
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
- } else if (code == 500){
- if (ledThread != null) {
- String errorMsg = jsonObject.getString("msg");
- if (!Cools.isEmpty(errorMsg)) {
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
- }
- }
- News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
- } else if (code == 700) {
- staProtocol.setWorkNo((short) 32002);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
- }
- }
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
- }
- }
- }
- }
-
- /**
- * wms鍏ュ簱
- * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 1 ==>> 2
- */
- @Deprecated
- public void generateStoreWrkFile0() {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鍏ュ簱鍙�
- for (DevpSlave.Sta inSta : devp.getInSta()) {
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- Short workNo = staProtocol.getWorkNo();
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading()
- && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
- && staProtocol.isPakMk()) {
-
+ 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 (staProtocol.isFrontErr()) {
- errMsg = "鍓嶈秴闄�";
- back = true;
- }
if (!back && staProtocol.isBackErr()) {
errMsg = "鍚庤秴闄�";
back = true;
}
if (!back && staProtocol.isHighErr()) {
- errMsg = "楂樿秴闄�";
+ errMsg = "瓒呴珮寮傚父";
back = true;
}
- if (!back && staProtocol.isLeftErr()) {
- errMsg = "宸﹁秴闄�";
+ 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.isWeightErr()) {
- errMsg = "瓒呴噸";
+ if (!back && staProtocol.isLeftErr()) {
+ errMsg = "宸﹁秴闄�";
back = true;
}
if (!back && staProtocol.isBarcodeErr()) {
- errMsg = "鎵爜澶辫触";
+ errMsg = "鎵爜寮傚父";
back = true;
}
-
// 閫�鍥�
if (back) {
- News.warn("鎵爜鍏ュ簱澶辫触锛寋}鍏ュ簱绔欏洜{}寮傚父锛屾墭鐩樺凡琚��鍥�", inSta.getStaNo(), errMsg);
- staProtocol.setWorkNo((short) 32002);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
// led 寮傚父鏄剧ず
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
if (ledThread != null) {
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
+ ledThread.error(errMsg);
}
- continue;
}
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
- if (wrkMast == null) { continue; }
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (result) {
- // 鏇存柊宸ヤ綔涓绘。
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
+ // 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 {
- News.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+ 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();
}
}
- /**
- * 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
- */
- public synchronized void stnToCrnStnPick(){
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
- for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
-
- // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
+ 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 (staProtocol.isAutoing()
- && staProtocol.isLoading()
- && staProtocol.isInEnable()
- // 0 - 9990 鎴栬�� 9996
- && (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990)
- && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
- && staProtocol.isPakMk()){
-
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
-// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
-// if (barcodeThread == null) {
-// continue;
-// }
-
- WrkMast wrkMast = null;
- if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
- wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
- if (null == wrkMast) {
+ 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;
}
- } else {
- continue;
}
-// if (staProtocol.getWorkNo() == 9996) {
-// String barcode = barcodeThread.getBarcode();
-// if(!Cools.isEmpty(barcode)) {
-// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
-// if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
-// staProtocol.setWorkNo((short) 32002);
-// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-//
-// // led 寮傚父鏄剧ず
-// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
-// if (ledThread != null) {
-// String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
-// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
-// }
-// continue;
-// }
-// } else {
-// staProtocol.setWorkNo((short) 32002);
-// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-//
-// // led 寮傚父鏄剧ず
-// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
-// if (ledThread != null) {
-// String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
-// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
-// }
-// continue;
-// }
-// wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
-// if (null == wrkMast) {
-// News.error("{}鏉＄爜閿欒锛屾殏鏃犳嫞鏂欎换鍔★紒", barcode);
-// }
-// }
- if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
- || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
- continue;
- }
-
- try {
- // 璁块棶 WMS 鑾峰彇鍏ュ簱搴撲綅
- LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
- SearchLocParam param = new SearchLocParam();
- param.setWrkNo(wrkMast.getWrkNo());
- param.setIoType(wrkMast.getIoType());
- param.setSourceStaNo(pickSta.getStaNo());
-// param.setLocType1(locTypeDto.getLocType1());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/pakin/loc/v1")
- .setJson(JSON.toJSONString(param))
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
- Integer code = jsonObject.getInteger("code");
- if (code.equals(200)) {
- StartupDto dto = jsonObject.getObject("data", StartupDto.class);
-
-// // 鑾峰彇鐩爣绔�
-// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
-// .eq("type_no", wrkMast.getIoType() - 50)
-// .eq("stn_no", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
-// .eq("crn_no", dto.getCrnNo()); // 鍫嗗灈鏈哄彿
-// StaDesc staDesc = staDescService.selectOne(wrapper);
-// if (Cools.isEmpty(staDesc)) {
-// News.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
-// continue;
-// }
-// // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
-// Integer staNo = staDesc.getCrnStn();
-
- // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
-// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
-// throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
-// }
- // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
- if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException(wrkMast.getWrkNo() + "淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
- }
-
- String sourceLocNo = wrkMast.getSourceLocNo().trim();
- // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
- wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
- wrkMast.setSourceStaNo(pickSta.getStaNo()); // 婧愮珯
- wrkMast.setStaNo(dto.getStaNo()); // 鐩爣绔�
- wrkMast.setCrnNo(dto.getCrnNo());
- wrkMast.setLocNo(dto.getLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
- wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
- }
- if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
- throw new CoolException(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
- }
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- News.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
- }
-
- } else if (code == 500){
- if (ledThread != null) {
- String errorMsg = jsonObject.getString("msg");
- if (!Cools.isEmpty(errorMsg)) {
- MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
- }
- }
- News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
- } else {
- staProtocol.setWorkNo((short) 32002);
- staProtocol.setStaNo(pickSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- String errorMsg = jsonObject.getString("msg");
-// String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
- MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
- }
- }
-
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
-
+ wrkMast.setLiftNo(1);
}
- }
-
- }
- }
-
- /**
- * 瀹炴椂鏇存柊鍦板浘
- */
- public synchronized void refreshMap() {
-
- }
-
- /**
- * 浠巖edis涓噸鍚换鍔�
- */
- public synchronized void restartTaskFromRedis() {
- HashMap<Object, Object> map = redisUtil.getRedis();
- for (Object key : map.keySet()) {
- if (key.toString().contains("lift_wrk_no_")) {//鎻愬崌鏈轰换鍔�
- LiftRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), LiftRedisCommand.class);
- if (redisCommand == null) {
+ Short finishWorkNo = staProtocol.getFinishWorkNo();
+ if (finishWorkNo == null) {
continue;
}
- Short liftNo = redisCommand.getLiftNo();
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
+
+ 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.getLiftProtocol();
- if (!liftProtocol.isIdle()) {
+
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
continue;
}
- //鎻愬崌鏈哄浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
- liftProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗘彁鍗囨満绾跨▼鍒嗛厤浠诲姟鍙�
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
- liftProtocol.setLiftLock(true);//鎻愬崌鏈洪攣瀹�
-
- }else {//鍥涘悜绌挎杞︿换鍔�
- ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class);
- if (redisCommand == null) {
+ if (!liftThread.isIdle()) {
continue;
}
- Short shuttleNo = redisCommand.getShuttleNo();
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
- if (shuttleThread == null) {
- continue;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (!shuttleProtocol.isIdle()) {
+
+ //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;
}
- //鍥涘悜绌挎杞﹀浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
- shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗗洓鍚戠┛姊溅绾跨▼鍒嗛厤浠诲姟鍙�
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
+
+ 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();
+ Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
+ if (data == null) {//redis鍦板浘鏁版嵁涓虹┖
+ //杞藉叆鍦板浘
+ List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
+
+ //瀛樺叆鏁版嵁搴�
+ basMap.setData(JSON.toJSONString(lists));
+ basMap.setCreateTime(new Date());
+ basMap.setUpdateTime(new Date());
+ if (!basMapService.updateById(basMap)) {
+ log.info("鍦板浘鏁版嵁瀛樺偍澶辫触");
+ }
+
+ //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
+ redisUtil.set(RedisKeyType.MAP.key + lev, JSON.toJSONString(basMap));
+ }
+
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
}
/**
* 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
*/
- public synchronized void shuttleIoInExecute() {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鍏ュ簱绔�
- for (DevpSlave.StaRack rackInStn : devp.getRackInStn()) {
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
-
- StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
- StaProtocol staProtocol105 = devpThread.getStation().get(105);
- staProtocol105.setWorkNo((short) 752);
- staProtocol105.setStaNo((short) 100);
-
- StaProtocol staProtocol106 = devpThread.getStation().get(106);
- staProtocol106.setWorkNo((short) 753);
