From 7dabb7c81d9360ef25e3d9f4a840e211affb219a Mon Sep 17 00:00:00 2001
From: lty <876263681@qq.com>
Date: 星期一, 08 九月 2025 10:33:46 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 1096 +++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 858 insertions(+), 238 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 712baf2..91ab467 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -750,6 +750,7 @@
if ((wrkMast.getIoType() != 12 && wrkMast.getIoType() < 100) || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
continue;
}
+
// 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, wrkMast.getCrnNo());
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
@@ -812,51 +813,63 @@
} else {
staProtocolIn = staProtocolIn.clone();
}
- StaProtocol staProtocolOut = devpThread.getStation().get(1015);
- if (staProtocolOut == null) {
- continue;
- } else {
- staProtocolOut = staProtocolOut.clone();
- }
- if(staProtocolOut.getWorkNo() != null &&staProtocolOut.getStaNo() == 4006){
- WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
- WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9997);
- if(wrkMast == null){
+ int[] outStaNos = {1015, 2016};
+ for (int outStaNo : outStaNos) {
+ StaProtocol staProtocolOut = devpThread.getStation().get(outStaNo);// 鐩樼偣鍑哄簱琛旀帴绔欑偣锛堝彲鑳芥槸 1015锛屼篃鍙兘鏄� 2016锛�
+ if (staProtocolOut == null) {
continue;
+ } else {
+ staProtocolOut = staProtocolOut.clone();
}
- try {
- TransplantWork param = new TransplantWork();
- param.setWorkNo(wrkMastOut.getWrkNo());
- param.setBarcode(wrkMastOut.getBarcode());
- param.setSourceStaNo(1015);
- param.setStaNo(wrkMastOut.getStaNo());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/auto/TransplantingIn/v1")
- .setJson(JSON.toJSONString(param))
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- staProtocolOut.setWorkNo(9997);
- devpThread.setPakMk(staProtocolOut.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolOut));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
+ if (staProtocolOut.getWorkNo() != null && staProtocolOut.getStaNo() == 4006) {
+ WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
+ WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9997);
+ if (wrkMastOut == null) {
+ continue;
}
+ if (wrkMast != null) {
+ News.info("宸插瓨鍦ㄦ枩琛椾换鍔★紝绛夊緟浠诲姟瀹屾垚");
+ continue;
+ }
+ try {
+ TransplantWork param = new TransplantWork();
+ param.setWorkNo(wrkMastOut.getWrkNo());
+ param.setBarcode(wrkMastOut.getBarcode());
+ param.setSourceStaNo(outStaNo);
+ param.setStaNo(wrkMastOut.getStaNo());
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/auto/TransplantingOut/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ staProtocolOut.setWorkNo(9997);
+ devpThread.setPakMk(staProtocolOut.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolOut));
+
+ if (!result) {
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
}
}
-
if(staProtocolIn.getWorkNo() != null &&staProtocolIn.getStaNo() != 4001){
WrkMast wrkMastIn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9996);
- if(wrkMast == null){
+ if(wrkMastIn == null){
+ continue;
+ }
+ if(wrkMast != null){
+ News.info("宸插瓨鍦ㄦ枩琛椾换鍔★紝绛夊緟浠诲姟瀹屾垚");
continue;
}
try {
@@ -867,7 +880,7 @@
param.setStaNo(wrkMastIn.getStaNo());
String response = new HttpHandler.Builder()
.setUri(wmsUrl)
- .setPath("/rpc/auto/TransplantingOut/v1")
+ .setPath("/rpc/auto/TransplantingIn/v1")
.setJson(JSON.toJSONString(param))
.build()
.doPost();
@@ -2535,16 +2548,20 @@
public synchronized void autoEmptyOut() {
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
List<Integer> list = new ArrayList<>();
- list.add(1108);list.add(112);
- Map<Integer,Integer> map = new HashMap<>();
- map.put(101,102);map.put(112,111);
+ list.add(1108);list.add(2031);
for (Integer site:list){
- WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", map.get(site)));
- if (!Cools.isEmpty(wrkMast)){
+ Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
+ StaProtocol staProtocol = null;
+ if(emptyCount >= 2 && site == 1108){
+ continue;
+ }else if(emptyCount == 1 && site == 2031){
continue;
}
//濡傛灉绔欑偣鍙嚭绂佺敤锛屽垯涓嶇敓鎴愮┖鐩樺嚭搴撲换鍔�
- StaProtocol staProtocol = devpThread.getStation().get(site);
+ switch (site){
+ case 1108:staProtocol = devpThread.getStation().get(site - 2);break;
+ case 2031:staProtocol = devpThread.getStation().get(site);break;
+ }
if (staProtocol == null) {
return;
} else {
@@ -2555,10 +2572,6 @@
&& staProtocol.isOutEnable() //鍙嚭淇″彿
&& staProtocol.getWorkNo() == 0
) {
- WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(site);
- if (null != pakoutEmpty) {
- return;
