From 736706fb6254b43b16b285e2f40880c21c41cd57 Mon Sep 17 00:00:00 2001
From: tqs <56479841@qq.com>
Date: 星期五, 02 十二月 2022 07:59:54 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 247 +++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 227 insertions(+), 20 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 72d06fc..701cd6c 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -26,17 +26,16 @@
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.LedSlave;
-import com.zy.core.model.Task;
+import com.zy.core.model.*;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.protocol.CrnProtocol;
+import com.zy.core.model.protocol.RgvProtocol;
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.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -46,10 +45,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
-import java.util.ArrayList;
-import java.util.Date;
-import java.util.List;
-import java.util.Set;
+import java.util.*;
import java.util.stream.Collectors;
/**
@@ -80,6 +76,8 @@
@Autowired
private BasCrnpService basCrnpService;
@Autowired
+ private BasRgvService basRgvService;
+ @Autowired
private BasDevpService basDevpService;
@Autowired
private LocDetlService locDetlService;
@@ -106,6 +104,9 @@
continue;
}
String barcode = barcodeThread.getBarcode();
+
+ barcode = "80011105";
+
if (!Cools.isEmpty(barcode)) {
log.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)) {
@@ -116,6 +117,7 @@
}
// 鑾峰彇鍏ュ簱绔欎俊鎭�
+// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
if (staProtocol == null) {
@@ -126,14 +128,16 @@
// 鍏ュ嚭搴撴ā寮忓垽鏂�
// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
- if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
- continue;
- }
+// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
+// continue;
+// }
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading()
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
&& staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
+ && !staProtocol.isEmptyMk()
+ && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
&& staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {
// if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
@@ -526,14 +530,12 @@
continue;
}
-// //鍫嗗灈鏈哄洖鍘熺偣浠诲姟涓�
-// if(crnThread.isBackHpFlag()){
-// 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
- && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
+ if (crnProtocol.getStatusType() == CrnStatusType.IDLE
+ && crnProtocol.getTaskNo() == 0
+ && crnProtocol.getModeType() == CrnModeType.AUTO
+ && crnProtocol.getLoaded() == 0
+ && crnProtocol.getForkPos() == 0) {
// 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
if (crnProtocol.getLastIo().equals("I")) {
if (basCrnp.getInEnable().equals("Y")) {
@@ -559,6 +561,53 @@
this.locToLoc(crn, crnProtocol);
// this.crnRebackHp(crnProtocol, crnThread);
+ }
+ }
+
+ /**
+ * 鍏ュ嚭搴� ===>> RGV鍏ュ嚭搴撲綔涓氫笅鍙�
+ */
+ public synchronized void rgvIoExecute() {
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ // 鑾峰彇RGV淇℃伅
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgv.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgv.getId());
+ continue;
+ }
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�, 骞朵笖鏃犱换鍔°�佹棤鐗╂椂鎵嶇户缁墽琛�
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+ && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
+ ) {
+ // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
+ if (rgvProtocol.getLastIo().equals("I")) {
+ if (basRgv.getInEnable().equals("Y")) {
+// this.rgvInStnToLoc(rgv, rgvProtocol); // 鍏ュ簱
+ rgvProtocol.setLastIo("O");
+ } else if (basRgv.getOutEnable().equals("Y")) {
+// this.locToCrnStn(rgv, crnProtocol); // 鍑哄簱
+ rgvProtocol.setLastIo("I");
+ }
+ }
+ // 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
+ else if (rgvProtocol.getLastIo().equals("O")) {
+ if (basRgv.getOutEnable().equals("Y")) {
+// this.locToCrnStn(rgv, crnProtocol); // 鍑哄簱
+ rgvProtocol.setLastIo("I");
+ } else if (basRgv.getInEnable().equals("Y")) {
+// this.rgvInStnToLoc(rgv, rgvProtocol); // 鍏ュ簱
+ rgvProtocol.setLastIo("O");
+ }
+ }
+ }
}
}
@@ -1006,6 +1055,164 @@
// }
/**
+ * 鍏ュ簱 ===>> RGV鍏ュ簱绔欏埌绔�
+ */
+ public synchronized void rgvInStn(RgvSlave slave, RgvProtocol rgvProtocol) {
+ // 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級,涓旇揣鐗╁湪RGV鍏ュ簱鎺ラ┏绔欑殑鍏ュ簱宸ヤ綔妗�,鏌ユ壘鏈�澶�2绗�
+ List<Integer> staNos = new ArrayList<>();
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvInStn()) {
+ staNos.add(rgvStn.getStaNo());
+ }
+ List<WrkMast> wrkMasts1 = new ArrayList<>();
+ List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep1(slave.getId(), staNos);