- staProtocol106.setStaNo((short) 100);
-
- if (staProtocol == null) {
+ public synchronized void shuttleInExecute() {
+ try {
+ 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) {
continue;
- } else {
- staProtocol = staProtocol.clone();
}
- Short workNo = staProtocol.getWorkNo();
-
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (true || staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
- WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
- if (wrkMast != null) {
- if (wrkMast.getWrkSts() == 4 || wrkMast.getWrkSts() == 8) {
- ShuttleThread shuttleThread = null;
- HashMap<String, Object> searchIdleShuttle = null;
- if (wrkMast.getWrkSts() == 4) {
- //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅
- searchIdleShuttle = this.searchIdleShuttle(wrkMast);
- shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
- }else {
- //鐘舵��8锛屽洓鍚戠┛姊溅宸插湪鎻愬崌鏈哄彛锛岀瓑寰呭懡浠よ繘琛屽叆搴撴惉杩愬姩浣�
- Integer shuttleNo = wrkMast.getShuttleNo();//鍥涘悜绌挎杞﹀彿
- shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
- }
-
- if (shuttleThread == null) {
- continue;
- }
-
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (!shuttleProtocol.isIdle()) {
- continue;
- }
-
- wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
-
- //鍒嗛厤浠诲姟鍙�
- shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
- //鍒嗛厤婧愬簱浣�
- shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
-
- //鍒涘缓鍒嗛厤鍛戒护
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//鍏ュ嚭搴撴ā寮�
- String currentLocNo = shuttleProtocol.getCurrentLocNo();
- assignCommand.setSourceLocNo(currentLocNo);//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
-
- String locNo = wrkMast.getLocNo();//褰撳墠宸ヤ綔妗ｅ簱浣嶅彿
- Integer lev = Integer.parseInt(locNo.substring(locNo.length() - 2, locNo.length()));//褰撳墠宸ヤ綔妗ｅ簱浣嶅眰楂�
- Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));//灏忚溅褰撳墠灞傞珮
-
- //鑾峰彇鎻愬崌鏈�
- LiftSlave liftSlave = slaveProperties.getLift().get(0);
- //鎻愬崌鏈哄簱浣嶅彿
- String liftLocNo = liftSlave.getLiftLocNo(currentLev);
-
- if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
- //鍚屼竴灞傜洿鎺ュ彇璐ф棤闇�缁忚繃鎻愬崌鏈�
- //鐩存帴璁＄畻杞﹀埌鎻愬崌鏈哄彇璐у啀鍒板簱浣嶈矾寰勬寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo);
- if (wrkMast.getWrkSts() == 8) {
- //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
- BasDevp basDevp = basDevpService.selectById(109);//鑾峰彇鎻愬崌鏈轰俊鎭�
- ShuttleCommand moveCommand = new ShuttleCommand();
- moveCommand.setCommandWord((short) 1);
- moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
- moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());//鎻愬崌鏈哄彛浜岀淮鐮�
- moveCommand.setStartToDistDistance(1300);
- moveCommand.setMiddleToDistDistance(0);
- moveCommand.setRunDirection(commands.get(0).getRunDirection());
- moveCommand.setCommandEnd((short) 1);
- commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
- }
- assignCommand.setCommands(commands);
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(wrkMast.getLocNo());
- //鐩爣搴撲綅
- assignCommand.setLocNo(wrkMast.getLocNo());
- wrkMast.setWrkSts(9L);//灏忚溅鍏ュ簱涓�
- }else {
- //涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿
-
- //灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(liftLocNo);
- //鐩爣搴撲綅
- assignCommand.setLocNo(liftLocNo);
- assignCommand.setCommands(commands);
- wrkMast.setWrkSts(5L);//灏忚溅杩佺Щ鐘舵��
- }
-
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
- }
-
- }
- }
-
}
+ } catch (Exception e) {
+ e.printStackTrace();
}
-
}
- //鑾峰彇璧风偣-缁堢偣鎸囦护銆俶apType锛�1=銆嬫棤璐у湴鍥撅紝2=銆嬫湁璐у湴鍥�
- public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNO,Integer mapType) {
- //璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
- List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNO, mapType);
- List<ShuttleCommand> commands = new ArrayList<>();
- if (calc == null) {
- return null;
+ /**
+ * 鍏ュ簱-灏忚溅鎼叆搴撲腑
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ public boolean shuttleInExecuteStep1(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) {
+ //鑾峰彇鐩爣绔�
+ ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ 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 (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
+ 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;
+ }
+
+ //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}灏忚溅蹇欑涓�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁瀛樺湪绉诲姩浠诲姟
+ WrkMast hasMoveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
+ if (hasMoveWorking != null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}鍙峰皬杞︼紝瀛樺湪绉诲姩浠诲姟锛岀姝㈡淳鍙戜换鍔�", wrkMast.getShuttleNo());
+ return false;//瀛樺湪绉诲姩浠诲姟锛岀姝㈡墽琛屽叆搴撲换鍔�
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪杈撻�佺珯鐐瑰簱浣�
+ if (!shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
+ //灏忚溅涓嶅湪杈撻�佺珯鐐逛綅缃�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄨ緭閫佺珯鐐硅繘琛屽彇璐�
+ News.info("{}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(liftSta.getLocNo(), 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());
+ 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.INBOUND_SHUTTLE_RUN.sts);//灏忚溅鎼繍涓� 4.鎻愬崌鏈烘惉杩愬畬鎴� ==> 5.灏忚溅鎼繍涓�
+ 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;
}
-
- //鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
- //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
- for (ArrayList<NavigateNode> nodes : data) {
- //寮�濮嬭矾寰�
- NavigateNode startPath = nodes.get(0);
- //鐩爣璺緞
- NavigateNode endPath = nodes.get(nodes.size() - 1);
- Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
-
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 1);
-
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- command.setStartCodeNum(startCodeNum);
-
- command.setMiddleCodeNum((short) 1);
-
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- command.setDistCodeNum(distCodeNum);
-
- command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(0);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(0);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
- commands.add(command);
- }
- return commands;
- }
-
- //鑾峰彇璧风偣-涓偣-缁堢偣鎸囦护
- public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNO) {
- //璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
- List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//灏忚溅鏃犺揣锛岃蛋鍏ュ簱鍦板浘
- List<ShuttleCommand> commands = new ArrayList<>();
- if (calc == null) {
- return null;
- }
-
- //鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
- //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
- for (ArrayList<NavigateNode> nodes : data) {
- //寮�濮嬭矾寰�
- NavigateNode startPath = nodes.get(0);
- //鐩爣璺緞
- NavigateNode endPath = nodes.get(nodes.size() - 1);
- Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
-
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 1);
-
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- command.setStartCodeNum(startCodeNum);
-
- command.setMiddleCodeNum((short) 1);
-
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- command.setDistCodeNum(distCodeNum);
-
- command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(0);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(0);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
- commands.add(command);
- }
-
- //灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉￠《鍗囨寚浠�
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 2);
- command.setPalletLift((short) 1);
- command.setCommandEnd((short) 1);
- commands.add(command);
-
- //璁＄畻灏忚溅涓偣鍒扮粓鐐规墍闇�鍛戒护
- List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNO, 2);//灏忚溅鏈夎揣锛岃蛋鍑哄簱鍦板浘(鍑哄簱鍦板浘鏈変笓鐢ㄨ揣閬�)
- if (calc2 == null) {
- return null;
- }
-
- //鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
- for (ArrayList<NavigateNode> nodes : data2) {
- //寮�濮嬭矾寰�
- NavigateNode startPath = nodes.get(0);
- //鐩爣璺緞
- NavigateNode endPath = nodes.get(nodes.size() - 1);
- Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
-
- command = new ShuttleCommand();
- command.setCommandWord((short) 1);
-
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- command.setStartCodeNum(startCodeNum);
-
- command.setMiddleCodeNum((short) 1);
-
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- command.setDistCodeNum(distCodeNum);
-
- command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(0);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(0);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
- commands.add(command);
- }
-
- //灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉℃墭鐩樹笅闄嶆寚浠�
- command = new ShuttleCommand();
- command.setCommandWord((short) 2);
- command.setPalletLift((short) 2);
- command.setCommandEnd((short) 1);
- commands.add(command);
-
- return commands;
+ return true;
}
/**
* 鍑哄簱 ===>> 鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
*/
- public synchronized void shuttleIoOutExecute() {
- for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
- //鎻愬彇涓�鏉″緟鍑哄簱浠诲姟
- if (wrkMast != null) {
- String outStaLocNo = null;//鍑哄簱绔欑偣搴撲綅鍙�
- //鑾峰彇鍑哄簱绔欑偣
- for (DevpSlave devpSlave : slaveProperties.getDevp()) {
- for (DevpSlave.StaRack staOutRack : devpSlave.getRackOutStn()) {
- if (staOutRack.getStaNo().equals(wrkMast.getStaNo())) {
- //鍑哄簱绔欑偣鍜屽伐浣滄。鍑哄簱绔欑偣涓�鑷�
- outStaLocNo = CommonUtils.getLocNoFromRBL(staOutRack.getRow(), staOutRack.getBay(), staOutRack.getLev());
- }
- }
+// 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_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 step0 = this.liftInExecuteStep0(wrkMast);//璁惧涓婅蛋
+ if (!step0) {
+ continue;
}
- if (wrkMast.getWrkSts() == 21
- || wrkMast.getWrkSts() == 25
- || wrkMast.getWrkSts() == 31) {
- ShuttleThread shuttleThread = null;
- HashMap<String, Object> searchIdleShuttle = null;
- if (wrkMast.getWrkSts() == 21) {
- //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅
- searchIdleShuttle = this.searchIdleShuttle(wrkMast);
- shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
- }else if(wrkMast.getWrkSts() == 31 || wrkMast.getWrkSts() == 25) {
- //缁х画瀹屾垚涔嬪墠灏忚溅鏈畬鎴愮殑浠诲姟
- shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- }
+ boolean step1 = this.liftInExecuteStep1(wrkMast);//鎻愬崌鏈烘惉杩�
+ if (!step1) {
+ continue;
+ }
- if (shuttleThread == null) {
- continue;
- }
-
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- continue;
- }
-
- if (!shuttleProtocol.isIdle()) {
- continue;
- }
-
- if (outStaLocNo == null) {
- continue;
- }
-
- wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
- //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
- String currentLocNo = shuttleProtocol.getCurrentLocNo();
-
- //灏忚溅褰撳墠灞傞珮
- Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
- //鑾峰彇鎻愬崌鏈�
