From 7d06cea49f39ab2bc9177833d0ab2a04bd53e3eb Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期三, 22 十一月 2023 13:42:27 +0800
Subject: [PATCH] #联机
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 727 ++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 551 insertions(+), 176 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 6c3f29a..1905621 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1,231 +1,606 @@
package com.zy.asrs.service.impl;
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
-import com.baomidou.mybatisplus.mapper.Wrapper;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
import com.core.common.Cools;
import com.core.exception.CoolException;
-import com.zy.asrs.entity.LocMast;
-import com.zy.asrs.entity.StaDesc;
-import com.zy.asrs.entity.WaitPakin;
-import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.entity.*;
+import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
+import com.zy.asrs.mapper.BasCrnErrorMapper;
+import com.zy.asrs.mapper.TaskWrkMapper;
import com.zy.asrs.mapper.WaitPakinMapper;
import com.zy.asrs.mapper.WrkMastMapper;
-import com.zy.asrs.service.LocMastService;
-import com.zy.asrs.service.StaDescService;
-import com.zy.asrs.service.WrkDetlService;
-import com.zy.common.model.StartupDto;
-import com.zy.core.cache.MessageQueue;
+import com.zy.asrs.service.*;
+import com.zy.asrs.utils.CommandUtils;
+import com.zy.asrs.utils.PostMesDataUtils;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.service.CommonService;
+import com.zy.common.utils.HttpHandler;
+import com.zy.core.CrnThread;
+import com.zy.core.DevpThread;
import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.SlaveType;
-import com.zy.core.model.DevpSlave;
+import com.zy.core.enums.*;
+import com.zy.core.model.CrnSlave;
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.DevpThread;
+import com.zy.core.thread.SiemensDevpThread;
+import com.zy.system.entity.Config;
+import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.jdbc.core.JdbcTemplate;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import java.util.Date;
import java.util.List;
-import java.util.stream.Collectors;
/**
+ * 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
* Created by vincent on 2020/8/6
*/
@Slf4j
@Service("mainService")
+@Transactional
public class MainServiceImpl {
- @Autowired
- private CommonService commonService;
+ public static final long COMMAND_TIMEOUT = 5 * 1000;
+
@Autowired
private SlaveProperties slaveProperties;
@Autowired
private WrkMastMapper wrkMastMapper;
@Autowired
- private WrkDetlService wrkDetlService;
- @Autowired
- private WaitPakinMapper waitPakinMapper;
- @Autowired
private LocMastService locMastService;
@Autowired
- private StaDescService staDescService;
+ private BasCrnpService basCrnpService;
@Autowired
- private JdbcTemplate jdbcTemplate;
+ private BasDevpService basDevpService;
+ @Autowired
+ private BasErrLogService basErrLogService;
+ @Autowired
+ private BasCrnErrorMapper basCrnErrorMapper;
+ @Autowired
+ private TaskWrkMapper taskWrkMapper;
+ @Autowired
+ private TaskWrkService taskWrkService;
+ @Autowired
+ private ConfigService configService;
+
+ @Value("${wms.url}")
+ private String wmsUrl;
+ @Value("${wms.movePath}")
+ private String movePath;
/**
- * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 2
+ * 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
*/
- @Transactional
- 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()) {
- // 鑾峰彇鏉＄爜
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
- String barcode = barcodeThread.getBarcode();
- // 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());
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInreq1()
- && !staProtocol.isEmptyMk() && staProtocol.isInreq1() && staProtocol.getWorkNo() ==0
- && staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
- if (wrkMast != null) {
- log.warn("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负1鐨勬暟鎹�,宸ヤ綔鍙�-{}", wrkMast.getWrkNo());
+ @Async
+ public void crnStnToOutStn() {
+ for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+ // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
+ for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
+ // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃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();
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
+ // 鏌ヨ宸ヤ綔妗�
+ TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staProtocol.getSiteId().toString());
+ if (taskWrk == null) {
continue;
}
- // 鑾峰彇鍏ュ簱閫氱煡妗�
- List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("barcode", barcode));
- // 宸ヤ綔鍙�
- int workNo = commonService.getWorkNo(0);
