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 | 1616 +++++++++++++++++++++--------------------------------------
1 files changed, 581 insertions(+), 1,035 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 4655ba9..3192f64 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -99,6 +99,8 @@
@Autowired
private WrkMastService wrkMastService;
@Autowired
+ private WrkMastStaService wrkMastStaService;
+ @Autowired
private BasRgvMapService basRgvMapService;
@Autowired
private BasArmService basArmService;
@@ -114,7 +116,7 @@
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
@@ -127,7 +129,6 @@
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());
- BarcodeThread barcodeThreadMat = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcodeMat());
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());
@@ -141,13 +142,9 @@
continue;
}
- if (barcodeThreadMat == null) {
- continue;
- }
String barcode = barcodeThread.getBarcode();
- String barcodeMat = barcodeThreadMat.getBarcode();
// 灏哄妫�娴嬪紓甯�
boolean back = false;
String errMsg = "";
@@ -210,7 +207,8 @@
&& staProtocol.isInEnable()
&& !staProtocol.isEmptyMk()
&& staProtocol.isPakMk()) {
- if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
+ 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) {
@@ -337,6 +335,7 @@
// }
// }
else {
+ News.error(JSON.toJSONString(staProtocol));
staProtocol.setWorkNo(wrkNo);
wrkNo++;
staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -973,7 +972,7 @@
//mark - 3 - ....
this.locToLoc(crn, crnProtocol,mark);
//棰勮皟搴�
- this.crnRebackHp(crnProtocol, crnThread);
+// 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");
@@ -1048,68 +1047,68 @@
} 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;
- }
- }
- }
+// 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) {
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;
}
@@ -1349,7 +1348,7 @@
// 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")
+// 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")
@@ -2562,18 +2561,18 @@
public synchronized void autoEmptyOut() {
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
List<Integer> list = new ArrayList<>();
- list.add(1108);list.add(2031);
+ list.add(1109);list.add(2031);
for (Integer site:list){
Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
StaProtocol staProtocol = null;
- if(emptyCount >= 2 && site == 1108){
+ 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 1108:staProtocol = devpThread.getStation().get(site - 2);break;
+ case 1109:staProtocol = devpThread.getStation().get(site - 2);break;
case 2031:staProtocol = devpThread.getStation().get(site);break;
}
if (staProtocol == null) {
@@ -2613,11 +2612,12 @@
}
public synchronized void autoEmptyIn() {
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ 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 {
@@ -2627,9 +2627,11 @@
&& staProtocol.isLoading() //鏈夌墿
&& staProtocol.isInEnable() //鍙叆淇″彿
&& staProtocol.isPakMk()
- && (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�
+ && 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);
@@ -2794,103 +2796,103 @@
* 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);
- }
- }
+// 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;
+// 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()) {
@@ -2900,43 +2902,31 @@
// 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){
- 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;
- }
- wrkMastSta.setUpdateTime(new Date());
- wrkMastSta.setWrkSts(2);
-// wrkMastSta.setWorkSta(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 = rgvStaMove(wrkMastSta.getWrkNo());
- if (!rgvComplete){
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
- break;
- }
- break;
- }
-// if(wrkMastSta.getWrkSts() == 4){//琛岃蛋纭
+//
+// 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);
@@ -2944,90 +2934,37 @@
// }catch (Exception e){
// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
// }
-// boolean rgvComplete = false;
+// break;
+// }
+// }
//
-// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
+// 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 (Cools.isEmpty(wrkMastSta) || wrkMastSta.getWrkSts()!=1){
-// log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�"+wrkMastSta);
-// continue;
-// }
-//
-// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
-// StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
-// if (staProtocol == null) {
-// continue;
-// } else {
-// staProtocol = staProtocol.clone();
-// }
-// if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
-// continue;
-// }
-// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
-// if (!Cools.isEmpty(wrkMast)){
-// if (!staProtocol.isPakMk()){
-// continue;
-// }
-// // 涓嬪彂绔欑偣淇℃伅
-// staProtocol.setWorkNo(wrkMast.getWrkNo());
-// staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// log.error("rgv浠诲姟瀹屾垚缁欒緭閫佺嚎涓嬪彂鍛戒护锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
-// if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