- LiftSlave liftSlave = slaveProperties.getLift().get(0);
- //鎻愬崌鏈哄簱浣嶅彿
- String liftLocNo = liftSlave.getLiftLocNo(currentLev);
-
- //鍒嗛厤浠诲姟鍙�
- shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
- //鍒嗛厤婧愬簱浣�
- shuttleProtocol.setSourceLocNo(currentLocNo);
-
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- //鍥涘悜绌挎杞﹀彿
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- //浠诲姟鍙�
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
- //鍏ュ嚭搴撴ā寮�
- assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
- assignCommand.setSourceLocNo(currentLocNo);
-
- if (wrkMast.getWrkSts() == 21) {
- //鍒ゆ柇灏忚溅鍜屽簱浣嶆槸鍚﹀湪鍚屼竴灞�
- if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
- //鍚屼竴灞�(灏嗗皬杞︾Щ鍔ㄥ埌璐х墿浣嶇疆)
-
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
- //鐩爣搴撲綅
- assignCommand.setLocNo(wrkMast.getSourceLocNo());
- assignCommand.setCommands(commands);
- wrkMast.setWrkSts(26L);//灏忚溅鎼繍涓�
- }else {
- //涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿(灏嗗皬杞︾Щ鍔ㄥ埌鎻愬崌鏈轰綅缃�)
-
- //灏忚溅鍒版彁鍗囨満鍙ｆ寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
- shuttleProtocol.setLocNo(liftLocNo);
- //鐩爣搴撲綅
- assignCommand.setLocNo(liftLocNo);
- assignCommand.setCommands(commands);
- wrkMast.setWrkSts(22L);//灏忚溅杩佺Щ鐘舵��
- }
- } else if (wrkMast.getWrkSts() == 25) {
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
- //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
- BasDevp basDevp = basDevpService.selectById(109);//鑾峰彇鎻愬崌鏈轰俊鎭�
- ShuttleCommand moveCommand = new ShuttleCommand();
- moveCommand.setCommandWord((short) 1);//灏忚溅绉诲姩鎸囦护瀛�
- moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//鎻愬崌鏈轰簩缁寸爜
- moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());
- moveCommand.setStartToDistDistance(1300);
- moveCommand.setMiddleToDistDistance(0);
- moveCommand.setRunDirection(commands.get(0).getRunDirection());
- moveCommand.setCommandEnd((short) 1);
- commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
-
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
- //鐩爣搴撲綅
- assignCommand.setLocNo(wrkMast.getSourceLocNo());
- assignCommand.setCommands(commands);
- wrkMast.setWrkSts(26L);//灏忚溅鎼繍涓�
- }
-
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
+ boolean step2 = this.liftInExecuteStep2(wrkMast);//瑙﹀彂鎼繍浠诲姟
+ if (!step2) {
+ continue;
}
}
+ } catch (Exception e) {
+ e.printStackTrace();
}
}
- /**
- * 鎼滅储绌洪棽涓旀渶杩戠殑鍥涘悜绌挎杞�(浠ュ伐浣滄。鐩爣搴撲綅涓哄熀鐐硅绠楁渶杩戜笖绌洪棽鐨勮溅)
- */
- public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
- HashMap<String, Object> map = new HashMap<>();
- String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//搴撲綅鍙�
- LocMast locMast = locMastService.queryByLoc(locNo);//鎵惧埌搴撲綅璁板綍
- String lay = locNo.substring(locNo.length() - 2, locNo.length());//褰撳墠宸ヤ綔妗ｅ簱浣嶅眰楂�
- ShuttleThread recentShuttle = null;//褰撳墠璺濈鏈�杩戠殑鍥涘悜绌挎杞︾嚎绋�
-
- for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
- //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- continue;
- }
- if (!shuttleProtocol.isIdle()) {
- continue;
+ 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;
}
- String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
- String shuttleLocNoLay = shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length());//搴撲綅鍙峰搴斿眰楂�
- if (lay.equals(shuttleLocNoLay)) {
- //褰撳墠鍥涘悜绌挎杞﹀拰宸ヤ綔妗ｄ换鍔″湪鍚屼竴灞傦紝鍒欒皟閰嶈杞﹁締
- map.put("sameLay", true);//鍚屼竴灞�
- map.put("result", shuttleThread);
- return map;
+ Map<Integer, StaProtocol> station = devpThread.getStation();
+ StaProtocol staProtocol = station.get(wrkMast.getSourceStaNo());
+ if (staProtocol == null) {
+ return false;
}
-
- //鏇存柊褰撳墠鏈�杩戠殑鍥涘悜绌挎杞�
- if (recentShuttle == null) {
- recentShuttle = shuttleThread;
- }else {
- ShuttleProtocol recentShuttleProtocol = recentShuttle.getShuttleProtocol();//鐩墠鏈�杩戠┛姊溅
- String recentShuttleLocNo = recentShuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
- String recentShuttleLocNoLay = recentShuttleLocNo.substring(recentShuttleLocNo.length() - 2, recentShuttleLocNo.length());//搴撲綅鍙峰搴斿眰楂�
-
- int recentShuttleLocNoLayInt = Integer.parseInt(recentShuttleLocNoLay);
- int layInt = Integer.parseInt(lay);
- int shuttleLocNoLayInt = Integer.parseInt(shuttleLocNoLay);
- int i = Math.abs(layInt - recentShuttleLocNoLayInt);//宸ヤ綔妗ｆゼ灞傚噺鏈�杩戠┛姊溅妤煎眰锛屽彇缁濆鍊�
- int j = Math.abs(layInt - shuttleLocNoLayInt);//宸ヤ綔妗ｆゼ灞傚噺褰撳墠绌挎杞︽ゼ灞傦紝鍙栫粷瀵瑰��
- if (i < j) {
- //鏇存柊鏈�杩戠┛姊溅
- recentShuttle = shuttleThread;
- } else if (i == j) {
- //妤煎眰鐩稿悓鎯呭喌
- //鎵捐窛绂诲嚭搴撶偣鏈�杩戠殑杞�
-
- if (!(recentShuttleProtocol.isIdle() && shuttleProtocol.isIdle())) {
- //鍙鏈変竴杈嗚溅涓嶆槸绌洪棽鍒欎笉杩涜璋冨害
- map.put("sameLay", false);//涓嶅悓灞�
- map.put("result", null);
- return map;
- }
-
- //鑾峰彇鎻愬崌鏈�
- LiftSlave liftSlave = slaveProperties.getLift().get(0);
- //鎻愬崌鏈哄簱浣嶅彿
- String recentLiftLocNo = liftSlave.getLiftLocNo(recentShuttleLocNoLayInt);
- String shuttleLiftLocNo = liftSlave.getLiftLocNo(shuttleLocNoLayInt);
-
- //褰撳墠鏈�杩戝洓鍚戠┛姊溅鍒版彁鍗囨満璺緞
- List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentShuttleLocNo, recentLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
- //褰撳墠妤煎眰鍥涘悜绌挎杞﹀埌鎻愬崌鏈鸿矾寰�
- List<NavigateNode> shuttlePath = NavigateUtils.calc(shuttleLocNo, shuttleLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
- //鍒ゆ柇鍝竴涓矾寰勬渶鐭�
- if (shuttlePath.size() < recentShuttlePath.size()) {
- //濡傛灉褰撳墠妤煎眰鐨勮溅璺緞鏇村皬锛屽垯鏇存柊鏈�杩戠┛姊溅
- recentShuttle = shuttleThread;
- }
+ 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;
+ }
+ if (Cools.isEmpty(barcode) || "?".endsWith(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
+ 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;
+ }
+ }
+
+ //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;
+ }
+ }
+
+ short staNo = 1012;
+ if (wrkMast.getSourceStaNo() == 1022) {
+ staNo = 1023;
+ } else if (wrkMast.getSourceStaNo() == 1031) {
+ staNo = 1032;
+ }
+
+ staProtocol = staProtocol.clone();
+ staProtocol.setStaNo(staNo);
+ staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
+
+ wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMast.setModiTime(now);
+ if (wrkMastService.updateById(wrkMast)) {
+ setLedData(Integer.parseInt(wrkMast.getWmsWrkNo()), wrkMast.getStaNo());
+ return false;
+ }
+ return false;
}
- map.put("sameLay", false);//涓嶅悓灞�
- map.put("result", recentShuttle);
- return map;
+ 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;
}
/**
* 鍥涘悜绌挎杞︿换鍔″畬鎴�
*/
public synchronized void shuttleFinished() {
- for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
- //鑾峰彇鍥涘悜绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- continue;
- }
-
- //鍥涘悜绌挎杞︾姸鎬佷负绛夊緟纭
- if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //浠诲姟瀹屾垚绛夊緟纭
- && shuttleProtocol.getTaskNo() != 0) {
- //灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
- if (wrkMast != null) {
- switch (wrkMast.getWrkSts().intValue()) {
- case 9://9.灏忚溅鍏ュ簱鎼繍涓� ==> 14.鍏ュ簱瀹屾垚
- wrkMast.setWrkSts(14L);
- break;
- case 5://5.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙� ==> 6.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴�
- wrkMast.setWrkSts(6L);
- break;
- case 22://22.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙� ==> 23.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴�
- wrkMast.setWrkSts(23L);
- break;
- case 26://26.灏忚溅鍑哄簱鎼繍涓� ==> 27.灏忚溅鍑哄簱鎼繍瀹屾垚
- wrkMast.setWrkSts(27L);
- break;
- default:
- }
-
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- //浠诲姟鍙锋竻闆�
- shuttleProtocol.setTaskNo((short) 0);
- //婧愬簱浣嶆竻闆�
- shuttleProtocol.setSourceLocNo(null);
- //鐩爣搴撲綅娓呴浂
- shuttleProtocol.setLocNo(null);
- //鏍囪澶嶄綅
- shuttleProtocol.setPakMk(true);
- //浠诲姟鎸囦护娓呴浂
- shuttleProtocol.setAssignCommand(null);
- News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
- } else {
- News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
- }
- }
-
- }
-
- //鍥涘悜绌挎杞︾姸鎬佷负鍏呯數鐘舵��
- if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id //鍏呯數鏍囪瘑
- && shuttleProtocol.getTaskNo() != 0) {
- //鏌ヨ鏄惁鏈夊厖鐢典换鍔�
- WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
- if (wrkCharge != null) {
- switch (wrkCharge.getWrkSts().intValue()) {
- case 52://鍥涘悜绌挎杞﹁縼绉诲埌鎻愬崌鏈哄彛
- wrkCharge.setWrkSts(53L);//杩佺Щ瀹屾垚
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
- break;
- case 56:
- if (shuttleProtocol.getBatteryPower() == 1000) {
- wrkCharge.setWrkSts(60L);//鍏呯數瀹屾垚
- }
- break;
- default:
- }
-
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- if (wrkCharge.getWrkSts() == 60) {
- //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- }
- //浠诲姟鍙锋竻闆�
- shuttleProtocol.setTaskNo((short) 0);
- //婧愬簱浣嶆竻闆�
- shuttleProtocol.setSourceLocNo(null);
- //鐩爣搴撲綅娓呴浂
- shuttleProtocol.setLocNo(null);
- //鏍囪澶嶄綅
- shuttleProtocol.setPakMk(true);
- //浠诲姟鎸囦护娓呴浂
- shuttleProtocol.setAssignCommand(null);
- News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
- } else {
- News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
- }
- }
- }
-
- }
- }
-
- /**
- * 鎻愬崌鏈轰换鍔�
- */
- public synchronized void liftIoExecute() {
- for (LiftSlave liftSlave : slaveProperties.getLift()) {
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
- if (liftThread == null) {
- continue;
- }
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null) {
- continue;
- }
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庣┖闂茬姸鎬�
- if (!liftProtocol.isIdle()) {
- continue;
- }
-
- //鎼滅储鏄惁鏈夊緟澶勭悊鐨勪换鍔�
- WrkMast wrkMast = wrkMastMapper.selectLiftStep262327();
- if (wrkMast == null) {
- continue;
- }
-
- //缁欐彁鍗囨満鍒嗛厤浠诲姟
- liftProtocol.setLiftLock(true);//閿佸畾鎻愬崌鏈�
- liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
-
- //鍛戒护list
- ArrayList<LiftCommand> commands = new ArrayList<>();
-
- if (wrkMast.getWrkSts() == 2) {
- //宸ヤ綔妗ｇ洰鏍囧簱浣嶅彿
- String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
- //宸ヤ綔妗ｇ洰鏍囧簱浣嶆ゼ灞�
- int wrkMastLocNoLey = Integer.parseInt(wrkMastLocNo.substring(wrkMastLocNo.length() - 2, wrkMastLocNo.length()));
-
- //鎻愬崌鏈哄綋鍓嶆ゼ灞�
- int liftLev = liftProtocol.getLev().intValue();
- if (liftLev != 1) {
- //鎻愬崌鏈轰笉鍦�1灞�
- LiftCommand command1 = new LiftCommand();
- command1.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command1.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command1.setRun((short) 1);//鍗囬檷
- command1.setDistPosition((short) 1);//鐩爣妤煎眰1灞�
- command1.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
- commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
- }
-
- //杈撻�佺嚎灏嗚揣鐗╄繍杩涙潵
- LiftCommand command2 = new LiftCommand();
- command2.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command2.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command2.setRun((short) 6);//杈撻�佺嚎杩愪綔