- }
Short loctype1 = 1;
LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
locTypeDto.setSiteId(site);
@@ -2699,7 +2712,9 @@
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE &&
rgvProtocol.getModeType() == RgvModeType.AUTO
&& !rgvProtocol.isLoaded1ing() //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
- && (rgvProtocol.getTaskNo1()==0)
+ && rgvProtocol.getTaskNo1()==0
+ && !rgvProtocol.isLoaded2ing()
+ && rgvProtocol.getTaskNo2()==0
&&rgvThread.isPakMk()
) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
@@ -2715,7 +2730,9 @@
if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
&& rgvProtocolOther.getModeType() == RgvModeType.AUTO
&& !rgvProtocolOther.isLoaded1ing()
- && (rgvProtocolOther.getTaskNo1()==0)
+ && rgvProtocolOther.getTaskNo1()==0
+ && !rgvProtocolOther.isLoaded2ing()
+ && rgvProtocolOther.getTaskNo2()==0
&&rgvThreadOther.isPakMk()
){
//瀵瑰伐浣滄。杩涜鍒ゆ柇
@@ -2767,43 +2784,150 @@
try{
for (DevpSlave devp : slaveProperties.getDevp()) {
List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
- for (BasRgvMap rgvSlave:basRgvMaps) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
continue;
}else {
rgvProtocol = rgvProtocol.clone();
}
- BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
+ 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�3", rgvSlave.getRgvNo());
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�3", rgv.getId());
continue;
}
- // 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
+ // 鍙湁褰揜GV宸ヤ綅1绛夊緟WCS纭銆佽嚜鍔�
if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
&& rgvProtocol.getModeType() == RgvModeType.AUTO
&& (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
){
log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
- if(rgvProtocol.getTaskNo1() == 9999){
- List<Integer> staNos = Arrays.asList( 1043, 1104);
- for (Integer staNo : staNos) {
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- boolean rgvComplete = false;
- if(!staProtocol.isLoading()){
- rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),3);//宸ヤ綅1澶嶄綅
- }
+ if(rgvProtocol.getTaskNo1() == 9999){ // 棰勮皟搴︿换鍔＄‘璁�
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ Integer staNo = basRgvMap.getNowRoute();
+ switch (staNo){
+ case 1004: staNo = 1042; break;
+ case 1007: staNo = 1105; break;
+ }
+
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ boolean rgvComplete = false;
+
+// long now = System.currentTimeMillis();
+// if (staProtocol.isLoading()) {
+// rgvProtocol.setLoadingStartTime(null); // 宸插埌浣嶏紝娓呯┖鏃堕棿鎴�
+// } else {
+// if (rgvProtocol.getLoadingStartTime() == null) {
+// rgvProtocol.setLoadingStartTime(now);
+// }
+// }
+
+ if (staProtocol.isLoading()) {
+ rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
if (!rgvComplete){
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛佺瓑寰呭叆搴撳彇璐�",rgvProtocol.getRgvNo());
- break;
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛佺瓑寰呭叆搴撳彇璐�", rgvProtocol.getRgvNo());
}
}
}
if (rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo1()!=9999){
WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
+ if(wrkMastSta.getWrkSts() == 1){//鍙栬揣纭
+ wrkMastSta.setWrkSts(2);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ boolean rgvComplete = false;
+
+ rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
+ if (!rgvComplete){
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+ break;
+ }
+ break;
+ }
+ if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getWrkSts()!=1){
+ log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�"+wrkMastSta);
+ continue;
+ }
+
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+ continue;
+ }
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
+ if (!Cools.isEmpty(wrkMast)){
+ if (!staProtocol.isPakMk()){
+ continue;
+ }
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ log.error("rgv浠诲姟瀹屾垚缁欒緭閫佺嚎涓嬪彂鍛戒护锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
+ if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
+ continue;
+ }
+ }
+ boolean rgvComplete = false;
+
+ rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),3);
+ if (!rgvComplete){
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+ break;
+ }
+ WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
+ wrkMast1.setPdcType("Y");
+
+ wrkMastService.updateById(wrkMast1);
+
+ wrkMastSta.setWrkSts(3);
+ wrkMastStaMapper.updateById(wrkMastSta);
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+ rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
+ }
+
+ else {
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{},绛夊緟wcs纭浣嗘槸娌℃湁宸ヤ綔鍙凤紒",rgvProtocol.getRgvNo());
