From 68242c8f3acc051368eeb1246b2fb6327a783bfc Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期二, 04 十一月 2025 09:05:39 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 133 +++++++++++++++++++++++++++----------------
1 files changed, 83 insertions(+), 50 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 3a4dedc..3db0c17 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1079,7 +1079,7 @@
//mark - 3 - ....
this.locToLoc(crn, crnProtocol,mark);
//棰勮皟搴�
- this.crnRebackHp(crnProtocol, crnThread);
+// this.crnRebackHp(crnProtocol, crnThread);
}
// News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂鎵ц瀹屾垚");
@@ -1102,6 +1102,9 @@
case 5: x =18; break;
}
+ if(crnProtocol.getCrnNo() != 5){
+ return;
+ }
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�3,12
if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
return;
@@ -2351,6 +2354,9 @@
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
News.error("{}鍙稬ED鏄剧ず榛樿鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
}
+// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
+// News.error("{}鍙稬ED鏄剧ず榛樿鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+// }
}
}
}
@@ -2954,52 +2960,18 @@
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�2", rgvSlave.getRgvNo());
continue;
}
-
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE &&
- rgvProtocol.getModeType() == RgvModeType.AUTO
- && !rgvProtocol.isLoaded1ing() //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
- && rgvProtocol.getTaskNo1()==0
- && !rgvProtocol.isLoaded2ing()
- && rgvProtocol.getTaskNo2()==0
- &&rgvThread.isPakMk()
- ) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-
- Integer rgvNoOther = basRgvMap.getRgvNoOther((int) rgvProtocol.getRgvNo());
- RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther);
- RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
- if (rgvProtocolOther == null) {
- continue;
- }else {
- rgvProtocolOther = rgvProtocolOther.clone();
- }
- if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
- && rgvProtocolOther.getModeType() == RgvModeType.AUTO
- && !rgvProtocolOther.isLoaded1ing()
- && rgvProtocolOther.getTaskNo1()==0
- && !rgvProtocolOther.isLoaded2ing()
- && rgvProtocolOther.getTaskNo2()==0
- &&rgvThreadOther.isPakMk()
- ){
- //瀵瑰伐浣滄。杩涜鍒ゆ柇
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
- if (rgvProtocol.getTaskNo1() >0 && rgvProtocol.getTaskNo1()<=9000){
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
- rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2366");
- }else if (rgvProtocol.getTaskNo1() == 0){
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2366");
- }
-
- }
-
-
-
+ Integer site = rgvProtocol.getRgvNo() == 1 ? rgvProtocol.getRgvPosI1() : rgvProtocol.getRgvPosI2();
+ if (site == 0) {
+ continue;
}
+ rgvSlave.setNowRoute(site); // 鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ if (!basRgvMapService.updateById(rgvSlave)) {
+ log.error("灏忚溅鏇存柊鍦板浘澶辫触");
+ }
+
}
}catch (Exception e){
- log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
- log.error("4109琛�"+e);
+ log.error("灏忚溅鏇存柊鍦板浘澶辫触");
}
}
@@ -3330,6 +3302,7 @@
}
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ basRgvMapService.updateById(basRgvMap);
Integer workNo = 0;
if(rgvProtocol.getTaskNo2() > 9999|| rgvProtocol.getTaskNo1() > 9999){
workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1() : rgvProtocol.getTaskNo2();
@@ -3396,6 +3369,7 @@
}
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ basRgvMapService.updateById(basRgvMap);
Integer workNo = 0;
if(basRgv.getPakToCrn().equals("1")){
workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1():rgvProtocol.getTaskNo2(); //姝ｅ父鎯呭喌鍑哄簱鏀捐揣浼樺厛宸ヤ綅1鏀�
@@ -3491,11 +3465,11 @@
basRgvService.updateById(basRgv);
rgvThread.setPakMk(true);
}
- List<WrkMastSta> wrkMastStaPakingNum = wrkMastStaService.selectPakingWrkNum(basRgv.getRgvNo());
- if(wrkMastStaPakingNum.size() <1){
- basRgv.setPakAll("1"); //闃叉鏃犲叾浠栦换鍔℃椂锛岃繛缁彇璐ф棤娉曟仮澶�
- basRgvService.updateById(basRgv);
- }
+// List<WrkMastSta> wrkMastStaPakingNum = wrkMastStaService.selectPakingWrkNum(basRgv.getRgvNo());
+// if(wrkMastStaPakingNum.size() <1){
+// basRgv.setPakAll("1"); //闃叉鏃犲叾浠栦换鍔℃椂锛岃繛缁彇璐ф棤娉曟仮澶�
+// basRgvService.updateById(basRgv);
+// }
}
}
@@ -4714,7 +4688,7 @@
// 鍒ゆ柇閲嶅宸ヤ綔妗�
List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()));
if (!basAgvMastList.isEmpty()) {
- News.info("{}鍙风珯鐐瑰瓨鍦ㄤ换鍔℃墽琛屼腑锛岃绛夊緟浠诲姟鎵ц瀹屾瘯锛歿}", outStaAgv.getStaNo(), barcode);
+// News.info("{}鍙风珯鐐瑰瓨鍦ㄤ换鍔℃墽琛屼腑锛岃绛夊緟浠诲姟鎵ц瀹屾瘯锛歿}", outStaAgv.getStaNo(), barcode);
continue;
}
@@ -4764,6 +4738,65 @@
}
}
+ /*
+ * agv浠诲姟鐢熸垚 Empty
+ * */
+ public synchronized void agvTaskCreateR() {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鍑哄簱鍙�
+ for (DevpSlave.Sta inStaAgv : devp.getInStaAgv()) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(inStaAgv.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isLoading()){
+ continue;
+ }
+
+ if (staProtocol.isAutoing()) {
+
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("sta_no", inStaAgv.getStaNo()));
+ if (!basAgvMastList.isEmpty()) {
+ News.info("{}鍙风珯鐐瑰瓨鍦ㄤ换鍔℃墽琛屼腑锛岀瓑寰呬换鍔℃墽琛屽畬姣�!!!", inStaAgv.getStaNo());
+ continue;
+ }
+ // 浠诲姟鐢熸垚鍖� --------------------------------------------------------------------------
+
+ BasAgvMast basAgvMast = new BasAgvMast();
+ try {
+ List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>()
+ .eq("loc_sts", "R")
+ .ge("row1", 23)
+ .le("row1", 32)
+ .orderBy("io_time",true)
+ );
+
+ for (LocMast locMast : locMastList){
+ basAgvMast.setTaskNo(inStaAgv.getStaNo());
+ basAgvMast.setSourceLocNo(locMast.getLocNo());
+ basAgvMast.setStaNo(inStaAgv.getStaNo());
+ basAgvMast.setDevpId(devp.getId());
+ basAgvMast.setIoType(0);//AGV搴撲綅==銆嬭緭閫佺嚎绔欑偣 0
+ basAgvMastService.insert(basAgvMast);
+ break;
+ }
+
+ } catch (Exception e) {
+ News.error(JSON.toJSONString(e.getMessage()));
+ }
+ }
+ }
+ }
+ }
+
/*
* agv浠诲姟涓嬪彂:AGV搴撲綅==銆嬭緭閫佺嚎绔欑偣
--
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