- command2.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
- commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
-
- //鎻愬崌鏈哄墠寰�鐩爣妤煎眰
- LiftCommand command3 = new LiftCommand();
- command3.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command3.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command3.setRun((short) 1);//鍗囬檷
- command3.setDistPosition((short) wrkMastLocNoLey);//宸ヤ綔妗ｇ洰鏍囨ゼ灞�
- command3.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
- commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
-
- //鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓
- //杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓
- LiftCommand command4 = new LiftCommand();
- command4.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command4.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command4.setRun((short) 3);//杈撻�佺嚎杩愪綔
- command4.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
- commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
- }else {
- liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//璁剧疆鍥涘悜绌挎杞﹀彿
-
- //鎵惧埌鍥涘悜绌挎杞︾殑绾跨▼
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- if (shuttleThread == null) {
- continue;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ try {
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︿俊鎭�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
continue;
}
- //褰撳墠绌挎杞﹀簱浣嶅彿
- String currentLocNo = shuttleProtocol.getCurrentLocNo();
- //褰撳墠绌挎杞︽ゼ灞�
- int currentLocNoLey = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
+ //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) {
+ //灏嗕换鍔℃。鏍囪涓哄畬鎴�
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
+ if (wrkMast != null) {
+ if (wrkMast.getWrkSts() == WrkStsType.INBOUND_SHUTTLE_RUN.sts) {
+ //5.灏忚溅鎼繍涓� ==> 9.鍏ュ簱瀹屾垚
+ wrkMast.setWrkSts(WrkStsType.COMPLETE_INBOUND.sts);
+ shuttleThread.setSyncTaskNo(0);
+ } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN.sts) {
+ //102.灏忚溅鎼繍涓� ==> 103.灏忚溅鎼繍瀹屾垚
+ wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts);
+ shuttleThread.setSyncTaskNo(0);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) {
+ //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())) {
+ continue;//灏忚溅鏈埌杈剧洰鏍囧眰
+ }
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
+ shuttleThread.setSyncTaskNo(0);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
+ //310.灏忚溅绉诲姩涓� ==> 311.灏忚溅绉诲姩瀹屾垚
+ 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.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_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;
+ }
- //宸ヤ綔妗ｇ洰鏍囧簱浣嶅彿
- String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
- //宸ヤ綔妗ｇ洰鏍囧簱浣嶆ゼ灞�
- int wrkMastLocNoLey = Integer.parseInt(wrkMastLocNo.substring(wrkMastLocNo.length() - 2, wrkMastLocNo.length()));
-
- //鎻愬崌鏈哄綋鍓嶆ゼ灞�
- int liftLev = liftProtocol.getLev().intValue();
- if (liftLev != currentLocNoLey) {
- //涓嶅悓妤煎眰
- LiftCommand command1 = new LiftCommand();
- command1.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command1.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command1.setRun((short) 1);//鍗囬檷
- command1.setDistPosition((short) currentLocNoLey);//鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)
- command1.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
- commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
+ if (wrkMastService.updateById(wrkMast)) {
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
+ } else {
+ News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
+ }
+ } else {
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
+ if (object != null) {
+ ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class);
+ if (!assignCommand.getAuto()) {
+ //鎵嬪姩妯″紡
+ //宸ヤ綔鍙锋竻闆�
+ shuttleThread.setTaskNo(0);
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
+ }
+ }
+ }
}
- //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵
- LiftCommand command2 = new LiftCommand();
- command2.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command2.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command2.setRun((short) 6);//杈撻�佺嚎杩愪綔
- command2.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
- commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
-
- if (liftLev != currentLocNoLey) {
- //鎻愬崌鏈哄墠寰�鐩爣妤煎眰
- LiftCommand command3 = new LiftCommand();
- command3.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command3.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command3.setRun((short) 1);//鍗囬檷
- command3.setDistPosition((short) wrkMastLocNoLey);//宸ヤ綔妗ｇ洰鏍囨ゼ灞�
- command3.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
- commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
+ /**
+ * 鎵ц绉诲簱浠诲姟
+ */
+ 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, WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts, WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts));
+ for (WrkMast wrkMast : wrkMasts) {
+ boolean stepTake = this.shuttleLocMoveExecuteTake(wrkMast);//绉诲簱浠诲姟-灏忚溅鍙栬揣涓�
+ if (!stepTake) {
+ continue;
}
- //鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲嚭鍘�
- //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩鍑哄幓
- LiftCommand command4 = new LiftCommand();
- command4.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command4.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command4.setRun((short) 3);//杈撻�佺嚎杩愪綔
- command4.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+ boolean stepPut = this.shuttleLocMoveExecutePut(wrkMast);//绉诲簱浠诲姟-灏忚溅鍙栬揣涓�
+ if (!stepPut) {
+ continue;
+ }
- commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
+ boolean stepComplete = this.shuttleLocMoveComplete(wrkMast);//绉诲簱浠诲姟-浠诲姟瀹屾垚
+ if (!stepComplete) {
+ continue;
+ }
+
}
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
- switch (wrkMast.getWrkSts().intValue()) {
- case 2://2.璁惧涓婅蛋
- wrkMast.setWrkSts(3L);//3.鎻愬崌鏈烘惉杩愪腑
- break;//3.鎻愬崌鏈烘惉杩愪腑
- case 6://6.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴�
- wrkMast.setWrkSts(7L);//7.鎻愬崌鏈鸿縼绉诲皬杞︿腑
- break;
- case 23://23.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴�
- wrkMast.setWrkSts(24L);//24.鎻愬崌鏈鸿縼绉诲皬杞︿腑
- break;
- case 27://27.灏忚溅鍑哄簱鎼繍瀹屾垚
- wrkMast.setWrkSts(28L);//28.鎻愬崌鏈烘惉杩愪腑
- break;
- }
+ /**
+ * 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 shuttleLocMoveExecuteTake(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅绉诲姩鑷崇珯鐐�-----------------------------------------//
+ Date now = new Date();
- //鎵�闇�鍛戒护缁勫悎瀹屾瘯锛屾洿鏂版暟鎹簱锛屾彁浜ゅ埌绾跨▼鍘诲伐浣�
- LiftAssignCommand assignCommand = new LiftAssignCommand();
- assignCommand.setCommands(commands);
- assignCommand.setLiftNo(liftProtocol.getLiftNo());
- assignCommand.setTaskNo(liftProtocol.getTaskNo());
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ //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.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) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽皬杞︽湭鍒拌揪鍙栬揣浣嶇疆", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
+ return false;
+ }
+
+ 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");
+
+ 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;
+ }
+
+ 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;
+ }
+
+ if (shuttleProtocol.getHasLift()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽皬杞﹀浜庨《鍗囩姸鎬�", wrkMast.getWrkNo());
+ return false;
+ }
+
+ 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)) {
+ return false;
+ }
+ return false;
+ }
+ return true;
}
/**
* 鎻愬崌鏈轰换鍔″畬鎴�
*/
public synchronized void liftFinished() {
- for (LiftSlave liftSlave : slaveProperties.getLift()) {
- //鑾峰彇鎻愬崌鏈轰俊鎭�
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null) {
- continue;
- }
-
- //鎻愬崌鏈轰负绛夊緟纭
- if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
- //灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
- if (wrkMast != null) {
- switch (wrkMast.getWrkSts().intValue()) {
- case 3://3.鎻愬崌鏈烘惉杩愪腑 ==> 4.鎻愬崌鏈烘惉杩愬畬鎴�
- wrkMast.setWrkSts(4L);
- break;
- case 7://7.鎻愬崌鏈鸿縼绉诲皬杞︿腑 ==> 8.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴�
- wrkMast.setWrkSts(8L);
- break;
- case 24://24.鎻愬崌鏈鸿縼绉诲皬杞︿腑 ==> 25.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴�
- wrkMast.setWrkSts(25L);
- break;
- case 28://28.鎻愬崌鏈烘惉杩愪腑 ==> 29.鎻愬崌鏈烘惉杩愬畬鎴�
- wrkMast.setWrkSts(29L);
- wrkMast.setWrkSts(34L);//34.鍑哄簱瀹屾垚锛屾殏鏃跺厛鐩存帴瀹屾垚鍑哄簱宸ヤ綔妗ｏ紝鍚庣画闇�瑕佹牴鎹緭閫佺嚎缁欏嚭鐨勭姸鎬佹潵纭畾34.鍑哄簱瀹屾垚鐘舵��
- break;
- default:
- }
-
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
- //浠诲姟鍙锋竻闆�
- liftProtocol.setTaskNo((short) 0);
- //鏍囪澶嶄綅
- liftProtocol.setPakMk(true);
- //浠诲姟鎸囦护娓呴浂
- liftProtocol.setAssignCommand(null);
- //鎻愬崌鏈鸿В閿�
- liftProtocol.setLiftLock(false);
- News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", 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());
- }
+ try {
+ 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;
}
- //鏌ヨ鏄惁鏈夊厖鐢典换鍔�
- WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
- if (wrkCharge != null) {
- switch (wrkCharge.getWrkSts().intValue()) {
- case 54://鎻愬崌鏈烘惉杩愪腑
- wrkCharge.setWrkSts(55L);//鎻愬崌鏈烘惉杩愬畬鎴�
- break;
- default:
- }
-
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
- //浠诲姟鍙锋竻闆�
- liftProtocol.setTaskNo((short) 0);
- //鏍囪澶嶄綅
- liftProtocol.setPakMk(true);
- //浠诲姟鎸囦护娓呴浂
- liftProtocol.setAssignCommand(null);
- //鎻愬崌鏈鸿В閿�
- liftProtocol.setLiftLock(false);
- News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", 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());
+ //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());
+ }
}
}
}
+ } catch (Exception e) {
+ e.printStackTrace();
}
}
/**
- * 褰撳墠搴撲綅缁勬槸鍚﹀瓨鍦ㄧ┖闂插皬杞�
+ * 杈撻�佺嚎浠诲姟瀹屾垚
*/
- public Integer hasCar(String locNo) {
- for (SteSlave ste : slaveProperties.getSte()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
- SteProtocol steProtocol = steThread.getSteProtocol();
- BasSte basSte = basSteService.selectById(ste.getId());
- if (Cools.isEmpty(steProtocol, basSte)) { continue; }
- if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true))
- && basSte.getBay() == Utils.getBay(locNo)
- && basSte.getLev() == Utils.getLev(locNo)) {
- return ste.getId();
- }
- }
- return null;
- }
-
- /**
- * 褰撳墠搴撲綅缁勬槸鍚﹀瓨鍦ㄥ叾浠栧皬杞�
- */
- public Integer existOtherSte(String locNo, Integer steNo) {
- Integer otherSteNo = null;
- for (SteSlave ste : slaveProperties.getSte()) {
- if (ste.getId().equals(steNo)) { continue; }
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (steProtocol.isEnable()) {
- BasSte basSte = basSteService.selectById(ste.getId());
- if (basSte != null) {
- if ((Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true))
