From 7fb2fa2382a4de194c0e906a8b206f854a3de17f Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期二, 07 十月 2025 09:35:59 +0800
Subject: [PATCH] #和得服务器
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 2828 ++++++++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 2,499 insertions(+), 329 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 7d75175..3192f64 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -8,12 +8,18 @@
import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
-import com.zy.asrs.mapper.BasCrnErrorMapper;
-import com.zy.asrs.mapper.WaitPakinMapper;
-import com.zy.asrs.mapper.WrkMastMapper;
+import com.zy.asrs.entity.param.ArmOrderAssignmentParam;
+import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
+import com.zy.asrs.entity.param.CombParam;
+import com.zy.asrs.entity.result.OrderDetlValueResultUtil;
+import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
+import com.zy.asrs.utils.PostMesDataUtils;
+import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
+import com.zy.asrs.utils.core.ReturnT;
+import com.zy.common.constant.ArmConstant;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
@@ -21,22 +27,23 @@
import com.zy.common.service.CommonService;
import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
+import com.zy.common.utils.News;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
-import com.zy.core.model.CrnSlave;
-import com.zy.core.model.DevpSlave;
-import com.zy.core.model.LedSlave;
-import com.zy.core.model.Task;
+import com.zy.core.model.*;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
+import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.CrnProtocol;
+import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.LedThread;
+import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -45,10 +52,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
-import java.util.ArrayList;
-import java.util.Date;
-import java.util.List;
-import java.util.Set;
+import java.util.*;
import java.util.stream.Collectors;
/**
@@ -86,26 +90,46 @@
private BasErrLogService basErrLogService;
@Autowired
private BasCrnErrorMapper basCrnErrorMapper;
+ @Autowired
+ private WrkMastStaMapper wrkMastStaMapper;
+ @Autowired
+ private BasRgvService basRgvService;
+ @Autowired
+ private BasRgvMapMapper basRgvMapMapper;
+ @Autowired
+ private WrkMastService wrkMastService;
+ @Autowired
+ private WrkMastStaService wrkMastStaService;
+ @Autowired
+ private BasRgvMapService basRgvMapService;
+ @Autowired
+ private BasArmService basArmService;
+ @Autowired
+ private BasArmMastService basArmMastService;
@Value("${wms.url}")
private String wmsUrl;
+ @Value("${wms.comb}")
+ private String wmsComb;
+ @Value("${inventory.number}")
+ private Integer inventoryNumber;
+
+ public Integer wrkNo = 10000;
+ public static final List<Integer> LEFT_POSITION = Arrays.asList(1018,2018);
/**
* 缁勬墭
* 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
*/
- public synchronized void generateStoreWrkFile() {
+ public synchronized void generateStoreWrkFile(Integer mark) {
+ String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
// 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＄爜鎵弿浠俊鎭�
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
- if (barcodeThread == null) {
- continue;
- }
-
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
if (staProtocol == null) {
@@ -114,78 +138,143 @@
staProtocol = staProtocol.clone();
}
- //LED
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
- // 鍏ュ嚭搴撴ā寮忓垽鏂�
-// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
-// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
-// continue;
-// }
+ if (barcodeThread == null) {
+ continue;
+ }
+
+
+ String barcode = barcodeThread.getBarcode();
+
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "";
+ if (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";
+ log.error("鐗╂枡鐮佹壂鐮佸け璐�");
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+// 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, inSta.getLed(), new Task(3, errMsg));
+
+ if (!staProtocol.isLoading()){
+ continue;
+ }
+ if (!staProtocol.isPakMk()) {
+ continue;
+ }
+ // led 寮傚父鏄剧ず
+ if (ledThread != null) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
+ }
+ staProtocol.setWorkNo(wrkNo);
+ News.info("{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
+ wrkNo++;
+ staProtocol.setStaNo(inSta.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�"+wrkNo+","+inSta.getBackSta());
+ }
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading()
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
&& staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
- && staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {
-
- String barcode = barcodeThread.getBarcode();
- if(!Cools.isEmpty(barcode)) {
- log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
- if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
- staProtocol.setWorkNo((short) 9999);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- log.info("鎵爜澶辫触1 ===>> {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{},绔欑偣:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
- }
- continue;
- }
- } else {
- staProtocol.setWorkNo((short) 9999);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- log.info("鎵爜澶辫触2 ===>> {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{},绔欑偣:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
+ && !staProtocol.isEmptyMk()
+ && staProtocol.isPakMk()) {
+ if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+// News.error(JSON.toJSONString(staProtocol));
+ News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
// led 寮傚父鏄剧ず
if (ledThread != null) {
String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
}
- continue;
- }
-
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
- WrkMast wrkMast1 = wrkMastMapper.selectPakInStepBarcode(barcode);
- if (wrkMast1 !=null){
- if (wrkMast1.getIoType()==103 || wrkMast1.getIoType()==107 || wrkMast1.getIoType()==104){
- continue;
- }
- }
- if (wrkMast != null) {
- log.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
- staProtocol.setWorkNo((short)9999);
+ staProtocol.setWorkNo(wrkNo);
+ News.info("{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
+ wrkNo++;
staProtocol.setStaNo(inSta.getBackSta().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
-
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- String errorMsg = "宸ヤ綔妗ｅ凡瀛樺湪璇ユ潯鐮佸彿===>>" + barcode;
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
- }
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ log.error("杈撻�佺嚎涓嬪彂1锛�"+wrkNo+","+inSta.getBackSta());
continue;
}
+// if (staProtocol.getSiteId()!= 159){
+// if( Cools.isEmpty(barcodeMat) || "NG".endsWith(barcodeMat) || "NoRead".equals(barcodeMat) || "00000000".equals(barcodeMat)) {
+// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcodeMat(), barcodeMat);
+//
+// staProtocol.setWorkNo(wrkNo);
+// News.info("{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
+// wrkNo++;
+// staProtocol.setStaNo(inSta.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�"+wrkNo+","+inSta.getBackSta());
+// continue;
+// }
+// }
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
+ if (wrkMast != null) {
+ int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
+ if (wrkNo1 != 0){
+ News.error(barcode + "鏉＄爜宸插瓨鍦ㄧ姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,璇锋煡鐪媁CS杈撻�佺嚎鐣岄潰,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
+ if (ledThread != null) {
+ News.error(methodName + ":鎵爜澶辫触锛岃閲嶈瘯");
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "鏉＄爜宸插瓨鍦ㄧ姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑浠诲姟,宸ヤ綔鍙�="+ wrkMast.getWrkNo()));
+ }
+ continue;
+ }
+ barcodeThread.setBarcode("");
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ log.info("杈撻�佺嚎涓嬪彂(瀛樺湪璁惧涓婅蛋鐨勫伐浣滄。锛岀洿鎺ヤ笅鍙戯紒))锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
+ ledThread.errorReset();
+ log.info("缁勬墭璇锋眰鍚嶭ED閿欒娓呴櫎");
+
+ if (!result) {
+ News.error(methodName + ":鏇存柊plc绔欑偣淇℃伅澶辫触");
+ log.error("杈撻�佺嚎涓嬪彂(瀛樺湪璁惧涓婅蛋鐨勫伐浣滄。锛岀洿鎺ヤ笅鍙戯紒)==>鏇存柊plc绔欑偣淇℃伅澶辫触");
+
+// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ continue;
+ }
+
+ }
+ WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
+ .eq("barcode", barcode)
+ .in("io_type", 107,103,57));
+ if (!Cools.isEmpty(checkPick)) {
+ continue;
+ }
try {
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -203,47 +292,65 @@
JSONObject jsonObject = JSON.parseObject(response);
if (jsonObject.getInteger("code").equals(200)) {
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
-
barcodeThread.setBarcode("");
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
+ staProtocol.setWorkNo(dto.getWorkNo());
+ staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
+ log.error("杈撻�佺嚎涓嬪彂2锛�"+dto.getWorkNo()+","+dto.getStaNo());
- // led 鍏ュ簱淇℃伅鏄剧ず
- if (ledThread != null) {
- // 鍛戒护闆嗗悎
- List<LedCommand> commands = new ArrayList<>();
- // 缁勮鍛戒护
- LedCommand ledCommand = new LedCommand();
- ledCommand.setWorkNo(dto.getWorkNo());
- ledCommand.setIoType(1);
- ledCommand.setTitle("鍏ㄦ澘鍏ュ簱");
- ledCommand.setLocNo(dto.getLocNo());
- ledCommand.setStaNo(dto.getStaNo());
- commands.add(ledCommand);
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, commands));
-// ledThread.errorReset();
- }
- } else {
- 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 + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
- staProtocol.setWorkNo((short)9999);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
+ ledThread.errorReset();
+ log.error("缁勬墭璇锋眰鍚嶭ED閿欒娓呴櫎");
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- String errorMsg = jsonObject.getString("msg");
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
+ if (!result) {
+ News.error(methodName + ":鏇存柊plc绔欑偣淇℃伅澶辫触");
+
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
}
}
+// else if (jsonObject.getInteger("code").equals(700)) {
+// SearchLocParam param2 = new SearchLocParam();
+// param2.setBarcode(barcode);
+// param2.setBarcodeMat(barcodeMat);
+// param2.setSourceStaNo(inSta.getStaNo());
+// param2.setLocType1(locTypeDto.getLocType1());
+// String response2 = new HttpHandler.Builder()
+// .setUri(wmsUrl)
+// .setPath("/rpc/pakin/yk/loc/v33")
+// .setJson(JSON.toJSONString(param2))
+// .build()
+// .doPost();
+// JSONObject jsonObject2 = JSON.parseObject(response2);
+// if (jsonObject2.getInteger("code").equals(200)) {
+// log.info("鑷姩缁勬墭鎴愬姛锛侊紒");
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "鑷姩缁勬墭鎴愬姛"));
+// } else {
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "鑷姩缁勬墭澶辫触锛侊紒锛乥arcodeMat==>"+barcodeMat));
+// News.error(methodName + "==>缁勬墭澶辫触: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 + "/rpc/pakin/yk/loc/v33", JSON.toJSONString(param), response2);
+// }
+// try{
+// Thread.sleep(500);
+// } catch (Exception e){
+//
+// }
+// }
+ else {
+ News.error(JSON.toJSONString(staProtocol));
+ staProtocol.setWorkNo(wrkNo);
+ wrkNo++;
+ staProtocol.setStaNo(inSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//
+// if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+ if (!Cools.isEmpty(errorMsg)) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+ }
+// }
