From 6e20de65a7ae739cd039f6ae370b908a25992be7 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期三, 29 十一月 2023 16:48:56 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 313 ++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 254 insertions(+), 59 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 d4f1f20..5314b84 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -5,6 +5,7 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
+import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
import com.zy.asrs.mapper.*;
@@ -16,14 +17,18 @@
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
+import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
+import com.zy.core.model.DevpSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
+import com.zy.core.thread.BarcodeThread;
+import com.zy.core.thread.LedThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
@@ -70,11 +75,97 @@
private ConfigService configService;
@Autowired
private StaDescMapper staDescMapper;
+ @Autowired
+ private CommandInfoService commandInfoService;
@Value("${wms.url}")
private String wmsUrl;
@Value("${wms.movePath}")
private String movePath;
+
+
+ public void generateStoreWrkFile() {
+ // 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)
+ && staProtocol.isPakMk()) {
+
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ 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�";
+ back = true;
+ }
+ if (!back && staProtocol.isLeftErr()) {
+ errMsg = "宸﹁秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isRightErr()) {
+ errMsg = "鍙宠秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isWeightErr()) {
+ errMsg = "瓒呴噸";
+ back = true;
+ }
+ if (!back && staProtocol.isBarcodeErr()) {
+ errMsg = "鎵爜澶辫触";
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+// News.warn("鎵爜鍏ュ簱澶辫触锛寋}鍏ュ簱绔欏洜{}寮傚父锛屾墭鐩樺凡琚��鍥�", inSta.getStaNo(), errMsg);
+ staProtocol.setWorkNo(workNo);
+ staProtocol.setStaNo(inSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
+ if (taskWrk != null) {
+ taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
+ taskWrkMapper.updateById(taskWrk);
+ }
+ continue;
+ }
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
+ if (barcodeThread == null) {
+ continue;
+ }
+ String barcode = barcodeThread.getBarcode();
+ if(!Cools.isEmpty(barcode)) {
+
+ }
+ }
+
+
+ }
+ }
+ }
+
/**
* 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
@@ -115,23 +206,21 @@
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- // 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
- String targetPoint = taskWrk.getTargetPoint();
- int i = Integer.parseInt(targetPoint);
- staProtocol.setStaNo((short)i);
- if (!CommandUtils.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
- continue;
+ //鍙栧嚭杈撻�佺嚎鍛戒护
+ List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
+ if (commandInfos.isEmpty()) {
+ continue;//鍛戒护绌�
+ }
+ Integer commandStep = taskWrk.getCommandStep();
+ CommandInfo commandInfo = commandInfos.get(commandStep);
+ StaProtocol staProtocol1 = JSON.parseObject(commandInfo.getCommand(), StaProtocol.class);
+ if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) {
+ log.error("杈撻�佺嚎鍛戒护涓嬫柟澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", taskWrk.getWrkNo());
+ continue;//鍛戒护涓嬪彂澶辫触
}
- // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
- taskWrk.setWrkSts(14);
- if (taskWrkMapper.updateById(taskWrk) != 0) {
- // 澶嶄綅鍫嗗灈鏈�
- crnThread.setResetFlag(true);
- } else {
- log.error("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", taskWrk.getWrkNo());
- }
+ // 澶嶄綅鍫嗗灈鏈�
+ crnThread.setResetFlag(true);
}
}
@@ -232,20 +321,16 @@
continue;
}
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosY(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setSourcePosZ(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
- crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
- crnCommand.setCommand((short)1);
- if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
+ //鍙栧嚭鍛戒护
+ List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
+ Integer commandStep = taskWrk.getCommandStep();
+ if (commandInfos.isEmpty()) {
+ continue;//鍛戒护绌�
+ }
+ CommandInfo commandInfo = commandInfos.get(commandStep);
+ CrnCommand crnCommand = JSON.parseObject(commandInfo.getCommand(), CrnCommand.class);//鍙栧嚭鍛戒护鎶ユ枃
+
+ if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
} else {
// 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
@@ -256,6 +341,31 @@
log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
}
}
+
+// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+// CrnCommand crnCommand = new CrnCommand();
+// crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+// crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+// crnCommand.setSourcePosX(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
+// crnCommand.setSourcePosY(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
+// crnCommand.setSourcePosZ(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+// crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
+// crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
+// crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
+// crnCommand.setCommand((short)1);
+// if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
+// log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
+// } else {
+// // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
+// Date now = new Date();
+// taskWrk.setWrkSts(3);
+// taskWrk.setModiTime(now);
+// if (taskWrkMapper.updateById(taskWrk) == 0) {
+// log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+// }
