From 7a806791fba46b27f4a8af6809c270f92be5f11c Mon Sep 17 00:00:00 2001 From: zjj <3272660260@qq.com> Date: 星期一, 22 一月 2024 12:53:37 +0800 Subject: [PATCH] #堆垛机下发命令增加库位类型 --- src/main/java/com/zy/core/thread/SiemensCrnThread.java | 12 +++++++++--- src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 7 +++++++ src/main/java/com/zy/asrs/controller/CrnController.java | 21 ++++++++++++++++++++- src/main/java/com/zy/core/model/command/CrnCommand.java | 2 ++ 4 files changed, 38 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/zy/asrs/controller/CrnController.java b/src/main/java/com/zy/asrs/controller/CrnController.java index 4d02d12..95052a6 100644 --- a/src/main/java/com/zy/asrs/controller/CrnController.java +++ b/src/main/java/com/zy/asrs/controller/CrnController.java @@ -248,6 +248,8 @@ command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺� command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒� command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞� + boolean locSts = isLocSts(param.getRow().toString(), param.getBay().toString(), param.getLev().toString()); + command.setTraySize(locSts); return crnControl(command)?R.ok():R.error(); } @@ -265,6 +267,8 @@ command.setDestinationPosX(param.getRow()); // 鐩爣搴撲綅鎺� command.setDestinationPosY(param.getBay()); // 鐩爣搴撲綅鍒� command.setDestinationPosZ(param.getLev()); // 鐩爣搴撲綅灞� + boolean locSts = isLocSts(param.getSourceRow().toString(), param.getSourceBay().toString(), param.getSourceLev().toString()); + command.setTraySize(locSts); return crnControl(command)?R.ok():R.error(); } @@ -286,7 +290,10 @@ .eq("bay1", command.getSourcePosY()).eq("lev1", command.getSourcePosZ())); LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("row1", command.getDestinationPosX()) .eq("bay1", command.getDestinationPosY()).eq("lev1", command.getDestinationPosZ())); - VersionUtils.locMoveCheckLocType(sourceLoc, loc); + if (sourceLoc.getLocType1() != loc.getLocType1()){ + return R.error("搴撲綅绫诲瀷涓嶄竴鑷�"); + } +// VersionUtils.locMoveCheckLocType(sourceLoc, loc); return crnControl(command)?R.ok():R.error(); } @@ -501,5 +508,17 @@ } } + private boolean isLocSts(String row,String bay,String lev){ + String loc = String.format("%2d",row)+String.format("%3d",bay)+String.format("%2d",lev); + LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", loc)); + if (Cools.isEmpty(locMast)){ + return false; + } + if (locMast.getLocType1() == 2){ + return true; + } + return false; + } + } 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 ef44745..3c0de29 100644 --- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java +++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java @@ -771,6 +771,7 @@ 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� + crnCommand.setTraySize(locMast.getLocType1() == 2); if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error(""+mark+" - 1"+" - 16"+" - 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 { @@ -932,6 +933,7 @@ crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺� crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒� crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞� + crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error(""+mark+" - 2"+" - 13"+" - 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 { @@ -1094,6 +1096,10 @@ News.error(""+mark+" - 3"+" - 2"+" - 宸ヤ綔妗e簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈢洰鏍囧簱浣嶅け璐ワ紒宸ヤ綔鍙�={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getLocNo()); return; } + if(sta.getLocType1() != sourceSta.getLocType1()){ + News.error("绉诲簱鐩爣搴撲綅绫诲瀷涓庢簮搴撲綅绫诲瀷涓嶇"); + return; + } // 鑾峰彇鍫嗗灈鏈轰俊鎭� 骞� 鍒ゆ柇鏄惁鍙叆鍑� BasCrnp basCrnp = basCrnpService.selectById(slave.getId()); if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) { @@ -1126,6 +1132,7 @@ crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 鐩爣搴撲綅鎺� crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 鐩爣搴撲綅鍒� crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 鐩爣搴撲綅灞� + crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error(""+mark+" - 3"+" - 4"+" - 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 { diff --git a/src/main/java/com/zy/core/model/command/CrnCommand.java b/src/main/java/com/zy/core/model/command/CrnCommand.java index c777ecb..6b09a73 100644 --- a/src/main/java/com/zy/core/model/command/CrnCommand.java +++ b/src/main/java/com/zy/core/model/command/CrnCommand.java @@ -74,6 +74,8 @@ // 浠诲姟纭 0锛氭湭纭 1锛氬凡纭 private Short command = 0; + private boolean traySize = false; + public void setTaskMode(Short taskMode){ this.taskMode = taskMode; this.taskModeType = CrnTaskModeType.get(taskModeType); diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java index ac48c37..45edc73 100644 --- a/src/main/java/com/zy/core/thread/SiemensCrnThread.java +++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java @@ -278,11 +278,15 @@ array[7] = command.getDestinationPosY(); // 鐩爣浣嶇疆鍒楀彿 array[8] = command.getDestinationPosZ(); // 鐩爣浣嶇疆灞傚彿 array[9] = command.getCommand(); -// array[10] = command.getLocType1(); //鏂板璐х墿绫诲瀷涓嬪彂 +// array[10] = 0; //澶囩敤1 + + boolean[] array2 = new boolean[1]; + array2[0] = command.isTraySize(); OperateResult result = siemensNet.Write("DB100.0", array); + OperateResult result2 = siemensNet.Write("DB100.20", array2); News.info("鍫嗗灈鏈哄懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), array); - if(!result.IsSuccess){ + if(!result.IsSuccess || !result2.IsSuccess){ News.error("鍐欏叆鍫嗗灈鏈簆lc鏁版嵁澶辫触锛岄噸鏂版坊鍔犱换鍔″埌闃熷垪 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command)); Thread.sleep(100); @@ -293,7 +297,7 @@ //鍫嗗灈鏈轰换鍔″啓鍏ュ悗锛屽洖璇讳竴娆★紝鐪嬫槸鍚︽垚鍔� Thread.sleep(200); try{ - OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18); + OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 20); if (resultRead.IsSuccess) { CrnCommand one = new CrnCommand(); one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2)); @@ -304,10 +308,12 @@ one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12)); one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14)); one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16)); + one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 20)); if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode()) || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY()) || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX()) || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ()) + || !command.isTraySize() == one.isTraySize() ){ try{ News.error("鍫嗗灈鏈哄懡浠ゅ湴鍧�鍐欏叆鍚庡洖璇诲け璐id:{}] >>>>> 鍐欏叆[{}],===>>鍥炶[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); 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