+ }
+ }
+ // 鍙湁褰揜GV宸ヤ綅2绛夊緟WCS纭銆佽嚜鍔�
+ if ((rgvProtocol.getStatusType2() == RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
+ ){
+ log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
+ if (rgvProtocol.getTaskNo2() !=0 ){
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
+ if(wrkMastSta.getWrkSts() == 1){//缂鸿揣纭
+ wrkMastSta.setWrkSts(2);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ boolean rgvComplete = false;
+
+ rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
+ if (!rgvComplete){
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+ break;
+ }
+ break;
+ }
if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getWrkSts()!=1){
log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�"+wrkMastSta);
continue;
@@ -2837,12 +2961,8 @@
boolean rgvComplete = false;
//鍙屽伐浣嶅嚭鍏ュ簱涓嶅悓宸ヤ綅澶嶄綅
- if((sourceSta >= 1001 && sourceSta <= 1035) || (sourceSta >= 2001 && sourceSta <= 2030)){
- rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),6);
- }else{
- rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),3);
+ rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),6);
- }
if (!rgvComplete){
log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
break;
@@ -2857,12 +2977,16 @@
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
- rgvThread.setPakMk(true);
}
-
else {
log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{},绛夊緟wcs纭浣嗘槸娌℃湁宸ヤ綔鍙凤紒",rgvProtocol.getRgvNo());
}
+ }
+ //褰撳皬杞︽棤浠诲姟鏃跺彇娑堥攣瀹�
+ if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0){
+ rgvThread.setPakMk(true);
+ rgvThread.setPakIn(true);
+ rgvThread.setPakOut(true);
}
}
}
@@ -2872,183 +2996,554 @@
}
/**
- * rgv鍑哄叆搴撲换鍔′笅鍙�
+ * rgv鏀捐揣浠诲姟涓嬪彂
*/
- public synchronized void rgvIoExecute(Integer mark) {
- List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
-
- for (BasRgvMap rgvSlave:basRgvMaps) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
+ public synchronized void rgvOutExecute() {
+ 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(rgvSlave.getRgvNo());
+ 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�4", rgvSlave.getRgvNo());
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgv.getId());
+ continue;
+ }
+ //灏忚溅鏃犱换鍔℃椂璺宠繃
+ if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0){
+ continue;
+ }
+ //鍏ュ簱鏀捐揣
+ if(rgvThread.isPakIn()){
+ for(RgvSlave.RgvStn rgvStn : rgv.getRgvInPStn()){//鍏ュ簱鏀捐揣绔欑偣
+ boolean flag = false;
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ if (staProtocol == null) {
+ News.infoNoLog( " - 1" + " - 1" + " - Rgv鍏ュ簱鏀捐揣绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
+ if (staDetl == null) {
+ News.error( " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv鏀捐揣绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
+ && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog( " - 1" + " - 3" + " - Rgv鍏ュ簱鏀捐揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
+ + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
+ + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isInEnable()
+ + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanining());
+ continue;
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ Integer wrkNo = 0;
+ if(rgvProtocol.getTaskNo2() != 0){
+ wrkNo = rgvProtocol.getTaskNo2();
+ }else{
+ wrkNo = rgvProtocol.getTaskNo1();
+ }
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(wrkNo));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
+ if( null == wrkMastSta ) {
+ News.infoNoLog( " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ continue;
+ }
+ boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null); //鍛戒护涓嬪彂
+ if (sign){
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+ if (!signMap){
+ log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+
+ }
+ }
+ //鍑哄簱鏀捐揣
+ if( rgvThread.isPakOut()){
+ for(RgvSlave.RgvStn rgvStn : rgv.getRgvOutPStn()){//鍏ュ簱鏀捐揣绔欑偣
+ boolean flag = false;
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ if (staProtocol == null) {
+ News.infoNoLog( " - 1" + " - 1" + " - Rgv鍑哄簱鏀捐揣绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
+ if (staDetl == null) {
+ News.error( " - 1" + " - 2" + " - 鍑哄簱 ===>>Rgv鏀捐揣绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isOutEnable()
+ && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog( " - 1" + " - 3" + " - Rgv鍑哄簱鏀捐揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
+ + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
+ + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isOutEnable()
+ + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanouting());