-// continue;
-// }
-// }
-// boolean rgvComplete = false;
-//
-// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),3);
-// if (!rgvComplete){
-// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
-// break;
-// }
-// WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
-// wrkMast1.setPdcType("Y");
-//
-// wrkMastService.updateById(wrkMast1);
-//
-// wrkMastSta.setWrkSts(3);
-// wrkMastStaMapper.updateById(wrkMastSta);
-// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
-// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
- }
-
- else {
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{},绛夊緟wcs纭浣嗘槸娌℃湁宸ヤ綔鍙凤紒",rgvProtocol.getRgvNo());
- }
- }
- // 鍙湁褰揜GV宸ヤ綅2绛夊緟WCS纭銆佽嚜鍔�
- if (rgvProtocol.getStatusType2() == RgvStatusType.WAITING
- && rgvProtocol.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 = rgvComplete2((int) rgvProtocol.getRgvNo(),8,wrkMastSta.getWrkNo());
- 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{
@@ -3082,23 +3019,23 @@
// 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);
- }
- }
+// }
+// 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
@@ -3108,7 +3045,7 @@
// 鑾峰彇RGV淇℃伅
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
+ if (rgvProtocol.getStatusType1() != RgvStatusType.IDLE && rgvProtocol.getModeType() != RgvModeType.AUTO) {
continue;
}
BasRgv basRgv = basRgvService.selectById(rgv.getId());
@@ -3117,10 +3054,16 @@
continue;
}
//灏忚溅鏃犱换鍔℃椂璺宠繃
-// if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0){
-// continue;
-// }
- //鍏ュ簱鏀捐揣
+ if(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;
@@ -3140,8 +3083,7 @@
continue;
}
- if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isInEnable()
- && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
flag = true;
}
if (!flag) {
@@ -3152,40 +3094,28 @@
continue;
}
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
-// Integer wrkNo = 0;
- if(rgvProtocol.getTaskNo2() != 0){
- wrkNo = rgvProtocol.getTaskNo2();
- }
-// else{
-// wrkNo = rgvProtocol.getTaskNo1();
-// }
- if(!rgvProtocol.isLoaded2ing()){
- continue;
- }
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());//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℃。
+ 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;
}
- if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
- continue;
- }
- boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null,2); //鍛戒护涓嬪彂
+
+ boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
if (sign){
try{
- wrkMastSta.setWrkSts(3);
+ 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");
}
-// 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());
}
@@ -3212,8 +3142,7 @@
continue;
}
- if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isOutEnable()
- && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
flag = true;
}
if (!flag) {
@@ -3225,27 +3154,24 @@
}
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 wrkNo = 0;
- if(rgvProtocol.getTaskNo1() != 0){
- wrkNo = rgvProtocol.getTaskNo1();
+ 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�
}
-// else{
-// wrkNo = rgvProtocol.getTaskNo2();
-// }
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());//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 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" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ News.infoNoLog( " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍑哄簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
continue;
}
- if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
- continue;
- }
- Integer pos = 2;
- boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null,pos); //鍛戒护涓嬪彂
+ boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
if (sign){
try{
- wrkMastSta.setWrkSts(3);
+ 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){
@@ -3261,15 +3187,55 @@
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) {
- List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
-
for (RgvSlave rgv : slaveProperties.getRgv()) {
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
@@ -3282,11 +3248,12 @@
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.getStatusType2() == RgvStatusType.IDLE)
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvThread.isPakMk()) {
+ 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();
@@ -3312,22 +3279,25 @@
rgvProtocol.setLastIo("O");
}
}
- WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
- WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
- if(wrkMastSta1 != null && wrkMastSta2 != null){
- rgvThread.setPakMk(false); //灏忚溅鍙屽伐浣嶉攣瀹�
- }
}
- if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
- rgvPreScheduling();//鑻ユ殏鏃犱笅鍙戜换鍔￠璋冨害鎻愬墠鍒板彇璐х偣
+ 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.getStatusType2() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO) {
- //灏忚溅鎵ц鏀捐揣浠诲姟
- rgvOutExecute();
- }
+// 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(){
@@ -3374,13 +3344,12 @@