- && basSte.getBay() == Utils.getBay(locNo)
- && basSte.getLev() == Utils.getLev(locNo))
- ||
- (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
- && steProtocol.getBay() == Utils.getBay(locNo)
- && steProtocol.getLev() == Utils.getLev(locNo))
- ) {
- otherSteNo = ste.getId();
- break;
+ public synchronized void devpFinished() {
+ try {
+ 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) {
+ 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());
+ }
+ }
+ } 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());
+ }
}
}
}
- }
- return otherSteNo;
- }
-
- /**
- * 褰撳墠搴撲綅缁勬槸鍚﹀瓨鍦ㄧ┖闂插皬杞�
- */
- public Integer hasCarOfIdle(String locNo) {
- for (SteSlave ste : slaveProperties.getSte()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (steProtocol.isIdle()) {
- if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
- && steProtocol.getBay() == Utils.getBay(locNo)
- && steProtocol.getLev() == Utils.getLev(locNo)) {
- return steProtocol.getSteNo().intValue();
- }
- }
- }
- return null;
- }
-
- /**
- * 鏌ユ壘褰撳墠搴撲綅鏈�閫傚悎鐨勭┛姊溅鏉ヤ綔涓�
- */
- public SteThread queryIdleCar(WrkMast wrkMast) {
- List<BasSte> basStes = basSteService.selectList(new EntityWrapper<>());
- int val = 0;
- SteThread result = null;
- for (BasSte basSte : basStes) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (!steProtocol.isIdle()) { continue; }
-// if (steProtocol.getRow() == 1) { continue; }
- String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
- // 濡傛灉鍦ㄥ悓涓�涓簱浣嶇粍
- if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
- && steProtocol.getBay().intValue() == Utils.getBay(locNo)
- && steProtocol.getLev().intValue() == Utils.getLev(locNo)) {
- return steThread;
- }
- LocMast locMast = locMastService.selectById(locNo);
- int lev = locMast.getLev1();
- int bay = locMast.getBay1();
- int levAbs = Math.abs(lev - steProtocol.getLev());
- int bayAbs = Math.abs(bay - steProtocol.getBay());
- if (val == 0) {
- val = levAbs + bayAbs;
- result = steThread;
- } else {
- if ((levAbs + bayAbs) < val) {
- val = levAbs + bayAbs;
- result = steThread;
- }
- }
- }
- return result;
- }
-
- public SteThread queryIdleCar(CrnProtocol crnProtocol) {
- List<BasSte> basStes = basSteService.selectList(new EntityWrapper<>());
- int val = 0;
- SteThread result = null;
- for (BasSte basSte : basStes) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (!steProtocol.isIdle()) { continue; }
- if (steProtocol.getRow() == 1) { continue;}
- int lev = crnProtocol.getLevel();
- int bay = crnProtocol.getBay();
- int levAbs = Math.abs(lev - steProtocol.getLev());
- int bayAbs = Math.abs(bay - steProtocol.getBay());
- if (val == 0) {
- val = levAbs + bayAbs;
- result = steThread;
- } else {
- if ((levAbs + bayAbs) < val) {
- val = levAbs + bayAbs;
- result = steThread;
- }
- }
- }
- return result;
- }
-
- /**
- * 璁╁皬杞﹁璧拌嚦寰呮満浣�
- */
- public void letCarBeWaiting(WrkMast wrkMast, Integer steNo, String locNo) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { return; }
- if (steProtocol.isIdle()) {
-
- // 濡傛灉澶勪簬寰呮満浣�
- if (steProtocol.locaType.equals(SteLocaType.A_WAITING) || steProtocol.locaType.equals(SteLocaType.B_WAITING)) {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞�
- wrkMast.setWrkSts(3L);
- wrkMast.setSteNo(steNo);
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- } else {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkMast.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 浠诲姟妯″紡: 琛岃蛋鑷冲緟鏈轰綅
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
-
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞�
- wrkMast.setSteNo(steNo);
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
- }
-
- public void letCarBeWaiting(WrkCharge wrkCharge, Integer steNo) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { return; }
-
- if (!basSteService.updatePakMk(steNo, "Y")) {
- News.error("淇敼绌挎杞︿綔涓氱姸鎬� 澶辫触锛侊紒锛岀┛姊溅={}", steNo);
- return;
- }
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue())); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
-
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞�
- wrkCharge.setSteNo(steNo);
- wrkCharge.setModiTime(new Date());
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
- }
-
- /**
- * 璁╁皬杞︿粠 杩滅偣 ====>> 绉诲姩鍒拌繎鐐�
- * 绛夊緟鍫嗗灈鏈烘惉杩�
- */
- public void letCarBeReady(WrkMast wrkMast, Integer steNo, String locNo) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { return; }
- if (steProtocol.isIdle()) {
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkMast.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
-
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞�
- wrkMast.setSteNo(steNo);
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
-
- /**
- * 璁╁皬杞︿粠 杩滅偣 ====>> 绉诲姩鍒拌繎鐐�
- * 绛夊緟鍫嗗灈鏈烘惉杩�
- */
- public void letCarBeReady(WrkCharge wrkCharge, Integer steNo) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { return; }
- if (steProtocol.isIdle()) {
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
-
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞�
- wrkCharge.setSteNo(steNo);
- wrkCharge.setModiTime(new Date());
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
+ } catch (Exception e) {
+ e.printStackTrace();
}
}
@@ -1730,6 +1849,15 @@
public void recErr() {
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);
}
@@ -1741,30 +1869,30 @@
private void recShuttleErr() {
Date now = new Date();
for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ // 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
continue;
}
if (shuttleProtocol.getTaskNo() != 0) {
//鏈変换鍔�
- BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue());
+ BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo());
// 鏈夊紓甯�
if (latest == null) {
- if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
- WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
+ if (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) {
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
if (wrkMast == null) {
continue;
}
- BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
- String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName();
- BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
- null, // 缂栧彿
+ 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
wrkMast.getWrkNo(), // 宸ヤ綔鍙�
now, // 鍙戠敓鏃堕棿
null, // 缁撴潫鏃堕棿
@@ -1777,14 +1905,15 @@
wrkMast.getSourceStaNo(), // 婧愮珯
wrkMast.getSourceLocNo(), // 婧愬簱浣�
wrkMast.getBarcode(), // 鏉＄爜
- (int) shuttleProtocol.getStatusErrorCode(), // 寮傚父鐮�
+ errorCode, // 寮傚父鐮�
errName, // 寮傚父
1, // 寮傚父鎯呭喌
now, // 娣诲姞鏃堕棿
null, // 娣诲姞浜哄憳
now, // 淇敼鏃堕棿
null, // 淇敼浜哄憳
- "浠诲姟涓紓甯�" // 澶囨敞
+ "浠诲姟涓紓甯�", // 澶囨敞
+ JSON.toJSONString(shuttleProtocol) // 绯荤粺鐘舵�佹暟鎹�
);
if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
@@ -1792,55 +1921,7 @@
}
} else {
// 寮傚父淇
- if (shuttleProtocol.getStatusErrorCode() == null || shuttleProtocol.getStatusErrorCode() == 0) {
- latest.setEndTime(now);
- latest.setUpdateTime(now);
- latest.setStatus(2);
- if (!basShuttleErrLogService.updateById(latest)) {
- News.error("鍥涘悜绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
- }
- }
- }
- }else {
- //鏃犱换鍔�
- BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
- // 鏈夊紓甯�
- if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
- // 璁板綍鏂板紓甯�
- if (latest == null || (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
- BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
- String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName();
- BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
- null, // 缂栧彿
- null, // 宸ヤ綔鍙�
- now, // 鍙戠敓鏃堕棿
- null, // 缁撴潫鏃堕棿
- null, // 宸ヤ綔鐘舵��
- null, // 鍏ュ嚭搴撶被鍨�
- shuttleSlave.getId(), // 鍥涘悜绌挎杞�
- null, // plc
- null, // 鐩爣搴撲綅
- null, // 鐩爣绔�
- null, // 婧愮珯
- null, // 婧愬簱浣�
- null, // 鏉＄爜
- (int)shuttleProtocol.getStatusErrorCode(), // 寮傚父鐮�
- errName, // 寮傚父
- 1, // 寮傚父鎯呭喌
- now, // 娣诲姞鏃堕棿
- null, // 娣诲姞浜哄憳
- now, // 淇敼鏃堕棿
- null, // 淇敼浜哄憳
- "鏃犱换鍔″紓甯�" // 澶囨敞
- );
- if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
- News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
- }
- }
- // 鏃犲紓甯�
- } else {
- // 寮傚父淇
- if (latest != null && latest.getStatus() == 1) {
+ if (shuttleProtocol.getErrorCode() == null || Integer.parseInt(shuttleProtocol.getErrorCode()) == 0) {
latest.setEndTime(now);
latest.setUpdateTime(now);
latest.setStatus(2);
@@ -1853,255 +1934,73 @@
}
}
- // -------------------------------------------------------------------------------
-
/**
- * 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
+ * 鎻愬崌鏈哄紓甯镐俊鎭褰�
*/
- public void storeEmptyPlt(){
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻绌烘澘鍏ュ簱鍙�
- for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
- // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- // 绔欑偣鏉′欢鍒ゆ柇
- if (staProtocol.isAutoing()
- && staProtocol.isLoading()
- && staProtocol.isInEnable()
- && staProtocol.isEmptyMk()
- && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() >= 9990 || staProtocol.getWorkNo() <= 9999))
- && staProtocol.isPakMk()) {
-
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- String barcode = null;
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
- if (barcodeThread != null) {
- String barcode0 = barcodeThread.getBarcode();
- if(!Cools.isEmpty(barcode0)) {
-// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", emptyInSta.getBarcode(), barcode0);
- if(!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
- barcode = barcode0;
- }
- }
- }
-
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
-
- try {
- LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-
- SearchLocParam param = new SearchLocParam();
- param.setIoType(10);
- if (!Cools.isEmpty(barcode)) {
- param.setBarcode(barcode);
- }
- param.setSourceStaNo(emptyInSta.getStaNo());
-// param.setLocType1(locTypeDto.getLocType1());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/pakin/loc/v1")
- .setJson(JSON.toJSONString(param))
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- Integer code = jsonObject.getInteger("code");
- if (code.equals(200)) {
- StartupDto dto = jsonObject.getObject("data", StartupDto.class);
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
- } else {
- if (ledThread != null) {
- String errorMsg = jsonObject.getString("msg");
- if (!Cools.isEmpty(errorMsg)) {
- MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
- }
- }
- News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
- }
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
-
- }
-
-
- }
- }
- }
-
- /**
- * 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