+// News.error(methodName + ":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 + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+ }
+
} catch (Exception e) {
e.printStackTrace();
@@ -252,8 +359,10 @@
}
+
}
}
+// News.infoNoLog(""+mark+" - 0"+" - 缁勬墭 ===銆嬫墽琛屽畬鎴�");
}
@@ -261,7 +370,7 @@
* wms鍏ュ簱
* 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�� 1 ==>> 2
*/
- public synchronized void generateStoreWrkFile0() {
+ public synchronized void generateStoreWrkFile0(Integer mark) {
// 鏍规嵁杈撻�佺嚎plc閬嶅巻
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鍏ュ簱鍙�
@@ -281,9 +390,13 @@
}
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
+ if (!staProtocol.isLoading()){
+ continue;
+ }
+ if (staProtocol.isAutoing() && staProtocol.isInEnable()
&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
&& staProtocol.isPakMk()) {
+ News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛�");
// 鍒ゆ柇閲嶅宸ヤ綔妗�
WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
if (wrkMast == null) {
@@ -293,33 +406,37 @@
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
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3锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
if (result) {
// 鏇存柊宸ヤ綔涓绘。
wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
wrkMast.setModiTime(new Date());
if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
+ News.error(""+mark+" - 1"+" - 鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
}
} else {
- log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+ News.error(""+mark+" - 2"+" - 鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
}
+ }else {
+ News.errorNoLog(""+mark+" - 6"+" - 绔欑偣淇℃伅涓嶇鍚堝叆搴撴潯浠讹紒锛侊紒"+" 鑷姩淇″彿锛�"+staProtocol.isLoading()+"銆佸彲鍏ヤ俊鍙凤細" + staProtocol.isInEnable()
+ +"銆佺┖鏉夸俊鍙凤細"+ staProtocol.isEmptyMk()+"銆佸伐浣滃彿锛�" + staProtocol.getWorkNo()
+ +"銆侀攣瀹氭爣璁�"+ staProtocol.isPakMk()+"銆佸叆搴撳嵃璁帮細" + staProtocol.getStamp());
}
-
-
}
}
+// News.infoNoLog(""+mark+" - 0"+" - wms鍏ュ簱 ===銆嬫墽琛屽畬鎴�");
}
/**
* 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
*/
- public synchronized void stnToCrnStnPick() {
+ public synchronized void stnToCrnStnPick(Integer mark) {
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
for (DevpSlave.Sta pickSta : devp.getPickSta()) {
@@ -330,7 +447,7 @@
}
String barcode = barcodeThread.getBarcode();
if(!Cools.isEmpty(barcode)) {
- log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), 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;
}
@@ -351,6 +468,7 @@
// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
+ News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛�");
WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
if (wrkMast == null) {
@@ -378,7 +496,19 @@
.eq("crn_no", wrkMast.getCrnNo()); // 鍫嗗灈鏈哄彿
StaDesc staDesc = staDescService.selectOne(wrapper);
if (Cools.isEmpty(staDesc)) {
- log.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
+ 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
+ if (ledThread != null) {
+ String errorMsg = "姝や负鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱.璇锋斁鍦�"+pickSta.getBackSta().shortValue()+"绔欑偣";
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+ }
continue;
}
@@ -423,12 +553,181 @@
}
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo((short) 161);
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());
if (!result) {
- log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+ News.error(""+mark+" - 3"+" - 鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+ }
+
+ }else {
+ News.errorNoLog(""+mark+" - 6"+" - 绔欑偣淇℃伅涓嶇鍚堝叆搴撴潯浠讹紒锛侊紒"+" 鑷姩淇″彿锛�"+staProtocol.isLoading()+"銆佸彲鍏ヤ俊鍙凤細" + staProtocol.isInEnable()
+ +"銆佺┖鏉夸俊鍙凤細"+ staProtocol.isEmptyMk());
+ }
+
+ }
+
+ }
+// 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�");
+ }
+
+
+ //鐩樼偣鍐嶅叆搴�
+ public synchronized void stnToCrnStnPick2(){
+ 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 == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && !staProtocol.isEmptyMk()
+// && staProtocol.getWorkNo() > 0
+ && staProtocol.isPakMk()){
+
+ // 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();
+ if(!Cools.isEmpty(barcode)) {
+// log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
+ if("00000000".equals(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
+ staProtocol.setWorkNo(wrkNo++);
+ staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+ if (ledThread != null) {
+ String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+ }
+ continue;
+ }
+ } else {
+ staProtocol.setWorkNo(wrkNo++);
+ staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+ if (ledThread != null) {
+ String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+ }
+ continue;
+ }
+
+ WrkMast wrkMast = wrkMastMapper.selectPickStep2(barcode);
+ if (wrkMast == null) {
+ // 鏃犵洏鐐规暟鎹�
+ continue;
+ }
+
+ // 鍑哄簱纭淇″彿浣�
+// if ((Cools.isEmpty(wrkMast.getInvWh()) || wrkMast.getInvWh().equals("N")) && wrkMast.getIoType() != 107) {
+// continue;
+// }
+// if ( wrkMast.getIoType() != 107 || Cools.isEmpty(wrkMast.getStaNo())
+// || Cools.isEmpty(wrkMast.getSourceStaNo())) {
+// continue;
+// }
+
+ // 鑾峰彇搴撲綅鍙�
+ try {
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", wrkMast.getSourceLocNo()));
+ LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(barcode);
+ param.setIoType(107);
+ param.setSourceStaNo(pickSta.getStaNo()); //浣滀笟绔欑偣
+ if (!Cools.isEmpty(locMast)){
+ param.setLocType1(locMast.getLocType1());
+ }else {
+ param.setLocType1(locTypeDto.getLocType1());
+ }
+
+ String response = "";
+ log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ try {
+ response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin2/loc/v1")
+ .setJson(JSON.toJSONString(param))
+// .setTimeout(15, TimeUnit.SECONDS)
+ .build()
+ .doPost();
+ } catch(Exception e){
+ log.error("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ log.error("stnToCrnStnPick2===>>鐩樼偣鏌ュ簱浣嶅叆搴撴帴鍙ｅけ璐�", e);
+ e.printStackTrace();
+ continue;
+ }
+ log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"涓嬪彂鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS杩斿洖缁撴灉===>>" + response);
+ if(response.equals("")) {
+ continue;
+ }
+ JSONObject jsonObject = JSON.parseObject(response);
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+ Integer code = jsonObject.getInteger("code");
+ if (code == 200) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+ if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
+ log.error("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶅け璐�===>>" + jsonObject.toJSONString());
+ } else {
+ log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶆垚鍔�===>>" + jsonObject.toJSONString());
+ try {
+ // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ staProtocol.setWorkNo(dto.getWorkNo());
+ staProtocol.setStaNo((short)161);
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ if (!result) {
+ log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+ }
+ log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撲换鍔′笅鍙戞垚鍔�===>>" + staProtocol);
+
+ ledThread.errorReset();
+ log.error("鐩樼偣鍚巐ed閿欒鍒犻櫎");
+
+ } catch (Exception e) {
+ log.error("鐩樼偣鍐嶅叆搴撳け璐�===>>" + e);
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ } else {
+ staProtocol.setWorkNo(wrkNo++);
+ staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+ if (!Cools.isEmpty(errorMsg)) {
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+ }
+ }
+ 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 + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
+ }
+ } catch (Exception e) {
+ log.error("stnToCrnStnPick2===>>fail", e);
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
}
@@ -441,7 +740,8 @@
/**
* 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
*/
- public synchronized void crnStnToOutStn() {
+ public synchronized void crnStnToOutStn(Integer mark) {
+
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
// 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
@@ -460,9 +760,10 @@
continue;
}
// 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
- if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
+ 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();
@@ -474,14 +775,18 @@
if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
&& crnProtocol.statusType == CrnStatusType.WAITING
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
+ log.info("鍫嗗灈鏈哄嚭搴撳畬鎴� - 寮�濮嬫墽琛�");
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
// 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂澶辫触");
continue;
+ }else {
+ log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂鎴愬姛");
}
// 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
@@ -489,22 +794,135 @@
wrkMast.setCrnEndTime(new Date());
if (wrkMastMapper.updateById(wrkMast) != 0) {
// 澶嶄綅鍫嗗灈鏈�
+ log.error("鍑哄簱浠诲姟瀹屾垚涓嬪彂鍫嗗灈鏈哄浣�,{}", wrkMast.getWrkNo());
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�:{}]", wrkMast.getWrkNo());
+ News.error(""+mark+" - 1"+" - 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�:{}]", wrkMast.getWrkNo());
}
+ }else {
+ News.errorNoLog(""+mark+" - 6"+" - 鍫嗗灈鏈轰俊鎭笉绗﹀悎鍏ュ簱鏉′欢锛侊紒锛�"
+ +" 鍫嗗灈鏈虹姸鎬侊細"+crnProtocol.modeType+"==鑷姩AUTO锛�" + CrnModeType.AUTO
+ +"銆佸爢鍨涙満浠诲姟鍙凤細"+crnProtocol.getTaskNo()+"==宸ヤ綔妗ｄ换鍔″彿锛�" + wrkMast.getWrkNo().shortValue()
+ +"銆佺姸鎬佹灇涓撅細"+crnProtocol.statusType+"==WAITING锛�90 //浠诲姟瀹屾垚绛夊緟WCS纭)锛�" + CrnStatusType.WAITING
+ +"銆佽揣鍙変綅缃細"+crnProtocol.forkPosType+"==HOME锛�0 // 璐у弶鍘熶綅锛�" + CrnForkPosType.HOME);
}
}
}
}
+// News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯 ===銆嬫墽琛屽畬鎴�");
}
/**
- * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
+ * 鍫嗗灈鏈轰换鍔¤鎺ヤ换鍔＄敓鎴�
*/
- public synchronized void crnIoExecute() {
+ public synchronized void connectWrk(Integer mark) {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocolIn = devpThread.getStation().get(4001);
+ if (staProtocolIn == null) {
+ continue;
+ } else {
+ staProtocolIn = staProtocolIn.clone();
+ }
+ 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();
+ }
+
+ 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());
+
+ 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(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 {
+ TransplantWork param = new TransplantWork();
+ param.setWorkNo(wrkMastIn.getWrkNo());
+ param.setBarcode(wrkMastIn.getBarcode());
+ param.setSourceStaNo(4001);
+ param.setStaNo(wrkMastIn.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)) {
+ staProtocolIn.setWorkNo(9996);
+ devpThread.setPakMk(staProtocolIn.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolIn));
+
+ 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();
+ }
+ }
+ }
+
+ }
+
+
+ /**
+ * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
+ */
+ public synchronized void crnIoExecute(Integer mark) {
+
for (CrnSlave crn : slaveProperties.getCrn()) {
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -514,7 +932,7 @@
}
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());
+ News.error(""+mark+" - 1"+" - {}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
continue;
}
@@ -526,53 +944,55 @@
// 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) {
+ News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛屽爢鍨涙満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 (crnProtocol.getLastIo().equals("I")) {
if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc(crn, crnProtocol); // 鍏ュ簱
+ //mark - 1 - ....