public synchronized void rgvRunWrkMastIn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark) {
for (RgvSlave.RgvStn rgvStn : slave.getRgvInTStn()) {//rgv鍏ュ簱鍙栬揣绔欑偣
boolean flag = false;
- boolean ds = false;
//閬嶅巻rgv鍏ュ簱鍙栬揣绔欑偣
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
- StaProtocol staProtocol2 = null;
-
+ 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) {
@@ -3394,22 +3363,21 @@
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;
@@ -3417,21 +3385,25 @@
if (!flag) {
News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv鍏ュ簱鍙栬揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
+ "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
- + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isInEnable()
- + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanining());
+ + "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 = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
-// WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(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℃。
-
+ 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 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
+ 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
@@ -3442,31 +3414,28 @@
}
wrkMastSta.setWorkSta(wrkMastSta2 !=null ? 1 : 2);
wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
- Short direction = 2;//鍙屽伐浣嶆渶缁堟姷杈句綅缃�
boolean sign = false;
-// if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
-// continue;
-// }
- if(Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd()) && wrkMastSta.getWrkSts() == 4){
- wrkMastSta.setWrkSts(1);
+ 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");
}
- }
- //鑻ュ彇璐т负宸ヤ綅2涓斿彇璐у彛鍓嶄竴绔欑偣鏈夌墿锛岀粰鍙屽伐浣嶅悓鏃朵笅鍙戞寚浠�
- if(wrkMastSta.getWorkSta() == 2 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0 && sign){
-// WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
-// wrkMastSta3.setWorkSta(1);
-// wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
-// sign = rgvTakeFullAll2(basRgvMap.getRgvNo(), wrkMastSta, wrkMastSta3);
- }else{
- sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,1); //鍛戒护涓嬪彂
- }
- if (sign){
- rgvThread.setPakOut(false);//鍑哄簱涓嶅厑璁�
} else {
log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
}
@@ -3478,6 +3447,116 @@
* 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
@@ -3525,47 +3604,39 @@
continue;
}
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(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℃。
+ 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 wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
+ WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
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(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 wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//鑻�1鍙峰伐浣嶆湁浠诲姟缁�2鍙峰伐浣�
wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
boolean sign = false;
- Short direction = 1;//宸ヤ綅1鏂瑰悜
- //鑻ュ彇璐т负宸ヤ綅2涓斿彇璐у彛鍓嶄竴绔欑偣鏈夌墿锛岀粰鍙屽伐浣嶅悓鏃朵笅鍙戞寚浠�
- if(Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd()) && wrkMastSta.getWrkSts() == 4){
- wrkMastSta.setWrkSts(1);
+ 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");
}
- }
- if(wrkMastSta.getWorkSta() == 1 && staProtocol2 != null && staProtocol2.isLoading() && staProtocol2.getWorkNo() > 0 && sign){
-// WrkMastSta wrkMastSta3 = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol2.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
-// wrkMastSta3.setWorkSta(2);
-// wrkMastSta3.setRgvNo((int) rgvProtocol.getRgvNo());
-// sign = rgvTakeFullAll2(basRgvMap.getRgvNo(), wrkMastSta, wrkMastSta3);
- }else{
- sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,2); //鍛戒护涓嬪彂
- }
- if (sign){
- rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
} else {
log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
}
@@ -3704,216 +3775,8 @@
/**
* 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, 1104,1037);
- 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.setTaskNo1(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
- rgvCommand.setEndStaNo1(0); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
- 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");
- }
- }
- /**
- * 鎵ц灏忚溅鎼繍浠诲姟
- */
-// public synchronized void rgvRunWrkMastEmptyStaPut() {//鏀�
+// public synchronized void rgvPreScheduling(){
// try{
-// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
-// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
-// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
-// if (rgvProtocol == null) {
-// continue;
-// }
-// BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
-// if (basRgv == null) {
-// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�5", rgvSlave.getId());
-// continue;
-// }
-//
-// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤
-// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
-// && rgvProtocol.getModeType() == RgvModeType.AUTO
-// && rgvProtocol.getLoaded1()==1 //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