- */
- public void ledExecute() {
- for (LedSlave led : slaveProperties.getLed()) {
- // 鑾峰彇杈撻�佺嚎plc绾跨▼
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
- // 鍛戒护闆嗗悎
- List<LedCommand> commands = new ArrayList<>();
- // 宸ヤ綔妗ｉ泦鍚�
- List<WrkMast> wrkMasts = new ArrayList<>();
- for (Integer staNo : led.getStaArr()) {
- // 鑾峰彇鍙夎溅绔欑偣
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- // 鑾峰彇宸ヤ綔妗ｆ暟鎹�
- WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
- if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
- wrkMasts.add(wrkMast);
- // 缁勮鍛戒护
- LedCommand ledCommand = new LedCommand();
- ledCommand.setWorkNo(wrkMast.getWrkNo());
- ledCommand.setIoType(wrkMast.getIoType());
- // 鍑哄簱妯″紡
- switch (wrkMast.getIoType()) {
- case 101:
- ledCommand.setTitle("鍏ㄦ澘鍑哄簱");
- break;
- case 103:
- ledCommand.setTitle("鎷ｆ枡鍑哄簱");
- break;
- case 104:
- ledCommand.setTitle("骞舵澘鍑哄簱");
- break;
- case 107:
- ledCommand.setTitle("鐩樼偣鍑哄簱");
- break;
- case 110:
- ledCommand.setTitle("绌烘澘鍑哄簱");
- ledCommand.setEmptyMk(true);
- break;
- default:
- News.error("浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
- break;
- }
- ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
- ledCommand.setLocNo(wrkMast.getLocNo());
- ledCommand.setStaNo(wrkMast.getStaNo());
- if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
- List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
- wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
- }
- commands.add(ledCommand);
- }
- Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
- // 鑾峰彇LED绾跨▼
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
- // 鐩稿悓宸ヤ綔鍙烽泦鍚堝垯杩囨护
- if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
+ private void recLiftErr() {
+ Date now = new Date();
+ 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;
}
- // 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
- if (!commands.isEmpty()) {
- if (led.getId()>3){
- if (!MessageQueue.offer(SlaveType.Led, led.getId()-3, new Task(1, commands))) {
- log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId()-3, led.getIp(), led.getPort());
- continue;
- }else {
- ledThread.setLedMk(false);
- }
- }else {
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
- log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
- continue;
- }else {
- ledThread.setLedMk(false);
- }
- }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ continue;
}
- try {
- // 淇敼涓绘。led鏍囪
- for (WrkMast wrkMast : wrkMasts) {
- wrkMast.setOveMk("Y");
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｅけ璐�");
+ if (liftProtocol.getTaskNo() != 0) {
+ //鏈変换鍔�
+ BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(slave.getId(), liftProtocol.getTaskNo());
+ // 鏈夊紓甯�
+ if (latest == null) {
+ if (liftProtocol.getErrorCode() != null && !liftProtocol.getErrorCode().equals("0")) {
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
+ if (wrkMast == null) {
+ continue;
+ }
+
+ 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
+ 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�
+ slave.getId(), // 鎻愬崌鏈�
+ null, // plc
+ wrkMast.getLocNo(), // 鐩爣搴撲綅
+ wrkMast.getStaNo(), // 鐩爣绔�
+ wrkMast.getSourceStaNo(), // 婧愮珯
+ wrkMast.getSourceLocNo(), // 婧愬簱浣�
+ wrkMast.getBarcode(), // 鏉＄爜
+ null, // 寮傚父鐮�
+ errName, // 寮傚父
+ 1, // 寮傚父鎯呭喌
+ now, // 娣诲姞鏃堕棿
+ null, // 娣诲姞浜哄憳
+ now, // 淇敼鏃堕棿
+ null, // 淇敼浜哄憳
+ "浠诲姟涓紓甯�", // 澶囨敞
+ 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:{}]", slave.getId(), errName);
+ }
}
- }
-
- // 鏇存柊绾跨▼褰撳墠宸ヤ綔鍙烽泦鍚�
- ledThread.setWorkNos(workNos);
-
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
-
- }
- }
-
- /**
- * 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
- */
- public void ledReset() {
- for (LedSlave led : slaveProperties.getLed()) {
-
- // 鑾峰彇杈撻�佺嚎plc绾跨▼
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
- // 鍛戒护闆嗗悎
- boolean reset = true;
- for (Integer staNo : led.getStaArr()) {
- // 鑾峰彇鍙夎溅绔欑偣
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if (staProtocol == null) {
- continue;
- }
- if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
- reset = false;
- break;
- }
- }
- // 鑾峰彇led绾跨▼
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
- // led鏄剧ず榛樿鍐呭
- if (reset && !ledThread.isLedMk()) {
- ledThread.setLedMk(true);
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
- News.error(" - {}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
} else {
-
- }
- }
- }
- for (LedSlave led : slaveProperties.getLed()) {
- // 鑾峰彇杈撻�佺嚎plc绾跨▼
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
- // 鍛戒护闆嗗悎
- boolean reset = true;
- for (Integer staNo : led.getStaArr()) {
- // 鑾峰彇鍙夎溅绔欑偣
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if (staProtocol == null) { continue; }
- if (staProtocol.getWorkNo() != 0) {
- reset = false;
- break;
- }
- }
- // 鑾峰彇led绾跨▼
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
- // led鏄剧ず榛樿鍐呭
- if (reset && !ledThread.isLedMk()) {
- ledThread.setLedMk(true);
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
- News.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+ // 寮傚父淇
+ 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:{}]", slave.getId(), latest.getId());
+ }
+ }
}
}
}
@@ -2111,40 +2010,73 @@
* 鍥涘悜绌挎杞︾數閲忔娴� ===>> 鍙戣捣鍏呯數
*/
public synchronized void loopShuttleCharge() {
- for (DevpSlave devpSlave : slaveProperties.getDevp()) {
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
+ try {
+
+ List<BasShuttleCharge> charges = basShuttleChargeService.selectList(new EntityWrapper<BasShuttleCharge>().orderBy("charge_id", true));
+ if (charges.isEmpty()) {
+ return;//鏃犲厖鐢垫々
+ }
+
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
continue;
}
//鍒ゆ柇褰撳墠灏忚溅鏄惁婊¤冻闇�瑕佸厖鐢佃姹�
- if (!shuttleProtocol.isRequireCharge()) {
+ if (!shuttleThread.isRequireCharge()) {
continue;
}
- WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
- if (wrkCharge != null) {//宸叉湁鍏呯數浠诲姟
+ WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
+ if (wrkMast != null) {//宸叉湁鍏呯數浠诲姟
continue;
}
- ShuttleChargeType shuttleCharge = null;
- String locNo;
- for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
- switch (chargeType.id) {
- case 1:
- if (devpThread.charge0 == false) {
- ShuttleChargeType first = ShuttleChargeType.FIRST;
- locNo = first.locNo;
- if (wrkChargeService.selectWorkingOfCharge(first.id) == null) {
- shuttleCharge = first;
- }
+ //灏忚溅鎵�鍦ㄦゼ灞�
+ int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
+ BasShuttleCharge shuttleCharge = null;
+
+ //鎼滅储灏忚溅鎵�鍦ㄦゼ灞傛湁娌℃湁鍏呯數妗�
+ for (BasShuttleCharge charge : charges) {
+ if (lev != Utils.getLev(charge.getLocNo())) {
+ continue;//灏忚溅鍜屽厖鐢垫々涓嶅湪鍚屼竴灞�
+ }
+
+ if (charge.getStatus() == 0) {
+ continue;//鍏呯數妗╄绂佺敤
+ }
+
+ //灏忚溅鍜屽厖鐢垫々鍦ㄥ悓涓�灞�
+ if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
+ shuttleCharge = charge;
+ break;
+ }
+ }
+
+ if (shuttleCharge == null) {
+ //鍚屾ゼ灞傛病鏈夋壘鍒板厖鐢垫々锛屾壘鍙敤鍏呯數妗�
+ //灏忚溅鍚屾ゼ灞傛病鏈夊厖鐢垫々锛屽彧瑕佸厖鐢垫々鍙敤灏辩敓鎴愬厖鐢典换鍔�
+ for (BasShuttleCharge charge : charges) {
+ if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
+ //鍒ゆ柇褰撳墠鍏呯數妗╂槸鍚︽湁灏忚溅锛屽鏈夊皬杞︼紝涓嶅垎閰嶈鍏呯數妗�
+ ArrayList<String> locs = new ArrayList<>();
+ locs.add(charge.getLocNo());
+ Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs);
+ 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;
}
+
+ if (charge.getStatus() == 0) {
+ continue;//鍏呯數妗╄绂佺敤
+ }
+
+ shuttleCharge = charge;
break;
- default:
+ }
}
}
@@ -2152,679 +2084,328 @@
continue;
}
- String chargeLocNo = shuttleCharge.locNo;
- wrkCharge = new WrkCharge();
- wrkCharge.setShuttleNo(shuttle.getId());
- wrkCharge.setCharge(shuttleCharge.id);
- wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
- wrkCharge.setWrkSts(51L); // 21.鍑嗗鍏呯數
- wrkCharge.setIoPri((double) 10);
- wrkCharge.setLocNo(chargeLocNo);
- wrkCharge.setMemo("charge");
- wrkCharge.setAppeTime(new Date());
- if (!wrkChargeService.insert(wrkCharge)) {
+ String chargeLocNo = shuttleCharge.getLocNo();
+ wrkMast = new WrkMast();
+ wrkMast.setMk(String.valueOf(shuttleCharge.getChargeId()));
+ wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id));
+ wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts);
+ wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.鍏呯數
+ wrkMast.setIoPri((double) 999);
+ wrkMast.setLocNo(chargeLocNo);
+ wrkMast.setShuttleNo(shuttle.getId());
+ wrkMast.setMemo("charge");
+ wrkMast.setAppeTime(new Date());
+ if (!wrkMastService.insert(wrkMast)) {
News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟澶辫触!!!", shuttle.getId());
continue;
}
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//鍏呯數涓�
News.info("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟鎴愬姛!!!", shuttle.getId());
}
+ } catch (Exception e) {
+ e.printStackTrace();
}
-
-
}
/**
* 鎵ц鍥涘悜绌挎杞﹀厖鐢典换鍔�
*/
public synchronized void executeShuttleCharge() {
- WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
- if (wrkCharge == null) {
- return;
- }
-
-
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
- if (shuttleThread == null) {
- return;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- return;
- }
-
- //褰撳墠绌挎杞﹀簱浣嶅彿
- String currentLocNo = shuttleProtocol.getCurrentLocNo();
- //灏忚溅褰撳墠灞傞珮
- Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
- //鑾峰彇鎻愬崌鏈�
- LiftSlave liftSlave = slaveProperties.getLift().get(0);
- //鎻愬崌鏈哄簱浣嶅彿
- String liftLocNo = liftSlave.getLiftLocNo(currentLev);
- //鍏呯數搴撲綅鍙�
- String chargeLocNo = wrkCharge.getLocNo();
- //鍏呯數搴撲綅灞傞珮
- Integer chargeLocNoLev = Integer.parseInt(chargeLocNo.substring(chargeLocNo.length() - 2, chargeLocNo.length()));
-
- if (wrkCharge.getWrkSts() == 51 || wrkCharge.getWrkSts() == 55) {
- if (currentLev == chargeLocNoLev) {
- //鍚屼竴灞傛棤闇�缁忚繃鎻愬崌鏈�
- //鐩存帴璁＄畻杞﹀埌鍏呯數搴撲綅
- //鑾峰彇灏忚溅鍒板厖鐢靛簱浣嶈矾寰勬寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id);
- //杩涜鍏呯數涓�
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode((short) 9);//鍏呯數
- assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
- assignCommand.setCharge(true);//鍏呯數浠诲姟
-
- //鍒涘缓鍏呯數鎸囦护
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 5);//鍏呯數
- command.setShuttleNo(shuttleProtocol.getShuttleNo());
- command.setChargeSwitch((short) 1);//寮�濮嬪厖鐢�
- command.setCommandEnd((short) 1);
- commands.add(command);
-
- //鎸囦护闆嗗垎閰�
- assignCommand.setCommands(commands);
-
- wrkCharge.setWrkSts(56L);//鍏呯數涓姸鎬�
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
- }else {
- //涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿
-
- //灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(liftLocNo);
-
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode((short) 9);//鍏呯數
- assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
- assignCommand.setCharge(true);//鍏呯數浠诲姟
- //鐩爣搴撲綅
- assignCommand.setLocNo(liftLocNo);
- //婧愬簱浣�
- assignCommand.setSourceLocNo(currentLocNo);
- assignCommand.setCommands(commands);
- wrkCharge.setWrkSts(52L);//灏忚溅杩佺Щ鐘舵��
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
- }
-
- }else if(wrkCharge.getWrkSts() == 53){
- //灏忚溅宸茬粡杈惧埌鎻愬崌鏈哄彛
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
- if (liftThread == null) {
- return;
- }
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null) {
- return;
- }
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庣┖闂茬姸鎬�
- if (!liftProtocol.isIdle()) {
- return;
- }
-
- //缁欐彁鍗囨満鍒嗛厤浠诲姟
- liftProtocol.setLiftLock(true);//閿佸畾鎻愬崌鏈�
- liftProtocol.setTaskNo(wrkCharge.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
- liftProtocol.setShuttleNo(wrkCharge.getShuttleNo().shortValue());//璁剧疆鍥涘悜绌挎杞﹀彿
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
-
- //鍛戒护list
- ArrayList<LiftCommand> commands = new ArrayList<>();
-
- //鎻愬崌鏈哄綋鍓嶆ゼ灞�
- int liftLev = liftProtocol.getLev().intValue();
- if (liftLev != currentLev) {
- //绌挎杞﹀拰鎻愬崌鏈哄浜庝笉鍚屾ゼ灞�
- LiftCommand command1 = new LiftCommand();
- command1.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command1.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command1.setRun((short) 1);//鍗囬檷
- command1.setDistPosition(currentLev.shortValue());//鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)
- command1.setLiftLock(true);//閿佸畾鎻愬崌鏈�
- commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
- }
-
- //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵
- LiftCommand command2 = new LiftCommand();
- command2.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command2.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command2.setRun((short) 6);//杈撻�佺嚎杩愪綔
- command2.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
- commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
-
- //鎻愬崌鏈哄墠寰�鐩爣妤煎眰
- LiftCommand command3 = new LiftCommand();
- command3.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command3.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command3.setRun((short) 1);//鍗囬檷
- command3.setDistPosition(chargeLocNoLev.shortValue());//鍏呯數搴撲綅鐩爣妤煎眰
- command3.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
- commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
-
- //鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲嚭鍘�
- //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩鍑哄幓
- LiftCommand command4 = new LiftCommand();
- command4.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command4.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command4.setRun((short) 3);//杈撻�佺嚎杩愪綔
- command4.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
- commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
-
- wrkCharge.setWrkSts(54L);//鎻愬崌鏈烘惉杩愪腑
- //鎵�闇�鍛戒护缁勫悎瀹屾瘯锛屾洿鏂版暟鎹簱锛屾彁浜ゅ埌绾跨▼鍘诲伐浣�
- LiftAssignCommand assignCommand = new LiftAssignCommand();
- assignCommand.setCommands(commands);
- assignCommand.setLiftNo(liftProtocol.getLiftNo());
- assignCommand.setTaskNo(liftProtocol.getTaskNo());
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
- }
-
- } else if (wrkCharge.getWrkSts() == 56) {
- //鍏呯數涓�
- //鍒ゆ柇灏忚溅鏄惁鍏呮弧鐢甸噺锛屾弧鐢�1000鎴栫數鍘�54V浠ヤ笂
- if (shuttleProtocol.getBatteryPower() >= 1000 || shuttleProtocol.getCurrentVoltage() >= 540) {
- //鍏呮弧锛屾柇寮�鍏呯數
- List<ShuttleCommand> commands = new ArrayList<>();
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode((short) 0);
- assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
- assignCommand.setCharge(true);
-
- //鍒涘缓鍏呯數鎸囦护
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 5);//鍏呯數
- command.setShuttleNo(shuttleProtocol.getShuttleNo());
- command.setChargeSwitch((short) 2);//鏂紑鍏呯數
- command.setCommandEnd((short) 1);
- commands.add(command);
-
- //鎸囦护闆嗗垎閰�
- assignCommand.setCommands(commands);
-
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
-
- if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) {
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
- }
- }
-
- }
-
- /**
- * 杞鍏呯數妗╂槸鍚︽湁绌洪棽灏忚溅
- */
- @Deprecated
- public synchronized void queryChargeLocOfComplete() {
- // 涓庡厖鐢典换鍔′笉鍚屾杩涜
- if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) { return; }
- if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) { return; }
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- // 妫�绱㈠厖鐢垫々
- for (SteChargeType value : SteChargeType.values()) {
- Integer steNo = basSteService.hasCarOfLocNo(value.locNo);
- if (steNo != null) {
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- BasSte basSte = basSteService.selectById(steNo);
- if (Cools.isEmpty(steProtocol, basSte)) {
- continue;
- }
- if (steProtocol.getCharge() < 99) {
- continue;
- }
- if (steProtocol.getMode() == 0) {
- continue;
- }
- if (!steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
- continue;
- }
-// // 1鍙峰厖鐢垫々
-// if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
-// continue;
-// }
-// // 2鍙峰厖鐢垫々
-// if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
-// continue;
-// }
-// // 3鍙峰厖鐢垫々
-// if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
-// continue;
-// }
-// // 灏忚溅鏄惁澶勪簬鍏呯數鐘舵��
-// if (steProtocol.getChargeStatus() == 1) {
-// continue;
-// }
- // case 1 : 鑷姩鍏呯數寮� 棣堢數 脳
- // case 2 : 鑷姩鍏呯數寮� 婊＄數 鉁�
- // case 3 : 鑷姩鍏呯數鍏� 棣堢數 鉁�
- // case 4 : 鑷姩鍏呯數鍏� 婊＄數 鉁�
- if (basSte.getAutoCharge().equals("Y")
- && steProtocol.getCharge() < Float.parseFloat(basSte.getChargeLine())) {
- continue;
- }
-
- WrkCharge wrkCharge = wrkChargeService.selectWorking(steNo, WrkChargeType.reset);
-
- if (wrkCharge == null) {
- // 寮�濮嬬┛姊溅澶嶄綅浠诲姟
- wrkCharge = new WrkCharge();
- wrkCharge.setSteNo(steNo);
- wrkCharge.setWrkNo(commonService.getChargeWorkNo(6));
- wrkCharge.setWrkSts(41L); // 41.灏忚溅鍑嗗澶嶄綅
- wrkCharge.setCrnNo(2); // 鍥哄畾2鍙峰爢鍨涙満
- wrkCharge.setIoPri((double) 10);
- wrkCharge.setSourceLocNo(value.locNo);
- wrkCharge.setLocNo(basSte.getIdleLoc());
- wrkCharge.setMemo("reset");
- wrkCharge.setAppeTime(new Date());
- if (!wrkChargeService.insert(wrkCharge)) {
- News.error("淇濆瓨{}鍙风┛姊溅澶嶄綅浠诲姟澶辫触!!!", steNo);
- } else {
- break;
- }
- }
- }
- }
- }
-
- /**
- * 灏忚溅浠庡厖鐢垫々 鑷� 寰呮満搴撲綅
- */
- @Deprecated
- public synchronized void steFromChargeToIdleLoc() {
- WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.reset);
- if (wrkCharge == null) { return; }
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
- SteProtocol steProtocol = steThread.getSteProtocol();
- BasSte basSte = basSteService.selectById(wrkCharge.getSteNo());
- if (Cools.isEmpty(steProtocol, basSte)) {
- return;
- }
- // 鎼繍鑷冲浐瀹氶�氶亾
- if (wrkCharge.getWrkSts() == 41L) {
- // 鎼皬杞﹁嚦灏忚溅璧板悜閫氶亾
- List<String> channel = slaveProperties.getChannel();
- for (String channelLocNo : channel) {
- Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
- if (null != otherSte) {
- News.warn("{}鍙峰皬杞︾Щ鍏}搴撲綅缁勫け璐ワ紝鍘熷洜锛氬瓨鍦▄}鍙风┛姊溅锛�", wrkCharge.getSteNo(), channelLocNo, otherSte);
- } else {
- // 鍥哄畾鍫嗗灈鏈�
- int crnNo = 1;
- if (null != wrkMastMapper.selectWorkingByCrn(crnNo)) {
- return;
- }
-
- LocMast channelLoc = locMastService.selectById(channelLocNo);
-
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) { continue; }
- // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(steProtocol.getRow()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), false).shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
- News.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
- steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), false), channelLoc.getBay1(), channelLoc.getLev1());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 41.灏忚溅鍑嗗澶嶄綅 => 42.鍚婅溅鎼繍
- Date now = new Date();
- wrkCharge.setWrkSts(42L);
- wrkCharge.setCrnStrTime(now);
- wrkCharge.setModiTime(now);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼澶嶄綅浠诲姟鐘舵�� 41.灏忚溅鍑嗗澶嶄綅 => 42.鍚婅溅鎼繍 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
- break;
- }
-
- }
- }
- } else if (wrkCharge.getWrkSts() == 43L) {
- // 灏忚溅琛岄┒閫氶亾
- if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(wrkCharge.getSteNo()); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.BACK_ORIGIN); // 鍘诲乏绔�
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
- if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 43.灏忚溅鍒拌揪 ===> 44.灏忚溅璧拌
- wrkCharge.setWrkSts(44L);
- Date now = new Date();
- wrkCharge.setCrnEndTime(now);
- wrkCharge.setModiTime(now);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼澶嶄綅浠诲姟鐘舵�� 43.灏忚溅鍒拌揪 ===> 44.灏忚溅璧拌 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
- }
- } else if (wrkCharge.getWrkSts() == 45L) {
- if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
- return;
- }
-
- LocMast idleLoc = locMastService.selectById(basSte.getIdleLoc());
-
- Integer otherSte = existOtherSte(idleLoc.getLocNo(), wrkCharge.getSteNo());
- if (null != otherSte) {
- News.warn("{}鍙峰皬杞︾Щ鍏}搴撲綅缁勫け璐ワ紝鍘熷洜锛氬瓨鍦▄}鍙风┛姊溅锛�", wrkCharge.getSteNo(), idleLoc.getLocNo(), otherSte);
- } else {
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) { return; }
- // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(idleLoc.getLocNo(), true).shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(idleLoc.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(idleLoc.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
- News.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
- steThread.modifyPos(Utils.getGroupRow(idleLoc.getLocNo(), true), idleLoc.getBay1(), idleLoc.getLev1());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 45.灏忚溅寰呮惉 => 46.鏀捐嚦寰呮満浣�
- Date now = new Date();
- wrkCharge.setWrkSts(46L);
- wrkCharge.setCrnStrTime(now);
- wrkCharge.setModiTime(now);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 45.灏忚溅寰呮惉 => 46.鏀捐嚦寰呮満浣� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
- }
-
- }
- }
- }
-
- public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";
- public synchronized void demo() {
- if (Cools.isEmpty(crn2DemoLocs)) {
- crn2DemoLocs = locMastService.getDemoNextLoc(2);
- }
- for (CrnSlave crn : slaveProperties.getCrn()) {
- if (!crn.getDemo()) {
- continue;
- }
- // 蹇呴』涓烘紨绀虹姸鎬�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) {
- continue;
- }
-
- // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
-
- // filter
- if (wrkChargeService.selectCount(new EntityWrapper<WrkCharge>()
- .eq("crn_no", crn.getId()).between("wrk_sts", 31, 36)) > 0) {
- continue;
- }
-
- SteThread steThread = queryIdleCar(crnProtocol);