+ this.crnStnToLoc(crn, crnProtocol,mark); // 鍏ュ簱
crnProtocol.setLastIo("O");
} else if (basCrnp.getOutEnable().equals("Y")) {
- this.locToCrnStn(crn, crnProtocol); // 鍑哄簱
+ //mark - 2 - ....
+ this.locToCrnStn(crn, crnProtocol,mark); // 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
+ this.locToCrnStn(crn, crnProtocol,mark); // 鍑哄簱
crnProtocol.setLastIo("I");
} else if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc(crn, crnProtocol); // 鍏ュ簱
+ this.crnStnToLoc(crn, crnProtocol,mark); // 鍏ュ簱
crnProtocol.setLastIo("O");
}
}
}
// 搴撲綅绉昏浆
- this.locToLoc(crn, crnProtocol);
+ //mark - 3 - ....
+ this.locToLoc(crn, crnProtocol,mark);
+ //棰勮皟搴�
// this.crnRebackHp(crnProtocol, crnThread);
}
+// News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂鎵ц瀹屾垚");
}
/**
* 鍥炲師鐐癸紝鍫嗗灈鏈烘病鏈夋墽琛屼腑浠诲姟锛岃澶囧瓨鍦ㄥ叆搴撲换鍔℃椂鍙洖鍘熺偣
*/
public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
-// 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.getBay() == 1 && crnProtocol.getLevel() == 1) {
+ if (crnProtocol.getBay() == 1) {
return;
+ }
+ int x=1;
+ switch (crnProtocol.getCrnNo()){
+ case 1: x =1; break;
+ case 2: x =3; break;
+ case 3: x =5; break;
+ case 4: x =7; break;
+ case 5: x =9; break;
}
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�3,12
@@ -586,76 +1006,140 @@
}
//杈撻�佺嚎娌℃湁鍏ュ簱浠诲姟锛岃繃婊�2
- if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
+ if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) != null) {
return;
}
- log.info("鍫嗗灈鏈哄彫鍥炲師鐐�==>>" + crnProtocol.getCrnNo() + "鍙峰爢鍨涙満鏈夊叆搴撲换鍔�,鍙洖鍘熺偣");
+ News.info("鍫嗗灈鏈哄彫鍥炲師鐐�==>>" + crnProtocol.getCrnNo() + "鍙峰爢鍨涙満鏈夊叆搴撲换鍔�,鍙洖鍘熺偣");
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
CrnCommand crnCommand = new CrnCommand();
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: 鍥炲師鐐�
- crnCommand.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+ crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 浠诲姟妯″紡: 鍥炲師鐐�
+ crnCommand.setSourcePosX((short) x); // 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�
if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
- log.error("鍫嗗灈鏈哄洖鍘熺偣鍛戒护涓嬪彂澶辫触锛屽爢鍨涙満鍙�={}锛屼换鍔℃暟鎹�={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
+ News.error("鍫嗗灈鏈哄洖鍘熺偣鍛戒护涓嬪彂澶辫触锛屽爢鍨涙満鍙�={}锛屼换鍔℃暟鎹�={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
}
crnThread.setBackHpFlag(true);
}
+
// }
}
/**
* 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
*/
- public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
+ public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
+ News.warnNoLog(""+mark+" - 1"+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂锛氭墽琛屽叆搴�");
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) {
+ News.infoNoLog(""+mark+" - 1"+" - 1"+" - 鍫嗗灈鏈哄叆搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц)锛歴taProtocol="+staProtocol);
continue;
} else {
staProtocol = staProtocol.clone();
}
+// if (slave.getId() == 3) {
+// SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+// StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
+// if (staProtocol2 == null) {
+// News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
+// break;
+// } else {
+// staProtocol2 = staProtocol2.clone();
+// }
+// WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
+// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+// if (staDetl == null) {
+// News.error(""+mark+" - 2"+" - 5"+" - 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;
+//// continue;
+// }
+// if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
+// // 鍫嗗灈鏈烘帶鍒惰繃婊�
+// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+//// continue;
+// break;
+// }
+// // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
+// break;
+//// return;
+// }
+// // 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((short) 9996); // 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((short) 5); // 婧愬簱浣嶆帓
+// crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
+// crnCommand.setSourcePosZ((short) 4); // 婧愬簱浣嶅眰
+// crnCommand.setDestinationPosX((short) 6); // 鐩爣搴撲綅鎺�
+// crnCommand.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
+// crnCommand.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+//// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+// if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.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�={}", wrkMast9999.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();
+// wrkMast9999.setWrkSts(3L);
+// wrkMast9999.setCrnStrTime(now);
+// wrkMast9999.setModiTime(now);
+// if (wrkMastMapper.updateById(wrkMast9999) == 0) {
+// News.error("" + mark + " - 2" + " - 14" + " - 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={}", wrkMast9999.getWrkNo());
+// }
+// break;
+// }
+// }
+// }
// 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());
+ News.error(""+mark+" - 1"+" - 2"+" - 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()
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
flag = true;
}
if (!flag) {
+ News.errorNoLog(""+mark+" - 1"+" - 3"+" - 鍫嗗灈鏈哄叆搴撶珯淇℃伅(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;
}
// 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級鐨勫叆搴撳伐浣滄。
WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
if (null == wrkMast) {
+ News.infoNoLog(""+mark+" - 1"+" - 4"+" - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
// log.error("鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
continue;
}
// 鑾峰彇搴撲綅淇℃伅
LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
if (locMast == null) {
- log.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
+ News.error(""+mark+" - 1"+" - 5"+" - 鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
continue;
}
if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
- log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
+ News.error(""+mark+" - 1"+" - 6"+" - 鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
continue;
}
// 鍫嗗灈鏈烘帶鍒惰繃婊�
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+// News.infoNoLog(""+mark+" - 1"+" - 7"+" - 鍫嗗灈鏈烘帶鍒惰繃婊�:鍫嗗灈鏈烘槸鍚︾┖闂�={}锛屼换鍔″彿={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo());
continue;
}
@@ -666,41 +1150,49 @@
// 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
+ News.warnNoLog(""+mark+" - 1"+" - 8"+" - 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� : 寮�濮嬫墽琛� 浠诲姟鍙�={}",wrkMast.getWrkNo());
String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
LocMast shallowLoc = locMastService.selectById(shallowLocNo);
// O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
+ News.warnNoLog(""+mark+" - 1"+" - 9"+" - // O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒搴撲綅鐘舵��={}",shallowLoc.getLocSts());
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
if (null == waitWrkMast) {
- log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
+ News.error(""+mark+" - 1"+" - 10"+" - {}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
} else {
waitWrkMast.setIoPri(15D);
waitWrkMast.setModiTime(new Date());
if (wrkMastMapper.updateById(waitWrkMast) == 0) {
- log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
+ News.error(""+mark+" - 1"+" - 11"+" - 璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
}
continue;
}
} else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
+ News.warnNoLog(""+mark+" - 1"+" - 12"+" - // F銆丏 搴撲綅鐘舵��={}",shallowLoc.getLocSts());
// 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
wrkMast.setUpdMk("Y");
wrkMast.setIoPri(14D);
wrkMastMapper.updateById(wrkMast);
// 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
- moveLocForDeepLoc(slave, shallowLoc);
+ moveLocForDeepLoc(slave, shallowLoc,mark);
// 鐢熸垚宸ヤ綔妗ｃ�佹敼鍙樻祬搴撲綅鐨勬簮搴�/鐩爣搴� 搴撲綅鐘舵�併�佷笅鍙戝爢鍨涙満鍛戒护锛堢珛椹墽琛�)
// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
}
continue;
} else if (shallowLoc.getLocSts().equals("Q")) {
+ News.warnNoLog(""+mark+" - 1"+" - 13"+" - // Q 搴撲綅鐘舵��={}",shallowLoc.getLocSts());
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
+ News.infoNoLog(""+mark+" - 1"+" - 14"+" - // F銆丏 宸ヤ綔鐘舵��(鍒ゆ柇鏉′欢涓�==4)={}",waitWrkMast.getWrkSts());
continue;
}
}
}
+ News.warnNoLog(""+mark+" - 1"+" - 15"+" - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}",wrkMast.getWrkNo().shortValue()
+ ,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue()
+ ,locMast.getRow1().shortValue(),locMast.getBay1().shortValue(),locMast.getLev1().shortValue());
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
CrnCommand crnCommand = new CrnCommand();
@@ -714,8 +1206,9 @@
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))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+ 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 {
// long startTime = System.currentTimeMillis();
@@ -736,40 +1229,104 @@
wrkMast.setCrnStrTime(now);
wrkMast.setModiTime(now);
if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+ News.error(""+mark+" - 1"+" - 17"+" - 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
}
}
}
+ News.infoNoLog(""+mark+" - 1"+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂 锛� 鍏ュ簱鎵ц瀹屾瘯");
}
/**
* 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 synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
+ public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
+ News.warnNoLog(""+mark+" - 2"+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂锛氭墽琛屽嚭搴�");
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�
// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
+ if (slave.getId() == 3) {
+ SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol2 = devpThread1.getStation().get(1015);
+ if (staProtocol2 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
+ break;
+ } else {
+ staProtocol2 = staProtocol2.clone();
+ }
+ WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9997);
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ News.error(""+mark+" - 2"+" - 5"+" - 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;
+// continue;
+ }
+ if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+// continue;
+ break;
+ }