- // 妫�绱㈠簱浣�
- List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
- StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos);
- String locNo = startupDto.getLocNo();
- if (!waitPakins.isEmpty()) {
- // 鎻掑叆宸ヤ綔鏄庣粏妗�
- wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);
+ // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
+ if (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2) {
+ // 鍒ゆ柇鍚婅溅鏄惁瀹為檯宸插畬鎴愶紝涓旂數鑴戠姸鎬佸湪move涓紝浠ュ鐢佃剳杩涜鏇存柊宸ヤ綔妗�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, taskWrk.getCrnNo());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
+ // 绉诲姩涓�
+ continue;
+ }
+ // 鍒ゆ柇鍫嗗灈鏈虹姸鎬佺瓑寰呯‘璁�
+ if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue())
+ && crnProtocol.getTaskFinish() == 1
+ && 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;
+ }
+
+ // 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());
+ }
+
+ }
+ }
+ }
+ }
+ }
+ }
+
+ /**
+ * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
+ */
+ public synchronized void crnIoExecute(){
+ 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;
+ }
+
+ // 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) {
+ // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
+ if (crnProtocol.getLastIo().equals("I")) {
+ if (basCrnp.getInEnable().equals("Y")) {
+ this.crnStnToLoc(crn, crnProtocol); // 鍏ュ簱
+ crnProtocol.setLastIo("O");
+ } else if (basCrnp.getOutEnable().equals("Y")) {
+ this.locToCrnStn(crn, crnProtocol); // 鍑哄簱
+ crnProtocol.setLastIo("I");
+ }
+ }
+ // 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
+ else if (crnProtocol.getLastIo().equals("O")) {
+ if (basCrnp.getOutEnable().equals("Y")) {
+ this.locToCrnStn(crn, crnProtocol); // 鍑哄簱
+ crnProtocol.setLastIo("I");
+ } else if (basCrnp.getInEnable().equals("Y")) {
+ this.crnStnToLoc(crn, crnProtocol); // 鍏ュ簱
+ crnProtocol.setLastIo("O");
+ }
+ }
+ }
+ // 搴撲綅绉昏浆
+ this.locToLoc(crn, crnProtocol);
+
+ }
+ }
+
+ /**
+ * 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
+ */
+ public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
+ 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。
+ TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo().toString());
+ if(null == taskWrk) {
+ 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 (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
+ 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))) {
+ 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;
+ }
+ }
+
+ /**
+ * 鍑哄簱 ===>> 搴撲綅鍒板爢鍨涙満绔�
+ * 2022-06-09 TQS淇敼锛屾煡璇㈠伐浣滄。LIST锛岄亶鍘嗕笅鍙戯紝闃叉绗竴涓换鍔″牭濉炲嚭搴�
+ */
+ public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
+ for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
+ // 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑鍑哄簱宸ヤ綔妗�
+ List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(), crnStn.getStaNo().toString());
+ for (TaskWrk taskWrk : taskWrks){
+ if (taskWrk == null) {
+ continue;
+ }
+ // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
+ if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == null) {
+ log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
+ continue;
+ }
+ // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ if (staProtocol == null) {
+ break;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ log.error("鍑哄簱 ===>> 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());
+ break;
+ }
+
+ // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
+ && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+ break;
+ }
+
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
+ break;
+ }
+
+ // 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, taskWrk.getStartPoint())) {
+
+ taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
+
+ List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
+ if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
+ continue;
+ }
+ String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
+ TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
+ if (!Cools.isEmpty(hallowLocNoTask)){
+ if (!Cools.isEmpty(hallowLocNoTask.getTargetPoint())){
+ continue;
+ }
+// new PostMesDataUtils().postMesData("绉诲簱浠诲姟鍒嗛厤搴撲綅",wmsUrl,movePath,hallowLocNoTask);
+ try {
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath(movePath)
+ .setJson(JSON.toJSONString(hallowLocNoTask))
+ .build()
+ .doPost();
+ System.out.println("response:"+response);
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ //瑙ｆ瀽
+ }
+ }catch (Exception e){
+ log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl+"/"+movePath, JSON.toJSONString(hallowLocNoTask), "璇锋眰绉诲簱浠诲姟鍒嗛厤搴撲綅");
+ }
+ continue;
+ }
+ }
+