+ continue;
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ Integer wrkNo = 0;
+ if(rgvProtocol.getTaskNo1() != 0){
+ wrkNo = rgvProtocol.getTaskNo1();
+ }else{
+ wrkNo = rgvProtocol.getTaskNo2();
+ }
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(wrkNo));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
+ if( null == wrkMastSta ) {
+ News.infoNoLog( " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍑哄簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ continue;
+ }
+ wrkMastSta.setWrkSts(2);
+ boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null); //鍛戒护涓嬪彂
+ if (sign){
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+ if (!signMap){
+ log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+
+ }
+ }
+ rgvThread.setPakRgv(true);//浼樺厛鏀捐揣瀹屾垚锛屽紑鍚璋冨害
+ }
+ }
+
+
+
+ /**
+ * rgv鍑哄叆搴撲换鍔′笅鍙�
+ */
+ public synchronized void rgvIoExecute(Integer mark) {
+ List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
+
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ 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�4", rgv.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 (rgvProtocol.getStatusType() == CrnStatusType.IDLE && rgvProtocol.getTaskNo() == 0 && rgvProtocol.getModeType() == CrnModeType.AUTO
- && rgvProtocol.getLoaded() == 0 && rgvProtocol.getForkPos() == 0) {
- News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛屽爢鍨涙満鍏ュ嚭搴撲綔涓氫笅鍙�");
+ // 鍙湁褰揜GV绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
+ if ((rgvProtocol.getStatusType1() == RgvStatusType.IDLE || rgvProtocol.getStatusType2() == RgvStatusType.IDLE)
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvThread.isPakMk()) {
+ News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛孯GV鍏ュ嚭搴撲綔涓氫笅鍙�");
// 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
if (rgvProtocol.getLastIo().equals("I")) {
- if (basCrnp.getInEnable().equals("Y")) {
+ if (basRgv.getInEnable().equals("Y") && rgvThread.isPakIn()) {
//mark - 1 - ....
- this.crnStnToLoc(crn, crnProtocol,mark); // 鍏ュ簱
- crnProtocol.setLastIo("O");
- } else if (basCrnp.getOutEnable().equals("Y")) {
+ this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
+ rgvProtocol.setLastIo("O");
+ } else if (basRgv.getOutEnable().equals("Y") && rgvThread.isPakOut()) {
//mark - 2 - ....
- this.locToCrnStn(crn, crnProtocol,mark); // 鍑哄簱
- crnProtocol.setLastIo("I");
+ this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 鍑哄簱
+ rgvProtocol.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,mark); // 鍑哄簱
- crnProtocol.setLastIo("I");
- } else if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc(crn, crnProtocol,mark); // 鍏ュ簱
- crnProtocol.setLastIo("O");
+ else if (rgvProtocol.getLastIo().equals("O")) {
+ if (basRgv.getOutEnable().equals("Y") && rgvThread.isPakOut()) {
+ this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 鍑哄簱
+ rgvProtocol.setLastIo("I");
+ } else if (basRgv.getInEnable().equals("Y") && rgvThread.isPakIn()) {
+ this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
+ rgvProtocol.setLastIo("O");
}
}
+ WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
+ WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
+ if(wrkMastSta1 != null && wrkMastSta2 != null){
+ rgvThread.setPakMk(false); //灏忚溅鍙屽伐浣嶉攣瀹�
+ }
+ }
+ if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
+ rgvPreScheduling();//鑻ユ殏鏃犱笅鍙戜换鍔￠璋冨害鎻愬墠鍒板彇璐х偣
}
+ if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO) {
+ //灏忚溅鎵ц鏀捐揣浠诲姟
+ rgvOutExecute();
+
+ }
}
-// News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂鎵ц瀹屾垚");
+ }
+ /**
+ * 灏忚溅鍏ュ簱浠诲姟鍙栬揣涓嬪彂
+ */
+ public synchronized void rgvRunWrkMastIn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark) {
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvInTStn()) {//rgv鍏ュ簱鍙栬揣绔欑偣
+ boolean flag = false;
+ boolean ds = false;
+ //閬嶅巻rgv鍏ュ簱鍙栬揣绔欑偣
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ StaProtocol staProtocol2 = null;
+
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
+ if(rgvStn.getStaNo2()!= null ){
+ staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
+ if (staProtocol2 == null) {
+ News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍏ュ簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocol2 = staProtocol2.clone();
+ }
+ BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
+ if (staDetl2 == null) {
+ News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+ }
+ if (staProtocol == null) {
+ News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍏ュ簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
+ if (staDetl == null) {