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (wrkMastMapper.selectWorking(slave.getId()) != null) {
+ break;
+// return;
+ }
+ // 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((short) 9997); // 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((short) 5); // 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) 6); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 4); // 鐩爣搴撲綅灞�
+// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.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�={}", wrkMast9999.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();
+ wrkMast9999.setWrkSts(12L);
+ wrkMast9999.setCrnStrTime(now);
+ wrkMast9999.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast9999) == 0) {
+ News.error("" + mark + " - 2" + " - 14" + " - 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={}", wrkMast9999.getWrkNo());
+ }
+ break;
+ }
+ }
+ }
for (WrkMast wrkMast : wrkMasts) {
if (wrkMast == null) {
continue;
}
+ if (wrkMast.getIoType() == 107){
+ int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("io_type", wrkMast.getIoType()).eq("wrk_sts", 14));
+ if (count >= inventoryNumber) {
+ continue;
+ }
+ }
// 宸ヤ綔妗ｇ姸鎬佸垽鏂�
if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == 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�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
+ News.error(""+mark+" - 2"+" - 1"+" - 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�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
continue;
}
// 鑾峰彇婧愬簱浣嶄俊鎭�
LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
- log.error("鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), sourceSta.getLocSts());
+ News.error(""+mark+" - 2"+" - 2"+" - 鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), sourceSta.getLocSts());
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) {
+ News.infoNoLog(""+mark+" - 2"+" - 3"+" - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol="+staProtocol);
break;
// continue;
} else {
@@ -778,20 +1335,29 @@
// // 鍏ュ嚭搴撴ā寮忓垽鏂�
// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
- if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
- continue;
- }
+// if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
+// News.infoNoLog(""+mark+" - 2"+" - 4"+" - 鍏ュ嚭搴撴ā寮忥紙姝ゅ鍑哄簱鏂规硶锛屽嚭搴撴ā寮忕户缁�=="+devpThread.ioModeOf2F);
+// continue;
+// }
// 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());
+ News.error(""+mark+" - 2"+" - 5"+" - 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;
// continue;
}
// 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()) {
+// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
+// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
+
+ if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
+ ) {
+// if (slave.getId() == 1 || slave.getId() == 2){
+// if (staProtocol.isLoading() || staProtocol.getWorkNo() != 0 || !staProtocol.isOutEnable()){
+// continue;
+// }
+// }
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
// 鍫嗗灈鏈烘帶鍒惰繃婊�
@@ -802,19 +1368,21 @@
// 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
+ News.warnNoLog(""+mark+" - 2"+" - 6"+" - 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� : 寮�濮嬫墽琛� 浠诲姟鍙�={}",wrkMast.getWrkNo());
String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
LocMast shallowLoc = locMastService.selectById(shallowLocNo);
// O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
+ News.warnNoLog(""+mark+" - 2"+" - 7"+" - // O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒搴撲綅鐘舵��={}",shallowLoc.getLocSts());
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
if (null == waitWrkMast) {
- log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
+ News.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
} else {
if (waitWrkMast.getWrkSts() == 11) {
waitWrkMast.setIoPri(15D);
waitWrkMast.setModiTime(new Date());
if (wrkMastMapper.updateById(waitWrkMast) == 0) {
- log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
+ News.error(""+mark+" - 2"+" - 8"+" - 璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
}
continue;
} else {
@@ -822,6 +1390,7 @@
}
}
} else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
+ News.warnNoLog(""+mark+" - 2"+" - 9"+" - // F銆丏 搴撲綅鐘舵��={}",shallowLoc.getLocSts());
// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
//2022-08-16 modify,涓嶆牴鎹畊pdmk鏍囪绉诲簱浠诲姟(瀹规槗琚彇娑堝鑷村牭濉�)锛屾煡璇㈠伐浣滄。鏄惁瀛樺湪浠诲姟
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
@@ -832,13 +1401,15 @@
wrkMast.setUpdMk("Y");
wrkMastMapper.updateById(wrkMast);
// 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
- moveLocForDeepLoc(slave, shallowLoc);
+ moveLocForDeepLoc(slave, shallowLoc,mark);
}
- log.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛佹祬搴撲綅鍙�:{}", wrkMast.getWrkNo(), shallowLocNo);
+ News.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛佹祬搴撲綅鍙�:{}", wrkMast.getWrkNo(), shallowLocNo);
continue;
} else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
+ News.warnNoLog(""+mark+" - 2"+" - 10"+" - // Q銆丼 搴撲綅鐘舵��={}",shallowLoc.getLocSts());
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
+ News.infoNoLog(""+mark+" - 2"+" - 11"+" - // F銆丏 宸ヤ綔鐘舵��(鍒ゆ柇鏉′欢涓�==4)={}",waitWrkMast.getWrkSts());
continue;
}
}
@@ -849,6 +1420,10 @@
break;
// return;
}
+
+ News.warnNoLog(""+mark+" - 2"+" - 12"+" - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}",wrkMast.getWrkNo().shortValue()
+ ,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue()
+ ,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue());
// 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
CrnCommand crnCommand = new CrnCommand();
@@ -862,8 +1437,9 @@
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))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+ 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 {
// 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();
@@ -871,13 +1447,14 @@
wrkMast.setCrnStrTime(now);
wrkMast.setModiTime(now);
if (wrkMastMapper.updateById(wrkMast) == 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={}", wrkMast.getWrkNo());
+ News.error(""+mark+" - 2"+" - 14"+" - 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={}", wrkMast.getWrkNo());
}
break;
}
}
}
}
+ News.infoNoLog(""+mark+" - 2"+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂 锛� 鍑哄簱鎵ц瀹屾瘯");
}
// /**
@@ -1000,16 +1577,17 @@
/**
* 搴撲綅绉昏浆
*/
- public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
+ public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
// 鑾峰彇宸ヤ綔妗ｄ俊鎭�
WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
if (null == wrkMast) {
return;
}
+ News.warnNoLog(""+mark+" - 3"+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂锛氭墽琛屽簱浣嶇Щ杞�");
// 鑾峰彇婧愬簱浣嶄俊鎭�
LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
if (null == sourceSta) {
- log.error("宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈡簮搴撲綅澶辫触锛佸伐浣滃彿={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
+ News.error(""+mark+" - 3"+" - 1"+" - 宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈡簮搴撲綅澶辫触锛佸伐浣滃彿={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
return;
}
// 婧愬簱浣� 搴撲綅鐘舵�佸垽鏂�
@@ -1019,7 +1597,11 @@
// 鑾峰彇鐩爣搴撲綅淇℃伅
LocMast sta = locMastService.selectById(wrkMast.getLocNo());
if (null == sta) {
- log.error("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());
+ 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�
@@ -1038,6 +1620,10 @@
return;
}
+ News.warnNoLog(""+mark+" - 3"+" - 3"+" - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}",wrkMast.getWrkNo().shortValue()
+ ,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue()
+ ,sta.getRow1().shortValue(),sta.getBay1().shortValue(),sta.getLev1().shortValue());
+
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
@@ -1050,8 +1636,9 @@
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))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+ 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 {
// 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();
@@ -1059,16 +1646,18 @@
wrkMast.setCrnStrTime(now);
wrkMast.setModiTime(now);
if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("銆愬簱浣嶇Щ杞�� 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={}", wrkMast.getWrkNo());
+ News.error(""+mark+" - 3"+" - 5"+" - 銆愬簱浣嶇Щ杞�� 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={}", wrkMast.getWrkNo());
}
}
+ News.infoNoLog(""+mark+" - 3"+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂锛氬簱浣嶇Щ杞畬鎴�");
}
/**
* 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
*/
- public synchronized void storeFinished() {
+ public synchronized void storeFinished(Integer mark) {
+
for (CrnSlave crn : slaveProperties.getCrn()) {
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -1076,16 +1665,50 @@
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.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
- if (crnProtocol.getTaskNo() == 9999) {
+ if(crnProtocol.getTaskNo() == 9999){
+ // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
+ if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
+ News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
+
+
+
// 鍫嗗灈鏈哄浣�
+ News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}", crnThread.getCrnProtocol().getCrnNo());
crnThread.setResetFlag(true);
- } else {
+ }
+ } else if (crnProtocol.getTaskNo() == 9996) {//鐩樼偣鍏ュ簱琛旀帴
+ // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
+ if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
+ News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
+
// 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
- if (wrkMast == 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());
+ // 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
+ if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
+ wrkMast.setWrkSts(4L);
+ } else {
+ continue;
+ }
+ Date now = new Date();
+ wrkMast.setCrnEndTime(now);
+ wrkMast.setModiTime(now);
+ // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ // 鍫嗗灈鏈哄浣�
+ log.error(wrkMast.getWrkNo() + "浠诲姟淇敼鐘舵��4鎴愬姛锛屽浣嶅爢鍨涙満={}", crnThread.getCrnProtocol().getCrnNo());