+ for(WrkMast wrkMast : wrkMasts){
+ Integer plcId = 0;
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvInStn()) {
+ if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
+ plcId = rgvStn.getDevpPlcId();
+ break;
+ }
+ }
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, plcId);
+ StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getRgvSstaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ }
+
+// WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
+// for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
+// boolean flag = false;
+// // 鑾峰彇鍫嗗灈鏈哄叆搴撶珯淇℃伅
+// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+// StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+// if (staProtocol == null) {
+// continue;
+// } else {
+// staProtocol = staProtocol.clone();
+// }
+// // 鏌ヨ绔欑偣璇︾粏淇℃伅
+// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+// if (staDetl == null) {
+// log.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
+// continue;
+// }
+// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
+// && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
+// flag = true;
+// }
+// if (!flag) {
+// continue;
+// }
+// // 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級鐨勫叆搴撳伐浣滄。
+// WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
+// if (null == wrkMast) {
+//// log.error("鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+// continue;
+// }
+// // 鑾峰彇搴撲綅淇℃伅
+// LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
+// if (locMast == null) {
+// log.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
+// continue;
+// }
+// if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
+// log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
+// continue;
+// }
+//
+// // 鍫嗗灈鏈烘帶鍒惰繃婊�
+// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+// continue;
+// }
+//
+// // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
+// continue;
+// }
+//
+// // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
+// if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
+// String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
+// LocMast shallowLoc = locMastService.selectById(shallowLocNo);
+// // O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
+// if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
+// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+// if (null == waitWrkMast) {
+// log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
+// } else {
+// waitWrkMast.setIoPri(15D);
+// waitWrkMast.setModiTime(new Date());
+// if (wrkMastMapper.updateById(waitWrkMast) == 0) {
+// log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
+// }
+// continue;
+// }
+//
+// } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
+// // 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
+// if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
+// wrkMast.setUpdMk("Y");
+// wrkMast.setIoPri(14D);
+// wrkMastMapper.updateById(wrkMast);
+// // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
+// moveLocForDeepLoc(slave, shallowLoc);
+// // 鐢熸垚宸ヤ綔妗ｃ�佹敼鍙樻祬搴撲綅鐨勬簮搴�/鐩爣搴� 搴撲綅鐘舵�併�佷笅鍙戝爢鍨涙満鍛戒护锛堢珛椹墽琛�)
+//// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
+// }
+// continue;
+// } else if (shallowLoc.getLocSts().equals("Q")) {
+// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+// if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
+// 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(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+// crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+// crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
+// crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
+// crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
+// crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
+// crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
+// if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+// } else {
+//
+//// long startTime = System.currentTimeMillis();
+//// while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
+////
+//// if (true) {
+//// break;
+//// }
+////
+//// try{
+//// Thread.sleep(500);
+//// }catch(Exception ignore){}
+//// }
+//
+// // 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();
+// wrkMast.setWrkSts(3L);
+// wrkMast.setCrnStrTime(now);
+// wrkMast.setModiTime(now);
+// if (wrkMastMapper.updateById(wrkMast) == 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={}", wrkMast.getWrkNo());
+// }
+// }
+// }
+ }
+
+ /**
* 搴撲綅绉昏浆
*/
public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
--
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