+ // 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.getRowShort(taskWrk.getStartPoint())); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅眰
+ 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�
+ 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 {
- log.warn("鏃犳鍏ュ簱鏉＄爜鏁版嵁---{}", barcode);
- continue;
+ // 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�
+ Date now = new Date();
+ taskWrk.setWrkSts(12);
+ taskWrk.setModiTime(now);
+ if (taskWrkMapper.updateById(taskWrk) == 0) {
+ log.error("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� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+ }
+ break;
}
-
- // 鎻掑叆宸ヤ綔涓绘。
- wrkMast = new WrkMast();
- wrkMast.setWrkNo(workNo);
- wrkMast.setIoTime(new Date());
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
- wrkMast.setIoType(1); // 鍏ュ嚭搴撶姸鎬侊細1.鍏ュ簱
- wrkMast.setIoPri(10D); // 浼樺厛绾э細10
- wrkMast.setCrnNo(startupDto.getCrnNo());
- wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
- wrkMast.setStaNo(startupDto.getStaNo());
- wrkMast.setLocNo(startupDto.getLocNo());
- wrkMast.setBarcode(barcode); // 鎵樼洏鐮�
- wrkMast.setFullPlt("Y"); // 婊℃澘锛歒
- wrkMast.setPicking("N"); // 鎷ｆ枡
- wrkMast.setExitMk("N"); // 閫�鍑�
- wrkMast.setEmptyMk("N"); // 绌烘澘
- wrkMast.setLinkMis("N");
-// wrkMast.setCtnType(sourceStaNo.getCtnType()); // 瀹瑰櫒绫诲瀷
- // 鎿嶄綔浜哄憳鏁版嵁
- wrkMast.setAppeTime(new Date());
- wrkMast.setModiTime(new Date());
- Integer insert = wrkMastMapper.insert(wrkMast);
- if (insert == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
- }
- // 鏇存柊鐩爣搴撲綅鐘舵��
- LocMast locMast = locMastService.selectById(startupDto.getLocNo());
- locMast.setLocSts("S"); // S.鍏ュ簱棰勭害
- locMast.setModiTime(new Date());
- if (!locMastService.updateById(locMast)){
- throw new CoolException("鏀瑰彉搴撲綅鐘舵�佸け璐�");
- }
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- barcodeThread.setBarcode("");
- staProtocol.setWorkNo(workNo);
- staProtocol.setStaNo(startupDto.getStaNo());
- staProtocol.setPakMk(false);
- staProtocol.setInreq1(false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task<>(4, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
-
+ return;
}
-
-
}
}
-
}
-
/**
- * 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
+ * 搴撲綅绉昏浆
*/
- public void stnToCrnStnPick(){
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
- for (DevpSlave.Sta pickSta : devp.getPickSta()) {
- // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
-
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInreq1()
- && staProtocol.getWorkNo() > 0 && staProtocol.isPakMk()){
- WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
- if (wrkMast == null) {
- // 鏃犳嫞鏂欐暟鎹�
- continue;
- }
- if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 1070)
- || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
- continue;
- }
- // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
- if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
- }
- // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
- if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
- }
- // 鑾峰彇鐩爣绔�
- Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
- .eq("type_no", wrkMast.getIoType() - 50)
- .eq("stn_no", wrkMast.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
- .eq("crn_no", wrkMast.getCrnNo()); // 鍫嗗灈鏈哄彿
- StaDesc staDesc = staDescService.selectOne(wrapper);
- if (Cools.isEmpty(staDesc)) {
- throw new CoolException("鍏ュ簱璺緞涓嶅瓨鍦�");
- }
- // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
- Integer staNo = staDesc.getCrnStn();
- // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
- wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
- wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 婧愮珯
- wrkMast.setStaNo(staNo); // 鐩爣绔�
- wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
- wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
- }
- // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
- LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
- locMast.setLocSts("Q");
- locMast.setModiTime(new Date());
- if (!locMastService.updateById(locMast)) {
- throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
- }
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo());
- staProtocol.setStaNo(wrkMast.getStaNo());
- staProtocol.setPakMk(false);
- staProtocol.setInreq1(false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task<>(4, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
-
+ public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
+ for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
+ // 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑绉诲簱宸ヤ綔妗�
+ List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut3(slave.getId(), crnStn.getStaNo().toString());
+ for (TaskWrk taskWrk : taskWrks){