-// ) {
-// 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;
-// }
-// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
-// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
-// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//鏌ヨ鍙墽琛屼换鍔�
-// for (WrkMastSta wrkMastSta : wrkMastStaList){
-// if (wrkMastSta.getType()!=2 || (wrkMastSta.getWrkType()!=2 && wrkMastSta.getWrkType()!=4)){// 2:绌烘澘 2:鏀� 4锛氭媶鐩�
-// continue;
-// }
-// boolean sign = false;
-// if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//鏀�
-// sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
-// }else {
-// continue;
-// }
-// if (sign){
-// boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
-// if (signMap){
-// wrkMastSta.setWrkSts(2);
-// try{
-// wrkMastStaMapper.updateById(wrkMastSta);
-// }catch (Exception e){
-// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
-// }
-// return;
-// }else {
-// log.error("3857琛岋紝璐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());
-// }
-// break;
-// }
-// }
-// }
-// }catch (Exception e){
-// log.error("3933琛屾墽琛屽皬杞︽斁绌烘澘浠诲姟涓嬪彂澶辫触");
-// log.error("3933琛�"+e);
-// }
-// }
-
-// public synchronized void rgvRunWrkMastEmptyStaTake() {//鍙�
-// try{
-// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
-// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
-// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
-// if (rgvProtocol == null) {
-// continue;
-// }
-// BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
-// if (basRgv == null) {
-// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�6", rgvSlave.getId());
-// continue;
-// }
-//
-// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾棤鐗�//rgv鍙敤
-// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
-// && rgvProtocol.getModeType() == RgvModeType.AUTO
-// && rgvProtocol.getLoaded1()==0 //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
-// ) {
-// 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){
-// if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:绌烘澘 1:鍙�
-// continue;
-// }
-// boolean sign = false;
-// if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//鍙�
-// sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
-// } else {
-// continue;
-// }
-// if (sign){
-// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
-// if (signMap){
-// wrkMastSta.setWrkSts(1);
-// try{
-// wrkMastStaMapper.updateById(wrkMastSta);
-// }catch (Exception e){
-// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
-// }
-// return;
-// }else {
-// log.error("3879琛岋紝璐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());
-// }
-// break;
-// }
-// }
-// }
-// }catch (Exception e){
-// log.error("3989琛屾墽琛屽皬杞﹀彇绌烘澘浠诲姟涓嬪彂澶辫触");
-// log.error("3989琛�"+e);
-// }
-// }
-
- /*
- * 鏈変换鍔′絾鏈墽琛� 姝ゆ椂闇�瑕佽皟鏁村皬杞︿綅缃�
- * */
-// public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
-// try{
-// Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
-// if (integer==0){
-// return;
-// }
// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
// for (BasRgvMap rgvSlave:basRgvMaps) {
// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
@@ -3925,396 +3788,101 @@
// }
// 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�1", rgvSlave.getRgvNo());
+// 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
+// // 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() //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.getStatusType1() == RgvStatusType.IDLE
+// && !rgvProtocol.isLoaded1ing()
+// && rgvProtocol.getTaskNo1() == 0
+// && !rgvProtocol.isLoaded2ing()
+// && rgvProtocol.getTaskNo2() == 0
// && rgvThread.isPakMk()
-//// && rgvProtocol.getTaskNo2()==0
-// ){
+// ) {
// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
+// 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;
// }
-//// if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
-//// continue;
-//// } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157) ){
-//// continue;
-//// }
-// rgvAvoidanceXY((int) rgvProtocol.getRgvNo());
-// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
+// 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("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);
+// log.error("鎵ц灏忚溅绉诲姩涓嬪彂澶辫触");
// }
// }
- /*
- * 灏忚溅XY绉诲姩 閬胯
- * */
-// public synchronized boolean rgvAvoidanceXY(Integer rgvId){
-// BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
-// if (basRgvMap.getStartRoute() == 100 || basRgvMap.getStartRoute() == 101){
-// try{
-//
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
-// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
-// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
-// //basRgvMap.getLockStartRoute().shortValue()
-// rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
-// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
-// 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;
-//
-// }
-// }else {
-// try{
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
-// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
-// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
-// //basRgvMap.getLockStartRoute().shortValue()
-// rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
-// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
-// 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;
-//
-// }
-// }
-// }
/*
* 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
* */
- public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta,Short direction,Integer pos){
+ public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
- boolean pakIn1 = true;
- boolean pakIn2 = true;
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- if(wrkMastSta.getWrkSts() == 0){//鍒濆鍚庤璧�
- rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskStatus1(RgvTaskStatusType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
- rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
-// }
- wrkMastSta.setWrkSts(4);
- 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");
- }
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- return false;
- } else {
- return true;
- }
+ 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();
}
- if(wrkMastSta.getWrkSts() == 1){//鍙栬揣
- if(pos == 2){//鍑哄簱RGV鍙栬揣
- rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
- rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
- rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅2鐩爣绔欑偣
- rgvCommand.setDirection2((short)2);
-// rgvCommand.setWrkTaskMove2(direction);
- rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
- pakIn1 = false;
- }else{ //鍏ュ簱RGV鍙栬揣
- rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
- rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setDirection1((short)1);
-// rgvCommand.setWrkTaskMove1(direction);
- rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
- }
- if(!pakIn1){
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- return false;
- } else {
- return true;
- }
- }else{
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- return false;
- } else {
- return true;
- }
- }
+ 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;
}
- if(wrkMastSta.getWrkSts() == 2) {//鏀捐揣
- if((pos == 2)){ //宸ヤ綅2浠诲姟鏀捐揣
- rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
- rgvCommand.setTaskStatus2(RgvTaskStatusType.PUT); // 宸ヤ綅2浠诲姟妯″紡: 鏀捐揣
- rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
- rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //宸ヤ綅2鐩爣绔欑偣
- rgvCommand.setDirection2((short)2);
- rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
- pakIn2 = false;
- }else{ //宸ヤ綅1浠诲姟鏀捐揣
- rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskStatus1(RgvTaskStatusType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鏀捐揣
- rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
- rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setDirection1((short)1);
- rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
- }
- if(pakIn2){
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- return false;
- } else {
- return true;
- }
- }else{
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- return false;
- } else {
- return true;
- }
- }
- }
- return true;
+
}catch (Exception e){
return false;
}
}
-
-
- /*
- * 灏忚溅鍙栬揣鑷冲弻宸ヤ綅浠诲姟
- * */
- public synchronized boolean rgvTakeFullAll2(Integer rgvId,WrkMastSta wrkMastSta,WrkMastSta wrkMastSta2){
- try{
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- boolean pakIn1 = true;
- boolean pakIn2 = true;
- rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- if(wrkMastSta.getWrkSts() == 0) {//鍙栬揣
- if (wrkMastSta.getWorkSta() == 2) {//鍏ュ簱RGV鍙栬揣
- rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
- rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
- rgvCommand.setTargetPosition2(wrkMastSta.getStaStart()); //宸ヤ綅2鐩爣绔欑偣
- rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
- rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta2.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setEndStaNo1(wrkMastSta2.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
- rgvCommand.setTargetPosition1(wrkMastSta2.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
- rgvCommand.setWrkTaskPri((short) 2); //浼樺厛鎵ц宸ヤ綅2浠诲姟
- } else { //鍑哄簱RGV鍙栬揣
- rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskStatus1(RgvTaskStatusType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
- rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
- rgvCommand.setTaskStatus2(RgvTaskStatusType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
- rgvCommand.setTargetPosition2(wrkMastSta.getStaStart()); //宸ヤ綅2鐩爣绔欑偣
- rgvCommand.setWrkTaskPri((short) 1); //鍑哄簱鍙栬揣浼樺厛鎵ц宸ヤ綅1浠诲姟
- rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
- }
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(2, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- return false;
- } else {
- return true;
- }
- }
-
-// if(wrkMastSta.getWrkSts() == 2) {//鏀捐揣
-// if((wrkMastSta.getWorkSta() == 2)){ //宸ヤ綅2浠诲姟鏀捐揣
-// rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
-// rgvCommand.setTaskStatus2(RgvTaskStatusType.PUT); // 宸ヤ綅2浠诲姟妯″紡: 鏀捐揣
-// rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
-// rgvCommand.setTargetPosition2(wrkMastSta.getStaEnd()); //宸ヤ綅2鐩爣绔欑偣
-// rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
-// pakIn2 = false;
-// }else{ //宸ヤ綅1浠诲姟鏀捐揣
-// rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
-// rgvCommand.setTaskStatus1(RgvTaskStatusType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鏀捐揣
-// rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
-// rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //宸ヤ綅1鐩爣绔欑偣
-// rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
-// }
-// if(!pakIn2){
-// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
-// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
-// return false;
-// } else {
-// return true;
-// }
-// }else{
-// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
-// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
-// return false;
-// } else {
-// return true;
-// }
-// }
-// }
- return true;
- }catch (Exception e){
- return false;
- }
- }
-
- /*
- * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
- * */
-// public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
-// try{
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
-// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
-// rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栬揣
-// rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅1璧风偣
-// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
-// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
-// return false;
-// } else {
-// return true;
-// }
-// }catch (Exception e){
-// return false;
-// }
-// }
-
- /*
- * 灏忚溅鏀捐揣鑷宠緭閫佺嚎浠诲姟
- * */
-// public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
-// try{
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
-// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
-// rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鏀捐揣
-// rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅1鐩爣绔欑偣
-// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
-// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
-// return false;
-// } else {
-// return true;
-// }
-// }catch (Exception e){
-// return false;
-// }
-// }
-
- /*
- * 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟
- * */
-// public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
-// try{
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
-// rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
-// rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栬揣
-// rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅2璧风偣
-// rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
-// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
-// return false;
-// } else {
-// return true;
-// }
-// }catch (Exception e){
-// return false;
-// }
-// }
-
- /*
- * 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟
- * */
-// public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
-// try{
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
-// rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
-// rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 宸ヤ綅2浠诲姟妯″紡: 鏀捐揣
-// rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅2鐩爣绔欑偣
-// rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
-// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
-// return false;
-// } else {
-// return true;
-// }
-// }catch (Exception e){
-// return false;
-// }
-// }
/**
* 鍙栨斁鍙栬矾寰勮绠�
@@ -4367,44 +3935,6 @@
}
}
- /*
- * 灏忚溅澶嶄綅
- * */
- public synchronized boolean rgvComplete2(Integer rgvId,Integer step,Long workNo){
- try{
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(step, new RgvCommand(),workNo))) {
- //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;
- }
- }
-
- public synchronized boolean rgvComplete3(Integer rgvId,Integer step,Long workNo,Short moveSta){
- try{
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(step, new RgvCommand(),workNo,moveSta))) {
- //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;
- }
- }
-
-
/*
@@ -4415,23 +3945,29 @@
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
for (DevpSlave.Sta armSta : devp.getArmSta()) {
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, armSta.getBarcode());
- if (barcodeThread == null) {
+
+ // 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 = barcodeThread.getBarcode();
+ 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", armSta.getStaNo())
+ .eq("sta_no_sou", armSta.getStaNo())
.eq("status", 1));
for (BasArm basArm : basArmList) {
if (basArm.getStatus()!=1){
@@ -4492,19 +4028,19 @@
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());
- }
+// 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){
@@ -4523,6 +4059,16 @@
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())
--
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