+ News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}", crnThread.getCrnProtocol().getCrnNo());
+ crnThread.setResetFlag(true);
+ }
+ }
+ }else{
+ // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
+ if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
+ News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
+
+ // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
+ if (wrkMast == null ) {
+ News.error("" + mark + " - 1" + " - 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
@@ -1100,18 +1723,24 @@
// 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
if (wrkMastMapper.updateById(wrkMast) > 0) {
// 鍫嗗灈鏈哄浣�
+ log.error(wrkMast.getWrkNo() + "浠诲姟淇敼鐘舵��4鎴愬姛锛屽浣嶅爢鍨涙満={}", crnThread.getCrnProtocol().getCrnNo());
+ News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}", crnThread.getCrnProtocol().getCrnNo());
crnThread.setResetFlag(true);
}
}
-
}
+
+
+
}
+// News.infoNoLog(""+mark+" - 0"+" - 瀵瑰伐浣滄。鐨勫畬鎴愭搷浣滄墽琛屽畬鎴�");
}
+
/**
* 鍫嗗灈鏈哄紓甯镐俊鎭褰�
*/
- public synchronized void recCrnErr() {
+ public synchronized void recCrnErr(Integer mark) {
Date now = new Date();
for (CrnSlave crn : slaveProperties.getCrn()) {
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
@@ -1124,9 +1753,11 @@
// 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) {
+ News.warnNoLog(""+mark+" - 1"+" - 寮�濮嬫墽琛岋細鍫嗗灈鏈哄紓甯镐俊鎭褰� 锛� 鏈変换鍔★紝鏈夊紓甯�");
if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
if (wrkMast == null) {
@@ -1158,7 +1789,7 @@
"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);
+ News.error(""+mark+" - 2"+" - 鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
}
}
} else {
@@ -1168,7 +1799,7 @@
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());
+ News.error(""+mark+" - 3"+" - 鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
}
}
}
@@ -1177,6 +1808,7 @@
BasErrLog latest = basErrLogService.findLatest(crn.getId());
// 鏈夊紓甯�
if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
+ News.warnNoLog(""+mark+" - 4"+" - 寮�濮嬫墽琛岋細鍫嗗灈鏈哄紓甯镐俊鎭褰� 锛� 鏃犱换鍔★紝鏈夊紓甯�");
// 璁板綍鏂板紓甯�
if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
@@ -1205,7 +1837,7 @@
"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);
+ News.error(""+mark+" - 5"+" - 鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
}
}
// 鏃犲紓甯�
@@ -1216,7 +1848,7 @@
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());
+ News.error(""+mark+" - 6"+" - 鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
}
}
}
@@ -1224,6 +1856,7 @@
}
}
+// News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈哄紓甯镐俊鎭褰曟墽琛屽畬鎴�");
}
@@ -1232,7 +1865,8 @@
/**
* 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
*/
- public synchronized void storeEmptyPlt() {
+ public synchronized void storeEmptyPlt(Integer mark) {
+
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻绌烘澘鍏ュ簱鍙�
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
@@ -1250,13 +1884,19 @@
ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
}
+ if (!staProtocol.isLoading()){
+ continue;
+ }
+
// 绔欑偣鏉′欢鍒ゆ柇
if (staProtocol.isAutoing()
&& staProtocol.isLoading()
&& staProtocol.isInEnable()
&& staProtocol.isEmptyMk()
- && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
- && staProtocol.isPakMk()) {
+ && staProtocol.isPakMk()
+ && (staProtocol.getWorkNo() !=0 && staProtocol.getWorkNo() > 9700)
+ ) {
+ News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛岋細绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�");
try {
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -1276,11 +1916,13 @@
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
+ staProtocol.setWorkNo(dto.getWorkNo());
+ staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
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6锛�"+dto.getWorkNo()+","+staProtocol.getSiteId());
if (!result) {
+ News.errorNoLog(""+mark+" - 1"+" - 鏇存柊plc绔欑偣淇℃伅澶辫触");
throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
}
@@ -1295,41 +1937,46 @@
ledCommand.setLocNo(dto.getLocNo());
ledCommand.setStaNo(dto.getStaNo());
commands.add(ledCommand);
- MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, commands));
+ MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(1, commands));
// ledThread.errorReset();
}
} else {
- staProtocol.setWorkNo((short)9999);
- staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
-
+// staProtocol.setWorkNo(wrkNo++);
+// staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// if (!result) {
+// News.errorNoLog(""+mark+" - 2"+" - 鏇存柊plc绔欑偣淇℃伅澶辫触");
+// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+// }
+//
if (ledThread != null) {
String errorMsg = jsonObject.getString("msg");
if (!Cools.isEmpty(errorMsg)) {
- MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
+ MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
}
}
- 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 + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+// News.error(""+mark+" - 3"+" - 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 + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
}
} catch (Exception e) {
e.printStackTrace();
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
+ } else {
+ News.errorNoLog(""+mark+" - 4"+" - 绔欑偣淇℃伅涓嶇鍚堝叆搴撴潯浠讹紒锛侊紒"+" 鑷姩淇″彿锛�"+staProtocol.isAutoing()+"銆佸彲鍏ヤ俊鍙凤細" + staProtocol.isInEnable()
+ +"銆佺┖鏉夸俊鍙凤細"+ staProtocol.isEmptyMk()+"銆佸伐浣滃彿锛�" + staProtocol.getWorkNo()
+ +"銆侀攣瀹氭爣璁�"+ staProtocol.isPakMk());
}
-
}
}
+// News.infoNoLog(""+mark+" - 0"+" - 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐ф墽琛屽畬鎴�");
}
/**
* 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
*/
- public synchronized void ledExecute() {
+ public synchronized void ledExecute(Integer mark) {
for (LedSlave led : slaveProperties.getLed()) {
// 鑾峰彇杈撻�佺嚎plc绾跨▼
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
@@ -1347,10 +1994,7 @@
}
// 鑾峰彇宸ヤ綔妗ｆ暟鎹�
WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
-// if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
- if (null == wrkMast) {
- continue;
- }
+ if (null == wrkMast) { continue; }
wrkMasts.add(wrkMast);
// 缁勮鍛戒护
LedCommand ledCommand = new LedCommand();
@@ -1381,16 +2025,34 @@
ledCommand.setEmptyMk(true);
break;
default:
- log.error("浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
+ News.error("浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
break;
}
ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
- ledCommand.setLocNo(wrkMast.getLocNo());
ledCommand.setStaNo(wrkMast.getStaNo());
-// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
+ ledCommand.setBarcode(wrkMast.getBarcode());
if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
- wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())));
+
+ wrkDetls.forEach(wrkDetl -> {
+ Double total = 0.0;
+ EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
+ LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
+ if (Cools.isEmpty(locDetl)) {
+ total = wrkDetl.getAnfme();
+ } else {
+ total = locDetl.getAnfme();
+ }
+ if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
+ }
+ if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
+ }
+ if (wrkMast.getIoType() == 107) {
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
+ }
+ });
}
commands.add(ledCommand);
}
@@ -1403,22 +2065,10 @@
}
// 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
if (!commands.isEmpty()) {
- if (led.getId() == 7) {
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
- log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
- continue;
- } else {
- ledThread.setLedMk(false);
- }
- } else {
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
- log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
- continue;
- } else {
- ledThread.setLedMk(false);
- }
+ if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
+ News.error("{}鍙稬ED鏄剧ず鍐呭鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+ continue;
}
-
}
try {
@@ -1454,10 +2104,8 @@
for (Integer staNo : led.getStaArr()) {
// 鑾峰彇鍙夎溅绔欑偣
StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if (staProtocol == null) {
- continue;
- }
- if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
+ if (staProtocol == null) { continue; }
+ if (staProtocol.getWorkNo() != 0 || staProtocol.isErr()) {
reset = false;
break;
}
@@ -1465,12 +2113,12 @@
// 鑾峰彇led绾跨▼
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
// led鏄剧ず榛樿鍐呭
- if (reset && !ledThread.isLedMk()) {
- ledThread.setLedMk(true);
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
- log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
- } else {
-
+ if (reset) {
+ if (ledThread == null) {
+ continue;
+ }
+ if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
+ News.error("{}鍙稬ED鏄剧ず榛樿鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
}
}
}
@@ -1556,8 +2204,10 @@
* 鍥犲弻娣卞簱浣嶉樆濉烇紝瀵规祬搴撲綅杩涜绉昏浆锛堢珛鍗虫墽琛岀増)
* tip锛氬悓姝�
*/
- private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
+ private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc,Integer mark) {
+
try {
+ News.warnNoLog(""+mark+"moveLocForDeepLoc"+" - 0"+" - 寮�濮嬫墽琛�:鍥犲弻娣卞簱浣嶉樆濉烇紝瀵规祬搴撲綅杩涜绉昏浆锛堢珛鍗虫墽琛岀増)");
List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
LocMast loc = null;
for (Integer row : rows) {
@@ -1599,7 +2249,7 @@
}
if (null == loc) {
- log.error("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
+ News.error(""+mark+"moveLocForDeepLoc"+" - 1"+" - 鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
throw new CoolException("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
}
@@ -1615,7 +2265,7 @@
wrkMast.setCrnNo(crn.getId());
wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 婧愬簱浣�
wrkMast.setLocNo(loc.getLocNo()); // 鐩爣搴撲綅
- wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 婊℃澘
+ wrkMast.setFullPlt(shallowLoc.getLocSts().equals("F") ? "Y" : "N"); // 婊℃澘
wrkMast.setPicking("N"); // 鎷ｆ枡
wrkMast.setExitMk("N"); // 閫�鍑�
wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 绌烘澘
@@ -1625,6 +2275,7 @@
wrkMast.setModiTime(new Date());
int res = wrkMastMapper.insert(wrkMast);
if (res == 0) {