+ if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("")) {
+ continue;
+ }
+ // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
+ if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) {
+ log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/鐩爣搴撲綅鍙�, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
+ continue;
}
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+
+ // 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 (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
+ continue;
+ }
+
+
+ // 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.getRowShort(taskWrk.getStartPoint())); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
+ 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� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
+ Date now = new Date();
+ taskWrk.setWrkSts(12);
+ taskWrk.setModiTime(now);
+ if (taskWrkMapper.updateById(taskWrk) == 0) {
+ log.error("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� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+ }
+ break;
+ }
+ return;
+ }
+ }
+
+ }
+
+ /**
+ * 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() == 1 && 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 (taskWrk == null) {
+ 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.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);
+ }
+ }
+ }
+ }
+
+ /**
+ * 鍫嗗灈鏈哄紓甯镐俊鎭褰�
+ */
+ @Async
+ public void recCrnErr(){
+ Date now = new Date();
+ 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;
+ }
+ if (true) {
+// if (crnProtocol.getModeType() != CrnModeType.STOP) {
+ // 鏈変换鍔�
+ if (crnProtocol.getTaskNo() != 0) {
+ BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
+ // 鏈夊紓甯�
+ if (latest == null) {
+ if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
+ WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
+ if (wrkMast == null) {
+ continue;
+ }
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
+ String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName();
+ BasErrLog basErrLog = new BasErrLog(
+ null, // 缂栧彿
+ wrkMast.getWrkNo(), // 宸ヤ綔鍙�
+ now, // 鍙戠敓鏃堕棿
+ null, // 缁撴潫鏃堕棿
+ wrkMast.getWrkSts(), // 宸ヤ綔鐘舵��
+ wrkMast.getIoType(), // 鍏ュ嚭搴撶被鍨�
+ crn.getId(), // 鍫嗗灈鏈�
+ null, // plc
+ wrkMast.getLocNo(), // 鐩爣搴撲綅
+ wrkMast.getStaNo(), // 鐩爣绔�
+ wrkMast.getSourceStaNo(), // 婧愮珯
+ wrkMast.getSourceLocNo(), // 婧愬簱浣�
+ wrkMast.getBarcode(), // 鏉＄爜
+ (int) crnProtocol.getAlarm1(), // 寮傚父鐮�
+ errName, // 寮傚父
+ 1, // 寮傚父鎯呭喌
+ now, // 娣诲姞鏃堕棿
+ null, // 娣诲姞浜哄憳
+ now, // 淇敼鏃堕棿
+ null, // 淇敼浜哄憳
+ "浠诲姟涓紓甯�" // 澶囨敞
+ );
+ if (!basErrLogService.insert(basErrLog)) {
+ log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
+ }
+ }
+ } else {
+ // 寮傚父淇
+ if (crnProtocol.getAlarm1() == null || crnProtocol.getAlarm1() == 0) {
+ latest.setEndTime(now);
+ latest.setUpdateTime(now);
+ latest.setStatus(2);
+ if (!basErrLogService.updateById(latest)) {
+ log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
+ }
+ }
+ }
+ // 鏃犱换鍔�
+ } else {
+ BasErrLog latest = basErrLogService.findLatest(crn.getId());
+ // 鏈夊紓甯�
+ if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
+ // 璁板綍鏂板紓甯�
+ if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm1().intValue())) {
+ BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
+ String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName();
+ BasErrLog basErrLog = new BasErrLog(
+ null, // 缂栧彿
+ null, // 宸ヤ綔鍙�
+ now, // 鍙戠敓鏃堕棿
+ null, // 缁撴潫鏃堕棿
+ null, // 宸ヤ綔鐘舵��
+ null, // 鍏ュ嚭搴撶被鍨�
+ crn.getId(), // 鍫嗗灈鏈�
+ null, // plc
+ null, // 鐩爣搴撲綅
+ null, // 鐩爣绔�
+ null, // 婧愮珯
+ null, // 婧愬簱浣�
+ null, // 鏉＄爜
+ (int)crnProtocol.getAlarm1(), // 寮傚父鐮�
+ errName, // 寮傚父
+ 1, // 寮傚父鎯呭喌
+ now, // 娣诲姞鏃堕棿
+ null, // 娣诲姞浜哄憳
+ now, // 淇敼鏃堕棿
+ null, // 淇敼浜哄憳
+ "鏃犱换鍔″紓甯�" // 澶囨敞
+ );
+ if (!basErrLogService.insert(basErrLog)) {
+ log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
+ }
+ }
+ // 鏃犲紓甯�
+ } else {
+ // 寮傚父淇
+ if (latest != null && latest.getStatus() == 1) {
+ latest.setEndTime(now);
+ latest.setUpdateTime(now);
+ latest.setStatus(2);
+ if (!basErrLogService.updateById(latest)) {
+ log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
+ }
+ }
+ }
+ }
}
}
}
+ //鑷姩娲惧彂浠诲姟
+ public void autoDistribute() {
+ Config config = configService.selectByCode("autoDistribute");
+ if (config == null) {
+ return;
+ }
+
+ if (config.getValue().equals("false")) {//鍒ゆ柇鏄惁寮�鍚嚜鍔ㄦ淳鍙戜换鍔�
+ return;
+ }
+
+ for (TaskWrk taskWrk : taskWrkService.selectReceive()) {
+ try {
+ taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
+ } catch (CoolException e) {
+ e.printStackTrace();
+ }
+ }
+ }
+
+
}
--
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