+ News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+
+
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
+ && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv鍏ュ簱鍙栬揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
+ + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
+ + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isInEnable()
+ + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanining());
+ continue;
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
+
+ if( null == wrkMastSta ) {
+ News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ continue;
+ }
+ WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
+ boolean result = false;
+ if(wrkMastSta2 != null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
+ result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
+ }
+ if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
+ rgvThread.setPakRgv(false);
+ continue;
+ }
+ wrkMastSta.setWorkSta(wrkMastSta2 != null ? 1 : 2);
+ wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
+ Short direction = 2;//鍙屽伐浣嶆渶缁堟姷杈句綅缃�
+ boolean sign = false;
+ //鑻ュ彇璐т负宸ヤ綅2涓斿彇璐у彛鍓嶄竴绔欑偣鏈夌墿锛岀粰鍙屽伐浣嶅悓鏃朵笅鍙戞寚浠�
+ if(wrkMastSta.getWorkSta() == 2 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0){
+ WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
+ wrkMastSta3.setWorkSta(1);
+ wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
+ sign = rgvTakeFullAll2(basRgvMap.getRgvNo(), wrkMastSta, wrkMastSta3);
+ }else{
+ sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction); //鍛戒护涓嬪彂
+ }
+ if (sign){
+ wrkMastSta.setWrkSts(1);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ rgvThread.setPakOut(false);//鍑哄簱涓嶅厑璁�
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+ if (!signMap){
+ log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+
+
+ }
+ }
+ /**
+ * 灏忚溅鍑哄簱浠诲姟鍙栬揣涓嬪彂
+ */
+ public synchronized void rgvRunWrkMastOut(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv鍑哄簱鍙栬揣绔欑偣
+ boolean flag = false;
+ //閬嶅巻rgv鍏ュ簱鍙栬揣绔欑偣
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
+ StaProtocol staProtocol2 = null;
+ if(rgvStn.getStaNo2()!= null ){
+ staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
+ if (staProtocol2 == null) {
+ News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍏ュ簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocol2 = staProtocol2.clone();
+ }
+ BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
+ if (staDetl2 == null) {
+ News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+ }
+ if (staProtocol == null) {
+ News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍑哄簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
+ if (staDetl == null) {
+ News.error("" + mark + " - 1" + " - 2" + " - 鍑哄簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isOutEnable()
+ && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv鍑哄簱鍙栬揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
+ + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
+ + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isOutEnable()
+ + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanouting());
+ continue;
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
+ if( null == wrkMastSta ) {
+ News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ continue;
+ }
+ WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
+ boolean result = false;
+ if(wrkMastSta2 != null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
+ result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
+ }
+ if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
+ rgvThread.setPakRgv(false);
+ continue;
+ }
+ WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
+ wrkMastSta.setWorkSta(wrkMastSta1 != null ? 2 : 1);//鑻�1鍙峰伐浣嶆湁浠诲姟缁�2鍙峰伐浣�
+ wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
+ boolean sign = false;
+ Short direction = 1;//宸ヤ綅1鏂瑰悜
+ //鑻ュ彇璐т负宸ヤ綅2涓斿彇璐у彛鍓嶄竴绔欑偣鏈夌墿锛岀粰鍙屽伐浣嶅悓鏃朵笅鍙戞寚浠�
+ if(wrkMastSta.getWorkSta() == 1 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0){
+ WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
+ wrkMastSta3.setWorkSta(2);
+ wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
+ sign = rgvTakeFullAll2(basRgvMap.getRgvNo(), wrkMastSta, wrkMastSta3);
+ }else{
+ sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction); //鍛戒护涓嬪彂
+ }
+ if (sign){
+ wrkMastSta.setWrkSts(1);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+ if (!signMap){
+ log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+
+
+ }
}
/**
* 鎵ц灏忚溅鎼繍浠诲姟
*
* @return
*/
- public synchronized boolean rgvRunWrkMastFullSta() {