+ News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 2"+" - 淇濆瓨宸ヤ綔妗ｅけ璐�");
throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
}
// 宸ヤ綔妗ｆ槑缁嗕繚瀛�
@@ -1639,6 +2290,7 @@
wrkDetl.setAppeTime(new Date());
wrkDetl.setModiTime(new Date());
if (!wrkDetlService.insert(wrkDetl)) {
+ News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 3"+" - 淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
}
}
@@ -1648,9 +2300,11 @@
shallowLoc.setLocSts("R"); // R.鍑哄簱棰勭害
shallowLoc.setModiTime(new Date());
if (!locMastService.updateById(shallowLoc)) {
+ News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 4"+" - 鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
}
} else {
+ News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 5"+" - 婧愬簱浣嶅嚭搴撳け璐�");
throw new CoolException("婧愬簱浣嶅嚭搴撳け璐�");
}
// 淇敼鐩爣搴撲綅鐘舵��
@@ -1658,13 +2312,15 @@
loc.setLocSts("S"); // S.鍏ュ簱棰勭害
loc.setModiTime(new Date());
if (!locMastService.updateById(loc)) {
+ News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 6"+" - 鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
}
} else {
+ News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 7"+" - 绉昏浆澶辫触");
throw new CoolException("绉昏浆澶辫触");
}
} catch (Exception e) {
- log.error("鍙屾繁搴撲綅闃诲锛屽娴呭簱浣嶈繘琛岀Щ杞け璐�", e);
+ News.error(""+mark+"moveLocForDeepLoc"+" - 8"+" - 鍙屾繁搴撲綅闃诲锛屽娴呭簱浣嶈繘琛岀Щ杞け璐�", e);
e.printStackTrace();
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
@@ -1765,7 +2421,7 @@
}
}
} catch (Exception e) {
- log.error("鍫嗗灈鏈烘紨绀� ===>> 搴撲綅绉昏浆澶辫触", e);
+ News.error("鍫嗗灈鏈烘紨绀� ===>> 搴撲綅绉昏浆澶辫触", e);
e.printStackTrace();
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
@@ -1792,27 +2448,27 @@
}
// 鍏ュ簱
if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 2) {
- log.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
+ News.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
// 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
wrkMast.setWrkSts(3L);
wrkMast.setCrnStrTime(now);
wrkMast.setModiTime(now);
if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+ News.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
}
- log.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
+ News.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
}
// 鍑哄簱銆佺Щ搴�
if (wrkMast.getWrkSts() == 11) {
- log.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
+ News.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
// 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�
wrkMast.setWrkSts(12L);
wrkMast.setCrnStrTime(now);
wrkMast.setModiTime(now);
if (wrkMastMapper.updateById(wrkMast) == 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={}", wrkMast.getWrkNo());
+ News.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={}", wrkMast.getWrkNo());
}
- log.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
+ News.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
}
@@ -1884,94 +2540,1608 @@
}
- public synchronized void outOfDevp() {
+ public synchronized void outOfDevp(Integer mark) {
+
List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
+ if (wrkMasts.size()!=0){
+ News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛宱utOfDevp");
+ }
for (WrkMast wrkMast : wrkMasts) {
if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
wrkMast.setCtnNo("Y");
if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼{}宸ヤ綔妗ｅけ璐ワ紝ctn_no", wrkMast.getWrkNo());
+ News.error(""+mark+" - 1"+" - 淇敼{}宸ヤ綔妗ｅけ璐ワ紝ctn_no", wrkMast.getWrkNo());
}
}
-
}
+// News.infoNoLog(""+mark+" - 0"+" - outOfDevp鎵ц瀹屾垚");
}
public synchronized void autoEmptyOut() {
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- Integer autoOutSite = 12;
- //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(autoOutSite);
- if (staProtocol == null) {
- return;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (staProtocol.isAutoing() //鑷姩
- && !staProtocol.isLoading() //鏃犵墿
- && staProtocol.isOutEnable() //鍙嚭淇″彿
- && staProtocol.getWorkNo() == 0
- ) {
- WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(autoOutSite);
- if (null != pakoutEmpty) {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ List<Integer> list = new ArrayList<>();
+ list.add(1109);list.add(2031);
+ for (Integer site:list){
+ Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
+ StaProtocol staProtocol = null;
+ if(emptyCount >= 2 && site == 1109){
+ 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�
+ switch (site){
+ case 1109:staProtocol = devpThread.getStation().get(site - 2);break;
+ case 2031:staProtocol = devpThread.getStation().get(site);break;
+ }
+ if (staProtocol == null) {
return;
+ } else {
+ staProtocol = staProtocol.clone();
}
- try {
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/auto/emptyOut/v1")
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- JSONObject data = (JSONObject) jsonObject.get("data");
- log.info((String) data.get("msg"));
- } else {
- 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 + "/rpc/auto/emptyOut/v1","", response);
+ if (staProtocol.isAutoing() //鑷姩
+ && !staProtocol.isLoading() //鏃犵墿
+ && staProtocol.isOutEnable() //鍙嚭淇″彿
+ && staProtocol.getWorkNo() == 0
+ ) {
+ Short loctype1 = 1;
+ LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
+ locTypeDto.setSiteId(site);
+ try {
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/auto/emptyOut/v1")
+ .setJson(JSON.toJSONString(locTypeDto))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ String data = jsonObject.get("data").toString();
+ News.info((String) jsonObject.get("msg")+","+data);
+ } else {
+ News.warnNoLog("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 + "/rpc/auto/emptyOut/v1","", response);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
}
+
}
public synchronized void autoEmptyIn() {
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- Integer autoInSite = 12;
- StaProtocol staProtocol = devpThread.getStation().get(autoInSite);
- if (staProtocol == null) {
- return;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (staProtocol.isAutoing() //鑷姩
- && staProtocol.isLoading() //鏈夌墿
- && staProtocol.isInEnable() //鍙叆淇″彿
- && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) //宸ヤ綔鍙蜂负0鎴栬�呭伐浣滃彿鏄�9991~9999锛堣緭閫佹満鐣欑敤锛�
- ) {
-
- try {
- LocTypeDto locTypeDto = new LocTypeDto((short) 1, (short) 1, (short) 1);
-
-
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/auto/emptyIn/v1")
- .setJson(JSON.toJSONString(locTypeDto))
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- log.info((String) jsonObject.get("msg"));
- } else {
- 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 + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
- }
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ List<Integer> list = new ArrayList<>();
+ list.add(1038);
+ for (Integer site:list){
+ StaProtocol staProtocol = devpThread.getStation().get(site);
+ StaProtocol staProtocol1 = devpThread.getStation().get(1040);
+ if (staProtocol == null) {
+ return;
+ } else {
+ staProtocol = staProtocol.clone();
}
+ if (staProtocol.isAutoing() //鑷姩
+ && staProtocol.isLoading() //鏈夌墿
+ && staProtocol.isInEnable() //鍙叆淇″彿
+ && staProtocol.isPakMk()
+ && staProtocol1.isFull() //鍙犳弧淇″彿
+ && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990 ) //宸ヤ綔鍙蜂负0鎴栬�呭伐浣滃彿鏄�9991~9999锛堣緭閫佹満鐣欑敤锛�
+ ) {
+
+ System.out.println(staProtocol);
+ try {
+ Short loctype1 = 1;
+ LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
+ locTypeDto.setSiteId(site);
+
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/auto/emptyIn/v1")
+ .setJson(JSON.toJSONString(locTypeDto))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ News.info((String) jsonObject.get("msg"));
+ staProtocol.setWorkNo(jsonObject.get("data").hashCode());
+ staProtocol.setStaNo(site.shortValue());
+ devpThread.setPakMk(site,false);
+ MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
+ } else {
+ News.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 + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+
+ }
+
+ }
+
+ /*
+ * 灏忚溅鍦板浘鏇存柊 鏇存柊閿�
+ * */
+ public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,String sign){
+// log.info("灏忚溅鍦板浘鏇存柊锛乕鏍囪锛歿}];[BasRgvMap锛歿}];[staStart锛歿}];[staEnd锛歿}];",sign,JSON.toJSONString(basRgvMapCurrent),staStart,staEnd);
+
+// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
+ //鏇存柊褰撳墠灏忚溅閿�
+ try{
+ Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//鑾峰彇鏈�杩滅珯鐐�
+// log.info("灏忚溅鍦板浘鏇存柊锛佽幏鍙栨渶杩滅珯鐐�;[farCurrentStaNo锛歿}]",farCurrentStaNo);
+ Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //鑾峰彇鍚堝苟骞叉秹椤�
+// log.info("灏忚溅鍦板浘鏇存柊锛佽幏鍙栧悎骞跺共娑夐」;[fallMerge锛歿}]",fallMerge);
+ basRgvMapCurrent.setLockEndRoute(fallMerge);
+ Integer i = basRgvMapMapper.updateById(basRgvMapCurrent);
+// if (i>0){
+// log.error("{}:==>{}:{}鍙疯溅鏇存柊缁撴潫閿�,{}",sign,new Date(),basRgvMapCurrent.getRgvNo(),JSON.toJSONString(basRgvMapCurrent));
+// }
+
+ //鏇存柊鍙︿竴鍙板皬杞﹀湴鍥�
+ Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther(basRgvMapCurrent.getRgvNo());
+// log.info("灏忚溅鍦板浘鏇存柊锛佸彟涓�鍙板皬杞﹀彿;[rgvNoOther锛歿}]",rgvNoOther);
+
+ BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
+// log.info("灏忚溅鍦板浘鏇存柊锛佸彟涓�鍙板皬杞�;[basRgvMapOther锛歿}]",JSON.toJSONString(basRgvMapOther));
+
+ List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
+ Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
+// log.info("灏忚溅鍦板浘鏇存柊锛佸彟涓�鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�;[lockEndRoute锛歿}]",lockEndRoute);
+ basRgvMapOther.setEndRoute(lockEndRoute);
+ Integer i1 = basRgvMapMapper.updateById(basRgvMapOther);
+// if (i1>0){
+// log.error("{}:==>{}:{}鍙疯溅鏇存柊缁撴潫浣嶇疆,{}",sign,new Date(),basRgvMapOther.getRgvNo(),JSON.toJSONString(basRgvMapOther));
+// }
+ return true;
+ }catch (Exception e){
+ log.error("灏忚溅鍦板浘鏇存柊鍑洪敊锛佸紓甯稿師鍥狅細"+e);
+ return false;
}
}
+
+ /*
+ * 鍒锋柊鍦板浘鏁版嵁
+ * */
+ public synchronized void refreshRgvMap() {
+ 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�2", 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
+ 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.isLoaded2ing()
+ && rgvProtocol.getTaskNo2()==0
+ &&rgvThread.isPakMk()