- if (Cools.isEmpty(steThread)) {
- News.warn("娌℃湁绌洪棽鐨勫皬杞﹁繘琛屾紨绀哄姛鑳�");
- continue;
- }
- int steNo = steThread.getSlave().getId();
- SteProtocol steProtocol = steThread.getSteProtocol();
- BasSte basSte = basSteService.selectById(steNo);
- if (Cools.isEmpty(steProtocol, basSte)) { continue; }
-
- // 鍙湁褰撶┛姊溅绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (steProtocol.isIdle()) {
-
- String locNo = null;
- Iterator<String> iterator = crn2DemoLocs.iterator();
- while (iterator.hasNext()) {
- String next = iterator.next();
- if (!Cools.isEmpty(this.hasCar(next))) { continue; }
- String lastLoc = crn2LastLoc;
- if (!Cools.isEmpty(lastLoc)) {
- if (!lastLoc.substring(2, 7).equals(next.substring(2, 7))
- || !Utils.getGroupRow(lastLoc, true).equals(Utils.getGroupRow(next, true))) {
- locNo = next;
- iterator.remove();
- break;
- } else {
- iterator.remove();
- }
- } else {
- locNo = next;
- iterator.remove();
- break;
- }
-
- }
- if (!Cools.isEmpty(locNo)) {
- crn2LastLoc = locNo;
- }
-
- News.info("{}鍙峰爢鍨涙満瀵箋}搴撲綅杩涜婕旂ず", crn.getId(), locNo);
-
- String sourceLocNo = Utils.getLocNo(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev());
-
- WrkCharge wrkCharge = new WrkCharge();
- wrkCharge.setCrnNo(crn.getId());
- wrkCharge.setSteNo(steNo);
- wrkCharge.setWrkNo(commonService.getChargeWorkNo(5));
- wrkCharge.setWrkSts(31L); // 31.鐢熸垚婕旂ずID
- wrkCharge.setIoPri((double) 10);
- wrkCharge.setSourceLocNo(sourceLocNo);
- wrkCharge.setLocNo(locNo);
- wrkCharge.setMemo("demo");
- if (!wrkChargeService.insert(wrkCharge)) {
- News.error("鐢熸垚婕旂ず浠诲姟澶辫触锛屽爢鍨涙満鍙凤細{}锛屽皬杞︼細{}锛屾簮搴撲綅锛歿}锛岀洰鏍囧簱浣嶏細{}", crn.getId(), steNo, sourceLocNo, locNo);
- }
- }
- }
- }
- }
-
- /**
- * 婕旂ず鍙栬揣
- */
- private void steMoveDemo(CrnSlave slave, CrnProtocol crnProtocol) {
- // 鑾峰彇宸ヤ綔妗ｄ俊鎭�
- WrkCharge wrkCharge = wrkChargeService.selectOne(new EntityWrapper<WrkCharge>().eq("crn_no", slave.getId())
- .in("wrk_sts", 31, 33, 35));
- if (null == wrkCharge) {
- return;
- }
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (null == steProtocol) { return; }
- if (steProtocol.isIdle()) {
- // 31.鐢熸垚婕旂ずID
- if (wrkCharge.getWrkSts() == 31L) {
- this.letCarBeReady(wrkCharge, steProtocol.getSteNo().intValue());
- wrkCharge.setWrkSts(32L);
- wrkCharge.setModiTime(new Date());
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼婕旂ず浠诲姟{}宸ヤ綔妗� 31.鐢熸垚婕旂ずID ==>> 32.灏忚溅璧拌 澶辫触!", wrkCharge.getWrkNo());
- }
- // 33.灏忚溅寰呮惉
- } else if (wrkCharge.getWrkSts() == 33L) {
- LocMast locMast = locMastService.selectById(wrkCharge.getLocNo());
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
- News.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
- steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 33.灏忚溅寰呮惉 => 34.鍚婅溅鎼繍
- Date now = new Date();
- wrkCharge.setWrkSts(34L);
- wrkCharge.setCrnStrTime(now);
- wrkCharge.setModiTime(now);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼婕旂ず浠诲姟{}宸ヤ綔妗� 33.灏忚溅寰呮惉 => 34.鍚婅溅鎼繍 澶辫触!", wrkCharge.getWrkNo());
- }
- }
- // 35.灏忚溅灏辩华
- } else if (wrkCharge.getWrkSts() == 35L) {
-
- int steNo = steProtocol.getSteNo().intValue();
- if (!basSteService.updatePakMk(steNo, "Y")) {
- News.error("淇敼绌挎杞︿綔涓氱姸鎬� 澶辫触锛侊紒锛岀┛姊溅={}", steNo);
- return;
- }
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- SteTaskModeType originByLoc = SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue());
- if (originByLoc.equals(SteTaskModeType.GO_ORIGIN)) {
- originByLoc = SteTaskModeType.BACK_ORIGIN;
- } else if (originByLoc.equals(SteTaskModeType.BACK_ORIGIN)) {
- originByLoc = SteTaskModeType.GO_ORIGIN;
- } else {
- return;
- }
- steCommand.setTaskMode(originByLoc);
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
-
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 35.灏忚溅灏辩华 => 36.灏忚溅璧拌
- wrkCharge.setWrkSts(36L);
- wrkCharge.setModiTime(new Date());
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼婕旂ず浠诲姟{}宸ヤ綔妗� 35.灏忚溅灏辩华 => 36.灏忚溅璧拌 澶辫触!", wrkCharge.getWrkNo());
- }
- }
- }
- }
-
- }
- /**
- * 鍑哄叆搴撴ā寮忓垏鎹�
- */
- public synchronized void outAndIn() {
try {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- for (DevpSlave.Sta inSta : devp.getInSta()) {
- Thread.sleep(500);
- boolean a=true,b=true;
- List<WrkMast> wrkMasts = wrkMastMapper.selectAll(inSta.getStaNo());
- if (Cools.isEmpty(wrkMasts)){
- b=false;
- }else {
- for (WrkMast wrkMast:wrkMasts){
- if (wrkMast.getSourceStaNo() > wrkMast.getStaNo()){
- a=false;
- break;
- }
- }
- }
- switch (inSta.getStaNo()) {
- case 102://1F
- if (a && b){
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 11));
- }else if (b){
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 12));
- }else {
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 10));
- }
- break;
- case 202://2F
- if (a && b){
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 21));
- }else if (b){
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 22));
- }else {
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 20));
- }
- break;
- case 302://3F
- if (a && b){
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 31));
- }else if (b){
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 32));
- }else {
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 30));
- }
- break;
- }
+ //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) {
+ continue;
+ }
+
+ boolean result1 = this.executeShuttleChargeStepGoToChargeSta(wrkMast);//灏忚溅绛夊緟鍏呯數妗�
+ if (!result1) {
+ continue;
+ }
+
+ boolean result2 = this.executeShuttleChargeStepArrivalChargeSta(wrkMast);//灏忚溅鍒拌揪鍏呯數妗�
+ if (!result2) {
+ continue;
+ }
+
+ boolean result3 = this.executeShuttleChargeStepStartCharge(wrkMast);//灏忚溅寮�濮嬪厖鐢�
+ if (!result3) {
+ continue;
+ }
+
+ boolean result4 = this.executeShuttleChargeStepStopCharge(wrkMast);//灏忚溅鍋滄鍏呯數
+ if (!result4) {
+ continue;
+ }
+
+ boolean result5 = this.executeShuttleChargeStepLeaveCharge(wrkMast);//灏忚溅绂诲紑鍏呯數妗�
+ if (!result5) {
+ continue;
}
}
-
} catch (Exception e) {
e.printStackTrace();
}
}
+ /**
+ * 灏忚溅鍓嶅線鍏呯數妗�
+ */
+ private synchronized boolean executeShuttleChargeStepGoToChargeSta(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.NEW_CHARGE.sts) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
+ //灏忚溅鍦ㄥ厖鐢垫々浣嶇疆
+ wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);
+ wrkMast.setModiTime(new Date());
+ wrkMastService.updateById(wrkMast);
+ return false;
+ }
+
+ //璋冨害灏忚溅鍘诲厖鐢垫々
+ boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getLocNo(), wrkMast.getShuttleNo());
+ if (!dispatched) {
+ return false;
+ }
+
+ wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN.sts);//灏忚溅鍓嶅線鍏呯數妗�
+ wrkMast.setModiTime(new Date());
+ wrkMastService.updateById(wrkMast);
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅鍒拌揪鍏呯數妗�
+ */
+ private synchronized boolean executeShuttleChargeStepArrivalChargeSta(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN.sts) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //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) {
+ return false;
+ }
+
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
+ return false;
+ }
+
+ //灏忚溅鍦ㄥ厖鐢垫々浣嶇疆
+ wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);//灏忚溅鍒拌揪鍏呯數妗�
+ wrkMast.setModiTime(new Date());
+ wrkMastService.updateById(wrkMast);
+
+ return false;
+ }
+ return true;
+ }
+
+ //灏忚溅寮�濮嬪厖鐢�
+ private synchronized boolean executeShuttleChargeStepStartCharge(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.CHARGE_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;
+ }
+
+ //灏忚溅宸茬粡鍦ㄥ厖鐢垫々浣嶇疆锛屼笅鍙戝厖鐢靛懡浠�
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//鍑哄簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+
+ List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
+ assignCommand.setCommands(commands);//杩愯鍛戒护
+
+ wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_WORKING.sts);
+ wrkMast.setModiTime(new Date());
+ if (!wrkMastService.updateById(wrkMast)) {
+ return false;
+ }
+
+ //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_POWER_START);//瑙﹀彂閫氱煡
+ return false;
+ }
+ return true;
+ }
+
+ //灏忚溅鍋滄鍏呯數
+ private synchronized boolean executeShuttleChargeStepStopCharge(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
+ 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.isChargingCompleted()) {
+ return false;
+ }
+
+ //灏忚溅宸茬粡鍦ㄥ厖鐢垫々浣嶇疆锛屼笅鍙戝仠姝㈠厖鐢靛懡浠�
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//鍑哄簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+
+ List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
+ assignCommand.setCommands(commands);//杩愯鍛戒护
+
+ //涓嬪彂浠诲姟
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+ return false;
+ }
+ return true;
+ }
+
+ //灏忚溅绂诲紑鍏呯數妗�
+ private synchronized boolean executeShuttleChargeStepLeaveCharge(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_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;
+ }
+
+ BasShuttleCharge basShuttleCharge = basShuttleChargeService.selectOne(new EntityWrapper<BasShuttleCharge>().eq("charge_id", wrkMast.getMk()));
+ if (basShuttleCharge == null) {
+ return false;
+ }
+
+ //璋冨害灏忚溅鍘诲緟鏈轰綅
+ boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo());
+ if (!dispatched) {
+ return false;
+ }
+
+ wrkMast.setWrkSts(WrkStsType.COMPLETE_CHARGE.sts);
+ wrkMast.setModiTime(new Date());
+ if (wrkMastService.updateById(wrkMast)) {
+ return false;
+ }
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 鎵ц灏忚溅绉诲簱浠诲姟
+ */
+ public synchronized void shuttleMoveExecute() {
+ try {
+ //鏌ヨ灏忚溅绉诲簱浠诲姟
+ List<WrkMast> wrkMasts = wrkMastService.selectShuttleMoveWrk();
+ for (WrkMast wrkMast : wrkMasts) {
+ if ("TRANSPORT_LIFT".equals(wrkMast.getMk())) {
+ this.shuttleMoveExecuteTransportLift(wrkMast);
+ } else if ("TRANSPORT_DEVP".equals(wrkMast.getMk())) {
+ this.shuttleMoveExecuteTransportNoLift(wrkMast);
+ } else {
+ shuttleMoveService.shuttleMoveExecuteMove(wrkMast);
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ 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;
+ }
+ }
+ //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()));
+ }
+ }
+
+
+ /**
+ * 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
+ */
+ public synchronized void ioConvert() {
+ for (LedSlave led : slaveProperties.getLed()) {
+ NormalLedThread ledThread = (NormalLedThread) SlaveConnection.get(SlaveType.Led, led.getId());
+ ledThread.reset();
+ }
+ 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;
+ }
+ }
+ } else {
+ // 鍏ュ簱妯″紡
+ devpThread.ioModeOf2_5 = IoModeType.PAKIN_MODE;
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
}
--
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