- boolean wrkEnable = false;
- try{
- List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
- for (BasRgvMap rgvSlave:basRgvMaps) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- continue;
- }else {
- rgvProtocol = rgvProtocol.clone();
- }
- BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
- if (basRgv == null) {
- log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgvSlave.getRgvNo());
- continue;
- }
-
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鍏ュ簱鍙栬揣
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && !rgvProtocol.isLoaded1ing()
- && rgvProtocol.getTaskNo1() == 0
- && rgvThread.isPakMk()
- && rgvThread.isPakIn()
- ) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- if (basRgvMap == null) {
- log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
- continue;
- }
- List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
- List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
- for (WrkMastSta wrkMastSta : wrkMastStaList){
- List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//鍏ュ簱鍙�
- if (!staNos.contains(wrkMastSta.getStaStart())) {
- continue;
- }
- boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
- wrkEnable = true;
- if (sign){
- wrkMastSta.setWrkSts(1);
- try{
- wrkMastStaMapper.updateById(wrkMastSta);
- log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
- }catch (Exception e){
- log.error("鏇存柊灏忚溅浠诲姟澶辫触");
- }
- rgvThread.setPakMk(false);
- rgvThread.setPakOut(false);
- boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
- if (signMap){
- return wrkEnable;
-// break;
- }else {
- log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
- Thread.sleep(500);
- }
- } else {
- log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
- Thread.sleep(500);
- }
- break;
- }
- }
-
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鍑哄簱鍙栬揣
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && !rgvProtocol.isLoaded2ing()
- && rgvProtocol.getTaskNo2() == 0
- && rgvThread.isPakMk()
- && rgvThread.isPakOut()
- ){
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- if (basRgvMap == null) {
- log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
- continue;
- }
- List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
- List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
- for (WrkMastSta wrkMastSta : wrkMastStaList){
- List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//鍏ュ簱鍙�
- if (staNos.contains(wrkMastSta.getStaStart())) {//闈炲叆搴撳彛锛堝嚭搴撳彛锛夐檺鍒�
- continue;
- }
- boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
- wrkEnable = true;
- if (sign){
- wrkMastSta.setWrkSts(1);
- try{
- wrkMastStaMapper.updateById(wrkMastSta);
- log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
- }catch (Exception e){
- log.error("鏇存柊灏忚溅浠诲姟澶辫触");
- }
- rgvThread.setPakMk(false);
- rgvThread.setPakOut(false);
- boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
- if (signMap){
- return wrkEnable;
-// break;
- }else {
- log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
- Thread.sleep(500);
- }
- } else {
- log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
- Thread.sleep(500);
- }
- break;
- }
-
- }
-
- }
- }catch (Exception e){
- log.error("鎵ц灏忚溅鎼繍浠诲姟涓嬪彂澶辫触");
- }
- return wrkEnable;
- }
+// public synchronized boolean rgvRunWrkMastFullSta() {
+// boolean wrkEnable = false;
+// try{
+// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
+// for (BasRgvMap rgvSlave:basRgvMaps) {
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
+// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+// if (rgvProtocol == null) {
+// continue;
+// }else {
+// rgvProtocol = rgvProtocol.clone();
+// }
+// BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
+// if (basRgv == null) {
+// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgvSlave.getRgvNo());
+// continue;
+// }
+//
+// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鍏ュ簱鍙栬揣
+// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// && !rgvProtocol.isLoaded1ing()
+// && rgvProtocol.getTaskNo1() == 0
+// && rgvThread.isPakMk()
+// && rgvThread.isPakIn()
+// ) {
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// if (basRgvMap == null) {
+// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+// continue;
+// }
+// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+// for (WrkMastSta wrkMastSta : wrkMastStaList){
+// List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//鍏ュ簱鍙�
+// if (!staNos.contains(wrkMastSta.getStaStart())) {
+// continue;
+// }
+// boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+// wrkEnable = true;