+ ) {
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+
+ Integer rgvNoOther = basRgvMap.getRgvNoOther((int) rgvProtocol.getRgvNo());
+ RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther);
+ RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
+ if (rgvProtocolOther == null) {
+ continue;
+ }else {
+ rgvProtocolOther = rgvProtocolOther.clone();
+ }
+ if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocolOther.getModeType() == RgvModeType.AUTO
+ && !rgvProtocolOther.isLoaded1ing()
+ && rgvProtocolOther.getTaskNo1()==0
+ && !rgvProtocolOther.isLoaded2ing()
+ && rgvProtocolOther.getTaskNo2()==0
+ &&rgvThreadOther.isPakMk()
+ ){
+ //瀵瑰伐浣滄。杩涜鍒ゆ柇
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+ if (rgvProtocol.getTaskNo1() >0 && rgvProtocol.getTaskNo1()<=9000){
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
+ rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2366");
+ }else if (rgvProtocol.getTaskNo1() == 0){
+ rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2366");
+ }
+
+ }
+
+
+
+ }
+ }
+ }catch (Exception e){
+ log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
+ log.error("4109琛�"+e);
+ }
+ }
+
+ /**
+ * 鑷姩鐢熸垚RGV鎺ラ┏浠诲姟锛堟绱㈠嚭鍏ュ彛浠诲姟锛岀敓鎴愬搴擱GV浠诲姟锛屾绱�4妤间换鍔★紝闈�3鍙峰爢鍨涙満锛屽垯鐢熸垚瀵瑰簲鎺ラ┏浠诲姟锛�
+ */
+// public synchronized void rgvCreateWrkMastSta(){
+// try{
+// for (DevpSlave devp : slaveProperties.getDevp()) {
+// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+// StaProtocol staProtocol = devpThread.getStation().get(1105);
+// if (staProtocol == null) {
+// continue;
+// } else {
+// staProtocol = staProtocol.clone();
+// }
+// if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+// continue;
+// }
+// }
+// }
+// }
+
+ /**
+ * 灏忚溅涓婂伐浣嶅乏鍙崇Щ鍔�
+ *
+ */
+// public synchronized boolean rgvStaMove(Long workNo) {
+// try {
+// 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();
+// }
+// if (rgvProtocol.isLoaded2ing() && rgvProtocol.isLoaded1ing()) {
+// continue;
+// }
+// if (rgvProtocol.isLoaded1ing() && !rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo1() != 0) {
+// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
+// Short moveSta = 0;
+//
+// if (wrkMastSta.getStaEnd() < 1036 || (2000 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd() < 2031)) {
+// moveSta = 2;
+// boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(), 7, wrkMastSta.getWrkNo(), moveSta);
+// if (!rgvComplete) {
+// log.error("灏忚溅宸ヤ綅绉诲姩澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+// break;
+// }
+// }
+// }
+// if (!rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo2() != 0) {
+// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
+// Short moveSta = 0;
+//
+// if (wrkMastSta.getStaEnd() > 2030 || (1036 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd() < 2000)) {
+// moveSta = 1;
+// boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(), 8, wrkMastSta.getWrkNo(), moveSta);
+// if (!rgvComplete) {
+// log.error("灏忚溅宸ヤ綅绉诲姩澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+// break;
+// }
+// }
+// }
+//
+//
+// }
+// } catch (Exception e) {
+// log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
+// }
+// }
+ /**
+ * 瀹屾垚灏忚溅浠诲姟
+ */
+// public synchronized void rgvCompleteWrkMastSta() {
+// try{
+// for (DevpSlave devp : slaveProperties.getDevp()) {
+// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
+// 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(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", rgv.getId());
+// continue;
+// }
+// //鏀捐揣纭
+// if(rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
+// boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
+// if (!rgvComplete){
+// log.error("灏忚溅鏀捐揣澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+// }
+// }
+// if(rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
+// boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 6);
+// if (!rgvComplete){
+// log.error("灏忚溅鏀捐揣澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+// }
+// }
+//
+// // 鍙湁褰揜GV宸ヤ綅1绛夊緟WCS纭銆佽嚜鍔�
+// if (rgvProtocol.getStatusType1() == RgvStatusType.WAITING
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// ){
+//
+// log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType1(),rgvProtocol);
+// 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());
+// }
+// }
+// }
+// if ( rgvProtocol.getTaskNo1()!=9999 && rgvProtocol.getTaskNo1() != 0){
+// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
+// if(null == wrkMastSta){
+// log.error("灏忚溅鏃犱换鍔�");
+// continue;
+// }
+// if(wrkMastSta.getWrkSts() == 1){//鍙栬揣纭
+//// if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
+//// continue;
+//// }
+// boolean rgvComplete = false;
+// rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),7,wrkMastSta.getWrkNo(),(short)2);
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
+// }
+// wrkMastSta.setUpdateTime(new Date());
+// 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");
+// }
+// break;
+// }
+// }
+//
+// 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.getModeType() == RgvModeType.AUTO
+// ){
+// log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType2(),rgvProtocol);
+// if (rgvProtocol.getTaskNo2() !=0 ){
+// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
+// if(wrkMastSta.getWrkSts() == 1){//鍙栬揣纭
+// boolean rgvComplete = false;
+// rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),8,wrkMastSta.getWrkNo(),(short)1);
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
+// }
+// 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");
+// }
+// break;
+// }
+// if(wrkMastSta.getWrkSts() == 4){//琛岃蛋鍚庣‘璁�
+// 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());
+//
+// int sourceSta = wrkMast.getSourceStaNo();
+// boolean rgvComplete = false;
+//
+// //鍙屽伐浣嶅嚭鍏ュ簱涓嶅悓宸ヤ綅澶嶄綅
+// 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;
+// }
+// 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纭锛�",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);
+// }
+// }
+// }
+// }catch (Exception e){
+// log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+// }
+// }
+
+ /**
+ * rgv鏀捐揣浠诲姟涓嬪彂
+ */
+ 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.getStatusType1() != RgvStatusType.IDLE && rgvProtocol.getModeType() != RgvModeType.AUTO) {
+ 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;
+ }
+ //灏忚溅鏃犱换鍔℃椂璺宠繃
+ if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0 ){
+ continue;
+ }
+ if(!rgvThread.isPaking()){
+ continue;
+ }
+ List<WrkMastSta> wrkMastStaLock = wrkMastStaService.selectLockWrk(rgv.getId());
+ if(wrkMastStaLock.size() == 1){
+ continue;
+ }
+ 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() && 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());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ Integer workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2() : rgvProtocol.getTaskNo1(); //鍏ュ簱鏀捐揣浼樺厛宸ヤ綅2鎵ц
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);
+ WrkMast wrkMast = wrkMastMapper.selectByWrkNo(workNo);
+ 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); //鍛戒护涓嬪彂
+ if (sign){
+ try{
+ rgvThread.setPaking(false);
+ wrkMast.setSheetNo("2");
+ wrkMastSta.setWrkSts(2);
+ wrkMastStaMapper.updateById(wrkMastSta);
+ wrkMastMapper.updateById(wrkMast);
+ 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");
+ }
+ } 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() && 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());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ Integer workNo = 0;
+ if(rgvThread.isPakToCrn()){
+ workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1():rgvProtocol.getTaskNo2(); //姝ｅ父鎯呭喌鍑哄簱鏀捐揣浼樺厛宸ヤ綅1鏀�
+ }else{
+ workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2():rgvProtocol.getTaskNo1(); //鎺ラ┏鎯呭喌浼樺厛宸ヤ綅2鏀�
+ }
+
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);//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;
+ }
+ boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+ if (sign){
+ try{
+ rgvThread.setPaking(false);
+ wrkMastSta.setWrkSts(2);
+ 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");
+ }
+
+ } 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浠诲姟瀹屾垚
+ */
+ public synchronized void rgvTaskComplete(){
+ 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;
+ }
+ Long taskNo1 = Long.valueOf(rgvProtocol.getTaskNo1());
+ Long taskNo2 = Long.valueOf(rgvProtocol.getTaskNo2());
+ List<WrkMastSta> wrkMastStaList = wrkMastStaService.selectList(
+ new EntityWrapper<WrkMastSta>()
+ .eq("wrk_sts" ,2)
+ .eq("rgv_no", rgvProtocol.getRgvNo())
+ );
+ for(WrkMastSta wrkMastSta : wrkMastStaList){
+ if(!Objects.equals(wrkMastSta.getWrkNo(), taskNo1) && !Objects.equals(wrkMastSta.getWrkNo(), taskNo2)){
+ try{
+ wrkMastSta.setWrkSts(3);
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.info("鏇存柊灏忚溅宸ヤ綔妗ｈ嚦瀹屾垚鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅宸ヤ綔妗ｈ嚦瀹屾垚澶辫触");
+ }
+ }
+ }
+ if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+ && !rgvProtocol.isLoaded1ing()
+ && !rgvProtocol.isLoaded2ing()){
+ rgvThread.setPakRgv(true);
+ rgvThread.setPakMk(true);
+ rgvThread.setPakIn(true);
+ rgvThread.setPakOut(true);
+ rgvThread.setPakToCrn(true);
+ }
+
+ }
+ }
+
+
+ /**
+ * rgv鍑哄叆搴撲换鍔′笅鍙�
+ */
+ public synchronized void rgvIoExecute(Integer mark) {
+ 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;
+ }
+ if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
+// log.error("瑙ｉ攣");
+ rgvThread.setPaking(true);
+ }
+ // 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.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk() && rgvThread.isPakToCrn() && rgvThread.isPaking()) {
+ 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
+// rgvRunWrkMastInTest();
+
+ if (rgvProtocol.getLastIo().equals("I")) {
+ if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
+ //mark - 1 - ....
+ this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
+ rgvProtocol.setLastIo("O");
+ } else if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
+ //mark - 2 - ....
