From 73cf8ac847af5a3c22e83f64e92692e31e4576d0 Mon Sep 17 00:00:00 2001
From: dubin <dubin>
Date: 星期四, 21 八月 2025 22:34:43 +0800
Subject: [PATCH] 联调
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 286 +++++++++++++++++++++++++++++++++++++-------------------
1 files changed, 188 insertions(+), 98 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 2d1f0c6..9a50fd6 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -4,6 +4,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
+import com.baomidou.mybatisplus.plugins.Page;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.exception.CoolException;
@@ -94,6 +95,8 @@
private WrkMastService wrkMastService;
@Autowired
private BasRgvMapService basRgvMapService;
+ @Autowired
+ private BasCrnOptService crnOptService;
@Value("${wms.url}")
private String wmsUrl;
@@ -194,7 +197,8 @@
&& staProtocol.isLoading()
&& staProtocol.isInEnable()
&& !staProtocol.isEmptyMk()
- && staProtocol.isPakMk()) {
+ && staProtocol.isPakMk()
+ && staProtocol.getWorkNo()==9999) {
if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
@@ -412,11 +416,11 @@
// 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
for (DevpSlave.Sta pickSta : devp.getPickSta()) {
// 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
- if (barcodeThread == null) {
- continue;
- }
- String barcode = barcodeThread.getBarcode();
+// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
+// if (barcodeThread == null) {
+// continue;
+// }
+// String barcode = barcodeThread.getBarcode();
// 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
@@ -427,87 +431,87 @@
continue;
}
// 灏哄妫�娴嬪紓甯�
- boolean back = false;
- String errMsg = "";
- if (!back && 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;
- }
- if(staProtocol.getSiteId() > 400){
- back = false;
- }
+// boolean back = false;
+// String errMsg = "";
+// if (!back && 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;
+// }
+// if(staProtocol.getSiteId() > 400){
+// back = false;
+// }
// 閫�鍥�
- if (back) {
- log.info("errmsg: " + errMsg);
-// 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);
- MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
- if (!staProtocol.isLoading()) {
- continue;
- }
- if (!staProtocol.isPakMk()) {
- continue;
- }
- staProtocol.setWorkNo(wrkNo);
- News.info("{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", pickSta.getStaNo(), errMsg, wrkNo);
- wrkNo++;
- staProtocol.setStaNo(pickSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- log.error("杈撻�佺嚎涓嬪彂1锛�" + 9999 + "," + pickSta.getBackSta());
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
-
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
- }
- continue;
- }
- if(staProtocol.getSiteId() < 400){
- if (!Cools.isEmpty(barcode)) {
- News.infoNoLog("" + mark + " - 1" + " - {}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)) {
- continue;
- }
- } else {
- continue;
- }
-
-
- if (!Cools.isEmpty(barcode)) {
-// News.info(""+mark+" - 1"+" - {}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)) {
- continue;
- }
- } else {
- continue;
- }
-
- }
+// if (back) {
+// log.info("errmsg: " + errMsg);
+//// 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);
+// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
+// if (!staProtocol.isLoading()) {
+// continue;
+// }
+// if (!staProtocol.isPakMk()) {
+// continue;
+// }
+// staProtocol.setWorkNo(wrkNo);
+// News.info("{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", pickSta.getStaNo(), errMsg, wrkNo);
+// wrkNo++;
+// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// log.error("杈撻�佺嚎涓嬪彂1锛�" + 9999 + "," + pickSta.getBackSta());
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+//
+// // led 寮傚父鏄剧ず
+// if (ledThread != null) {
+// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
+// }
+// continue;
+// }
+// if(staProtocol.getSiteId() < 400){
+// if (!Cools.isEmpty(barcode)) {
+// News.infoNoLog("" + mark + " - 1" + " - {}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)) {
+// continue;
+// }
+// } else {
+// continue;
+// }
+//
+//
+// if (!Cools.isEmpty(barcode)) {
+//// News.info(""+mark+" - 1"+" - {}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)) {
+// continue;
+// }
+// } else {
+// continue;
+// }
+//
+// }
if (staProtocol == null) {
@@ -521,10 +525,11 @@
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛�");
- WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
- if(staProtocol.getSiteId() > 400){
- wrkMast = wrkMastMapper.selectPickStep3(staProtocol.getWorkNo());
- }
+// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
+// if(staProtocol.getSiteId() > 400){