+// if (sign){
+// wrkMastSta.setWrkSts(1);
+// try{
+// wrkMastStaMapper.updateById(wrkMastSta);
+// log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+// }catch (Exception e){
+// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+// }
+// rgvThread.setPakMk(false);
+// rgvThread.setPakOut(false);
+// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+// if (signMap){
+// return wrkEnable;
+//// break;
+// }else {
+// log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+// Thread.sleep(500);
+// }
+// } else {
+// log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+// Thread.sleep(500);
+// }
+// break;
+// }
+// }
+//
+// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鍑哄簱鍙栬揣
+// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// && !rgvProtocol.isLoaded2ing()
+// && rgvProtocol.getTaskNo2() == 0
+// && rgvThread.isPakMk()
+// && rgvThread.isPakOut()
+// ){
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// if (basRgvMap == null) {
+// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+// continue;
+// }
+// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+// for (WrkMastSta wrkMastSta : wrkMastStaList){
+// List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//鍏ュ簱鍙�
+// if (staNos.contains(wrkMastSta.getStaStart())) {//闈炲叆搴撳彛锛堝嚭搴撳彛锛夐檺鍒�
+// continue;
+// }
+// boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null); //鍛戒护涓嬪彂
+// wrkEnable = true;
+// if (sign){
+// wrkMastSta.setWrkSts(1);
+// try{
+// wrkMastStaMapper.updateById(wrkMastSta);
+// log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+// }catch (Exception e){
+// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+// }
+// rgvThread.setPakMk(false);
+// rgvThread.setPakOut(false);
+// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+// if (signMap){
+// return wrkEnable;
+//// break;
+// }else {
+// log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+// Thread.sleep(500);
+// }
+// } else {
+// log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+// Thread.sleep(500);
+// }
+// break;
+// }
+//
+// }
+//
+// }
+// }catch (Exception e){
+// log.error("鎵ц灏忚溅鎼繍浠诲姟涓嬪彂澶辫触");
+// }
+// return wrkEnable;
+// }
/**
* 灏忚溅棰勮皟搴�
*/
@@ -3088,8 +3583,7 @@
// 鏍规嵁杈撻�佺嚎plc閬嶅巻
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鍏ュ簱鍙� 鍏ュ簱棰勮皟搴�
- for()
- List<Integer> staNos = Arrays.asList(1042, 1043, 1105, 1104);
+ List<Integer> staNos = Arrays.asList( 1043, 1104,1037);
for (Integer staNo : staNos) {
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -3098,12 +3592,16 @@
rgvCommand.setRgvNo((int) rgvProtocol.getRgvNo()); // RGV缂栧彿
rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
rgvCommand.setTaskNo1(9999); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 绉诲姩
rgvCommand.setEndStaNo1(0); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
- if(staNo == 1042 || staNo ==1043){
- rgvCommand.setTargetPosition1(1042); //宸ヤ綅1鐩爣绔欑偣
- }else{
- rgvCommand.setTargetPosition1(1105); //宸ヤ綅1鐩爣绔欑偣
+ switch (staNo){
+ case 1043: rgvCommand.setTargetPosition1(1042);break; //宸ヤ綅1鐩爣绔欑偣
+ case 1104: rgvCommand.setTargetPosition1(1105);break;
+ case 1037: rgvCommand.setTargetPosition1(1036);break;
+
+ }
+ if(Objects.equals(basRgvMap.getNowRoute(), staNo)){
+ continue;
}
rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
if (!MessageQueue.offer(SlaveType.Rgv, (int) rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
@@ -3359,29 +3857,30 @@
/*
* 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
* */
- public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
+ public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta,Short direction){
try{
- int startSta = wrkMastSta.getStaStart();
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
boolean pakIn1 = true;
boolean pakIn2 = true;
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- if(wrkMastSta.getWrkSts() == 1){//鍙栬揣
- if((startSta >= 1001 && startSta <= 1035) || (startSta >= 2001 && startSta <= 2030)){//鍑哄簱RGV鍙栬揣
+ if(wrkMastSta.getWrkSts() == 0){//鍙栬揣
+ if(wrkMastSta.getWorkSta() == 2){//鍑哄簱RGV鍙栬揣
rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
- rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
rgvCommand.setTargetPosition2(wrkMastSta.getStaStart()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setDirection2(direction);
rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
pakIn1 = false;
}else{ //鍏ュ簱RGV鍙栬揣
rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setDirection1(direction);
rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