+ 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 (rgvProtocol.getLastIo().equals("O")) {
+ if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
+ this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 鍑哄簱
+ rgvProtocol.setLastIo("I");
+ } else if (basRgv.getInEnable().equals("1") && 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(!rgvThread.isPakToCrn()){
+ rgvRunWrkToCrn(rgv, rgvProtocol,mark); //鑻ュ皬杞﹀彇鍒颁竴涓帴椹充换鍔★紝绗簩涓伐浣嶅彧鑳藉彇鎺ラ┏浠诲姟
+ }
+// 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.getModeType() == RgvModeType.AUTO) {
+// //灏忚溅鎵ц鏀捐揣浠诲姟
+// rgvOutExecute();
+//
+// }
+ }
+ }
+ public synchronized void rgvRunWrkMastInTest(){
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(1);
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(1021); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(342);//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℃。
+
+// WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, 1);
+ 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(1);
+ wrkMastSta.setRgvNo(1);
+ wrkMastSta.setStaStart(1035);
+ Short direction = 2;//鍙屽伐浣嶆渶缁堟姷杈句綅缃�
+ boolean sign = false;
+// 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;
+ //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; //杩炵画鍙栬揣浠诲姟绔欑偣
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
+ WrkMastSta wrkMastSta3 = null;//杩炲彇涓や釜
+ 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;
+ }
+ wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
+ }
+
+ 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
+ && 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() + "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 = new ArrayList<>();
+ switch (rgvProtocol.getRgvNo()){
+ case 1: route = RouteUtils.getRouteOne();break;
+ case 2: route = RouteUtils.getRouteTwo();break;
+ }
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //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 = null;
+ if(rgvProtocol.getTaskNo2() != null){
+ wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
+ }
+ 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());
+ boolean sign = false;
+ sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+ if (sign){
+ if(wrkMastSta3 != null){
+ wrkMastSta3.setMk(1);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta3);
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
+ }catch (Exception e){
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
+ }
+
+ }
+ rgvThread.setPaking(false);
+ rgvThread.setPakOut(false);//鍑哄簱涓嶅厑璁�
+ try{
+ wrkMastSta.setWrkSts(1);
+ 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");
+ }
+ } 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;
+ WrkMastSta wrkMastSta3 = 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;
+ }
+ wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
+
+ }
+ 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
+ && 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 = new ArrayList<>();
+ switch (rgvProtocol.getRgvNo()){
+ case 1: route = RouteUtils.getRouteOne();break;
+ case 2: route = RouteUtils.getRouteTwo();break;
+ }
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //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 wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
+ boolean result = false;
+ if(wrkMastSta1!= 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(),wrkMastSta1.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(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;
+ sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+ if (sign){
+ if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
+ rgvThread.setPakToCrn(false); //閿佸畾灏忚溅鍙兘鎺ユ帴椹充换鍔�
+ }
+ if(wrkMastSta3 != null){
+ wrkMastSta3.setMk(1);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta3);
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
+ }catch (Exception e){
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
+ }
+
+ }
+ rgvThread.setPaking(false);
+ rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
+ try{
+ wrkMastSta.setWrkSts(1);
+ 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");
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+
+
+ }
+ }
+
+ /**
+ * 灏忚溅鍑哄簱鎺ラ┏浠诲姟鍙栬揣涓嬪彂
+ */
+ public synchronized void rgvRunWrkToCrn(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
+ && 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 = new ArrayList<>();
+ switch (rgvProtocol.getRgvNo()){
+ case 1: route = RouteUtils.getRouteOne();break;
+ case 2: route = RouteUtils.getRouteTwo();break;
+ }
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfereToCrn(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 wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
+ boolean result = false;
+ if(wrkMastSta1!= 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(),wrkMastSta1.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(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;
+ sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+ if (sign){
+ rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
+ try{
+ wrkMastSta.setWrkSts(1);
+ 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");
+ }
+ } 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,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�
+ */
+// public synchronized void rgvPreScheduling(){
+// 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 鎵嶈繘琛岄璋冨害
+// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// && !rgvProtocol.isLoaded1ing()
+// && rgvProtocol.getTaskNo1() == 0
+// && !rgvProtocol.isLoaded2ing()
+// && rgvProtocol.getTaskNo2() == 0
+// && rgvThread.isPakMk()
+// ) {
+// 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�
+// // 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�
+// List<Integer> staNos = Arrays.asList( 1043, 1104, 1029, 1022, 1019, 1008, 1005);
+// for (Integer staNo : staNos) {
+// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+// StaProtocol staProtocol = devpThread.getStation().get(staNo);
+// if(staProtocol.isLoading()){
+// RgvCommand rgvCommand = new RgvCommand();
+// 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.setTaskNo(9999); // 宸ヤ綅1宸ヤ綔鍙�
+// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 绉诲姩
+// 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))) {
+// //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�={}", (int) rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+// }
+// }
+// }
+//
+// }
+//
+// }
+// }
+// }catch (Exception e){
+// log.error("鎵ц灏忚溅绉诲姩涓嬪彂澶辫触");
+// }
+// }
+
+
+
+ /*
+ * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
+ * */
+ public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+ RgvTaskStatusType type;
+ Integer targetPosition = 0;
+ if(wrkMastSta.getWrkSts() == 0){
+ type = RgvTaskStatusType.FETCH; //鍙栬揣
+ targetPosition = wrkMastSta.getStaStart();
+ }else{
+ type = RgvTaskStatusType.PUT; //鏀捐揣
+ targetPosition = wrkMastSta.getStaEnd();
+ }
+ rgvCommand.setTaskNo(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅宸ヤ綔鍙�
+ rgvCommand.setTaskStatus(type); // 宸ヤ綅浠诲姟妯″紡: 鍙栬揣
+ rgvCommand.setTargetPosition(targetPosition); //宸ヤ綅鐩爣绔欑偣
+ rgvCommand.setWrkTaskPri(wrkMastSta.getWorkSta());
+ 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;
+ }
+
+ }catch (Exception e){
+ return false;
+ }
+ }
+
+ /**
+ * 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
+ * */
+ public synchronized boolean rgvComplete(Integer rgvId,Integer step){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(step, new 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�={}",rgvId);
+ return false;
+ } else {
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}",rgvId);
+ return true;
+ }
+ }catch (Exception e){
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}銆傚紓甯革細"+e,rgvId);
+ return false;
+ }
+ }
+
+
+
+ /*
+ * arm浠诲姟瀹屾垚鑷姩缁勬墭
+ * */
+ public synchronized void armMissionAccomplished() {
+ try{
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta armSta : devp.getArmSta()) {
+
+ // 鑾峰彇绔欑偣淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(armSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ String barcode = staProtocol.getBarcode();
+ if(!Cools.isEmpty(barcode)) {
+ if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愶細"+JSON.toJSON(barcode)+"===銆嬫墭鐩樻潯鐮佸紓甯�");
+ continue;
+ }
+ } else {
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愶細===銆嬫墭鐩樻潯鐮佷负绌�");
+ continue;
+ }
+
+ List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>()
+ .eq("arm_no", armSta.getArmNo())
+ .eq("sta_no_sou", armSta.getStaNo())
+ .eq("status", 1));
+ for (BasArm basArm : basArmList) {
+ if (basArm.getStatus()!=1){
+ continue;
+ }
+ try{
+ List<BasArmMast> basArmMastList = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 3)
+ );
+ if (basArmMastList.isEmpty()){
+ continue;
+ }
+ CombParam combParam = new CombParam(basArmMastList);
+ combParam.setBarcode(barcode);
+ //arm浠诲姟瀹屾垚鑷姩缁勬墭
+ ReturnT<String> result = new PostMesDataUtils().postMesData("arm浠诲姟瀹屾垚鑷姩缁勬墭",wmsUrl, wmsComb, combParam);
+ if (result.getCode()==200){
+ basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLineSou(),3,4);
+ } else {
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愶細"+JSON.toJSON(basArmMastList)+"===銆嬭嚜鍔ㄧ粍鎵樺け璐ワ紝绛夊緟閲嶈瘯");
+ }
+ } catch (Exception e){
+ log.error("arm缂栧彿锛�"+basArm.getArmNo()+"====銆嬫満姊拌噦鎶撳彇浠诲姟瀹屾垚"+e.getMessage());
+ }
+ break;
+ }
+ }
+ }
+ } catch (Exception e){
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愮粍鎵樺け璐�"+e.getMessage());
+ }
+ }
+ public synchronized void armMissionAccomplishedScanToCheckIn() {
+ try{
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta armSta : devp.getArmSta()) {
+
+ List<BasArmMast> basArmMastList = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", armSta.getArmNo())
+ .eq("sta_no", armSta.getStaNo())
+ .eq("status", 4)
+ );
+
+ if (basArmMastList.isEmpty()){
+ continue;
+ }
+ // 鑾峰彇绔欑偣淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(armSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
+// int workNo = commonService.getWorkNo(6);//寰呭畬鍠�
+// // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+// staProtocol.setWorkNo(workNo);
+// staProtocol.setStaNo(armSta.getStaNoEnd().shortValue());
+// 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�"+workNo+","+armSta.getStaNoEnd());
+// if (!result) {
+// News.error(""+" - 3"+" - 鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+// }
+ basArmMastService.updateArmMastStatus(basArmMastList.get(0).getArmNo(),basArmMastList.get(0).getSortingLine(),4,5);
+// }
+ }
+ }
+ } catch (Exception e){
+ log.error("缁勬墭瀹屾垚椹卞姩鎵樼洏鎵爜鍏ュ簱澶辫触"+e.getMessage());
+ }
+ }
+
+ /*
+ * arm浠诲姟涓嬪彂
+ * */
+ public synchronized void armTaskAssignment() {
+ try{
+ List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<>());
+ for (BasArm basArm : basArmList) {
+ if (basArm.getStatus()!=1){
+ continue;
+ }
+ try{
+ List<BasArmMast> basArmMastListError = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 9)
+ );
+ if (!basArmMastListError.isEmpty()){
+ log.error(basArm.getArmNo()+"鍙锋満姊拌噦瀛樺湪寮傚父鏁版嵁闇�瑕佺淮鎶わ紒锛侊紒");
+ continue;
+ }
+ List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 1)
+ );
+ List<BasArmMast> basArmMastListRuning3 = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 3)
+ );
+ if (basArmMastListRuning.isEmpty() && basArmMastListRuning3.isEmpty()){
+ List<BasArmMast> basArmMastList = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 0)
+ );
+ if (basArmMastList.isEmpty()){
+ continue;
+ }
+ if (basArmMastList.size()>1){
+ log.error("arm缂栧彿锛�"+basArm.getArmNo()+"====銆嬫媶鐮佸灈浠诲姟寮傚父绂佹涓嬪彂锛侊紒锛佷换鍔″緟鎵ц鏁伴噺澶т簬1锛侊紒锛�");
+ continue;
+ }
+ BasArmMast basArmMast = basArmMastList.get(0);
+ List<BasArmMast> basArmMastListOrder = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("sku", basArmMast.getSku())
+ .eq("order_no", basArmMast.getOrderNo())
+ );
+ if (basArmMastListOrder.size()==1){
+ OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getSku());
+
+ if (Cools.isEmpty(orderDetlValueResultUtil)){
+ continue;
+ }
+ //璁㈠崟涓嬪彂
+ try{
+ ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
+// 璁㈠崟涓嬪彂(SKU+璁㈠崟)
+ ReturnT<String> result = new PostMesDataUtils().postMesData("鏈烘鑷傛姄鍙栬鍗曪紙SKU锛変笅鍙戯細",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_ADAPTOR, armOrderAssignmentParam);
+ if (result.getCode()==200){
+ basArmMast.setStatus(1);
+ basArmMastService.updateById(basArmMast);
+ } else {
+ log.error("鏈烘鑷傛姄鍙栬鍗曪紙SKU锛変笅鍙戯細"+JSON.toJSON(basArmMast)+"===銆嬭鍗曚俊鎭笅鍙戝け璐�");
+ }
+ } catch (Exception e){
+ log.error("鏈烘鑷傛姄鍙栬鍗曪紙SKU锛変笅鍙戯細"+JSON.toJSON(basArmMast)+"===銆嬭鍗曚笅鍙戣鍗曚俊鎭笅鍙戝け璐�");
+ continue;
+ }
+ }
+ ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArm.getSortingLine());
+ //璁剧疆宸ヤ綔绌洪棿灏辩华
+ ReturnT<String> result = new PostMesDataUtils().postMesData("鏈烘鑷傛姄鍙栦换鍔′笅鍙戯細閫氱煡宸ヤ綔绌洪棿宸插氨缁�",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
+ if (result.getCode()==200){
+ basArmMast.setStatus(1);
+ basArmMastService.updateById(basArmMast);
+ } else {
+ log.error("鏈烘鑷傛姄鍙栦换鍔★細"+JSON.toJSON(basArmMast)+"===銆嬩换鍔′俊鎭笅鍙戝け璐�");
+ }
+ }
+ } catch (Exception e){
+ log.error("arm缂栧彿锛�"+basArm.getArmNo()+"====銆嬫媶鐮佸灈浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+ }catch (Exception e){
+ log.error("arm浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+
}
--
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