+// }
}
return;
@@ -351,20 +461,16 @@
}
}
- // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(Utils.getBayShort(taskWrk.getStartPoint())); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(Utils.getLevShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(Utils.getRowShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(crnStn.getLev().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(crnStn.getRow().shortValue()); // 鐩爣搴撲綅灞�
- crnCommand.setCommand((short)1);
- if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
+ //鍙栧嚭鍛戒护
+ List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
+ Integer commandStep = taskWrk.getCommandStep();
+ if (commandInfos.isEmpty()) {
+ continue;//鍛戒护绌�
+ }
+ CommandInfo commandInfo = commandInfos.get(commandStep);
+ CrnCommand crnCommand = JSON.parseObject(commandInfo.getCommand(), CrnCommand.class);//鍙栧嚭鍛戒护鎶ユ枃
+
+ if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
} else {
// 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
@@ -454,29 +560,68 @@
if (crnProtocol == null) { continue; }
// 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
- // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
- TaskWrk taskWrk = taskWrkMapper.selectCrnNoWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
- if (Cools.isEmpty(taskWrk)) {
- log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
+
+ //鑾峰彇鎸囦护ID
+ Integer commandId = crnProtocol.getCommandId();
+ CommandInfo commandInfo = commandInfoService.selectById(commandId);
+ if (commandInfo == null) {
+ //鎸囦护涓嶅瓨鍦�
continue;
}
- // 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
- if ((taskWrk.getWrkSts() == 3 && taskWrk.getIoType() == 1) || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) {
- taskWrk.setWrkSts(4);
- } else {
- continue;
- }
- Date now = new Date();
- taskWrk.setModiTime(now);
- Integer integerTaskWrk = taskWrkMapper.updateById(taskWrk);
- // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- if (integerTaskWrk > 0) {
+
+ commandInfo.setCommandStatus(CommandStatusType.COMPLETE.id);//鎸囦护瀹屾垚
+ commandInfo.setCompleteTime(new Date());//鎸囦护瀹屾垚鏃堕棿
+ if (commandInfoService.updateById(commandInfo)) {//淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
// 鍫嗗灈鏈哄浣�
crnThread.setResetFlag(true);
}
}
}
}
+
+// /**
+// * 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
+// */
+// @Async
+// public void storeFinished() {
+// for (CrnSlave crn : slaveProperties.getCrn()) {
+// // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+// if (crnProtocol == null) { continue; }
+// // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
+// if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
+// // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
+// TaskWrk taskWrk = taskWrkMapper.selectCrnNoWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
+// if (Cools.isEmpty(taskWrk)) {
+// log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
+// continue;
+// }
+// // 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
+// if ((taskWrk.getWrkSts() == 3 && taskWrk.getIoType() == 1) || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) {
+// taskWrk.setWrkSts(4);
+// } else {
+// continue;
+// }
+// Date now = new Date();
+// taskWrk.setModiTime(now);
+// Integer integerTaskWrk = taskWrkMapper.updateById(taskWrk);
+// // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
+// if (integerTaskWrk > 0) {
+// // 鍫嗗灈鏈哄浣�
+// crnThread.setResetFlag(true);
+//
+// //鏇存柊搴撲綅鐘舵��
+// LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
+// locMast.setLocSts("F");//F.鍦ㄥ簱
+// locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
+// locMast.setModiTime(now);
+// locMast.setModiUser(9999L);
+// locMastService.updateById(locMast);
+// }
+// }
+// }
+// }
/**
* 鍫嗗灈鏈哄紓甯镐俊鎭褰�
@@ -612,7 +757,57 @@
try {
taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
} catch (CoolException e) {
- e.printStackTrace();
+ log.info(e.getMessage());
+ }
+ }
+ }
+
+ //鑷姩瀹屾垚浠诲姟
+ public synchronized void autoCompleteTask() {
+ List<TaskWrk> taskWrks = taskWrkMapper.selectWorkingTask();
+ for (TaskWrk taskWrk : taskWrks) {
+ //鑾峰彇鍛戒护闆嗗悎
+ List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
+ if (taskWrk.getCommandStep() != commandInfos.size()) {
+ continue;//褰撳墠姝ュ簭娌℃湁鍒拌揪鏈�鍚庝竴鏉″懡浠�
+ }
+
+ //鍒ゆ柇鏈鍛戒护鏄惁鎵ц瀹屾垚
+ CommandInfo commandInfo = commandInfos.get(commandInfos.size() - 1);
+ if (commandInfo.getCommandStatus() != CommandStatusType.COMPLETE.id) {
+ continue;//鎸囦护鏈畬鎴�
+ }
+
+ Date now = new Date();
+ //鎸囦护宸插畬鎴愶紝鏇存柊浠诲姟
+ if (taskWrk.getIoType() == 1) {
+ //鍏ュ簱浠诲姟
+ taskWrk.setWrkSts(4);//3.鍚婅溅鍏ュ簱涓� => 4.鍏ュ簱瀹屾垚
+ taskWrk.setStatus(TaskStatusType.COMPLETE.id);
+ taskWrk.setModiTime(now);
+ taskWrkService.updateById(taskWrk);
+
+ //鏇存柊搴撲綅鐘舵��
+ LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
+ locMast.setLocSts("F");//F.鍦ㄥ簱
+ locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
+ locMast.setModiTime(now);
+ locMast.setModiUser(9999L);
+ locMastService.updateById(locMast);
+ } else if (taskWrk.getIoType() == 2) {
+ //鍑哄簱浠诲姟
+ taskWrk.setWrkSts(14);//12.鍚婅溅鍑哄簱涓� => 14.鍑哄簱瀹屾垚
+ taskWrk.setStatus(TaskStatusType.COMPLETE.id);
+ taskWrk.setModiTime(now);
+ taskWrkService.updateById(taskWrk);
+
+ //鏇存柊搴撲綅鐘舵��
+ LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
+ locMast.setLocSts("O");//O.绌哄簱浣�
+ locMast.setBarcode("");//鎵樼洏鐮�
+ locMast.setModiTime(now);
+ locMast.setModiUser(9999L);
+ locMastService.updateById(locMast);
}
}
}
--
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