}
if(!pakIn1){
@@ -3403,18 +3902,18 @@
}
}
if(wrkMastSta.getWrkSts() == 2) {//鏀捐揣
- if((startSta >= 1001 && startSta <= 1035) || (startSta >= 2001 && startSta <= 2030)){//鍑哄簱RGV鍙栬揣
+ if((wrkMastSta.getWorkSta() == 2)){ //宸ヤ綅2浠诲姟鏀捐揣
rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
- rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setTaskStatus2(RgvTaskStatusType.PUT); // 宸ヤ綅2浠诲姟妯″紡: 鏀捐揣
rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
rgvCommand.setTargetPosition2(wrkMastSta.getStaEnd()); //宸ヤ綅2鐩爣绔欑偣
rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
pakIn2 = false;
- }else{ //鍏ュ簱RGV鍙栬揣
+ }else{ //宸ヤ綅1浠诲姟鏀捐揣
rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setTaskStatus1(RgvTaskStatusType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鏀捐揣
rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //宸ヤ綅1鐩爣绔欑偣
rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
@@ -3437,6 +3936,96 @@
}
}
}
+ return true;
+ }catch (Exception e){
+ return false;
+ }
+ }
+
+
+ /*
+ * 灏忚溅鍙栬揣鑷冲弻宸ヤ綅浠诲姟
+ * */
+ public synchronized boolean rgvTakeFullAll2(Integer rgvId,WrkMastSta wrkMastSta,WrkMastSta wrkMastSta2){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ boolean pakIn1 = true;
+ boolean pakIn2 = true;
+ rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+ if(wrkMastSta.getWrkSts() == 0) {//鍙栬揣
+ if (wrkMastSta.getWorkSta() == 2) {//鍏ュ簱RGV鍙栬揣
+ rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition2(wrkMastSta.getStaStart()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta2.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo1(wrkMastSta2.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition1(wrkMastSta2.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ rgvCommand.setWrkTaskPri((short) 2); //浼樺厛鎵ц宸ヤ綅2浠诲姟
+ } else { //鍑哄簱RGV鍙栬揣
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
+ rgvCommand.setTargetPosition2(wrkMastSta.getStaStart()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setWrkTaskPri((short) 1); //鍑哄簱鍙栬揣浼樺厛鎵ц宸ヤ綅1浠诲姟
+ rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+ }
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(2, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+ return false;
+ } else {
+ return true;
+ }
+ }
+
+// if(wrkMastSta.getWrkSts() == 2) {//鏀捐揣
+// if((wrkMastSta.getWorkSta() == 2)){ //宸ヤ綅2浠诲姟鏀捐揣
+// rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+// rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
+// rgvCommand.setTaskStatus2(RgvTaskStatusType.PUT); // 宸ヤ綅2浠诲姟妯″紡: 鏀捐揣
+// rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
+// rgvCommand.setTargetPosition2(wrkMastSta.getStaEnd()); //宸ヤ綅2鐩爣绔欑偣
+// rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+// pakIn2 = false;
+// }else{ //宸ヤ綅1浠诲姟鏀捐揣
+// rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+// rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
+// rgvCommand.setTaskStatus1(RgvTaskStatusType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鏀捐揣
+// rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
+// rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //宸ヤ綅1鐩爣绔欑偣
+// rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+// }
+// if(!pakIn2){
+// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+// return false;
+// } else {
+// return true;
+// }
+// }else{
+// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+// return false;
+// } else {
+// return true;
+// }
+// }
+// }
return true;
}catch (Exception e){
return false;
@@ -3543,6 +4132,37 @@
// }
// }
+ /**
+ * 鍙栨斁鍙栬矾寰勮绠�
+ */
+ public synchronized boolean rgvCalcDistance(Integer rgvNo, Integer outStn, Integer inStn){
+ try {
+ // 灏忚溅褰撳墠浣嶇疆
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvNo);
+ Integer currPos = basRgvMap.getNowRoute(); // 鎴栬�呯敤 rgvProtocol.getRgvPosI()
+
+ if(currPos == null || outStn == null || inStn == null){
+ return false; // 鏃犳晥鏁版嵁鐩存帴鏀惧純
+ }
+
+ // 璁＄畻涓ゆ璺濈
+ List<Integer> routeToOut = RouteUtils.getRouteDis(currPos, outStn);
+ List<Integer> routeToIn = RouteUtils.getRouteDis(currPos, inStn);
+
+ int distOut = (routeToOut != null) ? routeToOut.size() : Integer.MAX_VALUE;
+ int distIn = (routeToIn != null) ? routeToIn.size() : Integer.MAX_VALUE;
+
+ // 璋冭瘯鏃ュ織
+ log.info("RGV璺濈璁＄畻: currPos={}, outStn={}, distOut={}, inStn={}, distIn={}",
+ currPos, outStn, distOut, inStn, distIn);
+
+ return distOut < distIn; // 鏀捐揣鐐规洿杩� 鈫� true
+ } catch (Exception e) {
+ log.error("RGV璺緞璺濈璁＄畻寮傚父", e);
+ return false;
+ }
+ }
+
/*
* 灏忚溅澶嶄綅
* */
--
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