+// wrkMast = wrkMastMapper.selectPickStep3(staProtocol.getWorkNo());
+// }
// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
if (wrkMast == null) {
// 鏃犳嫞鏂欐暟鎹�
@@ -551,12 +556,12 @@
.eq("crn_no", wrkMast.getCrnNo()); // 鍫嗗灈鏈哄彿
StaDesc staDesc = staDescService.selectOne(wrapper);
if (Cools.isEmpty(staDesc)) {
- News.error("" + mark + " - 2" + " - 鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
- staProtocol.setWorkNo(wrkNo++);
- staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue() - (short) 1));
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- log.error("杈撻�佺嚎涓嬪彂4锛�" + 9989 + "," + (pickSta.getStaNo().shortValue() - (short) 1));
+// News.error("" + mark + " - 2" + " - 鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
+// staProtocol.setWorkNo(wrkNo++);
+// staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue() - (short) 1));
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// log.error("杈撻�佺嚎涓嬪彂4锛�" + 9989 + "," + (pickSta.getStaNo().shortValue() - (short) 1));
//LED
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
// led 寮傚父鏄剧ず
@@ -609,9 +614,9 @@
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
staProtocol.setWorkNo(wrkMast.getWrkNo());
- if(staProtocol.getSiteId() < 400){
+// if(staProtocol.getSiteId() < 400){
staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
- }
+// }
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
log.error("杈撻�佺嚎涓嬪彂5锛�" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
@@ -627,7 +632,7 @@
}
}
-// News.infoNoLog(""+mark+" - 0"+" - 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱 ===銆嬫墽琛屽畬鎴�");
+ News.infoNoLog(""+mark+" - 0"+" - 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱 ===銆嬫墽琛屽畬鎴�");
}
@@ -3191,4 +3196,89 @@
}
}
+ public synchronized void crnMove() {
+ 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;
+ }
+ BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
+ if (basCrnp == null) {
+ log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
+ continue;
+ }
+
+ if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
+
+// if ((crnProtocol.getCrnNo()==3 || crnProtocol.getCrnNo()==4) && crnProtocol.getBay()==0 && crnProtocol.getLevel() == 1) {
+// continue;
+// }
+// if ((crnProtocol.getCrnNo()==1 || crnProtocol.getCrnNo()==2) && crnProtocol.getBay()==1 && crnProtocol.getLevel() == 1) {
+// continue;
+// }
+ if (crnProtocol.getCrnNo()==1 && crnProtocol.getBay()==1 && crnProtocol.getLevel() == 1) {
+ continue;
+ }
+ Page<BasCrnOpt> basCrnOptPage = crnOptService.selectPage(new Page<>(1, 1), new EntityWrapper<BasCrnOpt>().eq("crn_no", crn.getId()).orderBy("send_time", false));
+ if (basCrnOptPage != null && basCrnOptPage.getRecords() != null && basCrnOptPage.getRecords().size() > 0) {
+ if (System.currentTimeMillis() - basCrnOptPage.getRecords().get(0).getSendTime().getTime() < 1000 * 60 * 3) {
+ continue;
+ }
+ } else {
+ if (System.currentTimeMillis() - crnProtocol.getLastCommandTime() < 1000 * 60 * 2) {
+ continue;
+ }
+ }
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ .eq("crn_no", crn.getId())
+ .notIn("wrk_sts", 5, 14, 15)
+ );
+ if (!wrkMasts.isEmpty()) {
+ continue;
+ }
+
+ CrnSlave.CrnStn crnStn = crn.getCrnInStn().get(0);
+
+ News.info("鍫嗗灈鏈烘棤浠诲姟鑷姩鍥炲叆搴撳彛寰呮満==>>" + crnProtocol.getCrnNo() + "鍙峰爢鍨涙満");
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ CrnCommand crnCommand = new CrnCommand();
+// if (crnProtocol.getCrnNo()==3 || crnProtocol.getCrnNo()==4){
+// crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+// crnCommand.setTaskNo((short) 9999); // 宸ヤ綔鍙�
+// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡: 鍫嗗灈鏈虹Щ鍔�
+// crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+// crnCommand.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
+// crnCommand.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+// crnCommand.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+// crnCommand.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+// crnCommand.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
+// crnCommand.setCommand((short) 1);
+// }else {
+ crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo((short) 9999); // 宸ヤ綔鍙�
+ crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡: 鍫嗗灈鏈虹Щ鍔�
+ crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
+ crnCommand.setCommand((short) 1);
+// }
+ if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
+ News.error("鍫嗗灈鏈虹Щ鍔ㄥ懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
+ }
+ crnThread.setBackHpFlag(true);
+ try {
+ Thread.sleep(500);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ }
+ }
}
--
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