From 8201281992c1fe2968e6a9f7c87c5184c8c1c804 Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期四, 11 十二月 2025 15:53:19 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 977 ++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 792 insertions(+), 185 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 c2e4fd4..b4b2b85 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -50,6 +50,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
+import java.text.SimpleDateFormat;
import java.util.*;
import java.util.stream.Collectors;
@@ -82,6 +83,8 @@
private BasCrnpService basCrnpService;
@Autowired
private BasDevpService basDevpService;
+ @Autowired
+ private SnowflakeIdWorker snowflakeIdWorker;
@Autowired
private LocDetlService locDetlService;
@Autowired
@@ -146,8 +149,11 @@
if(!staProtocol.isLoading()){
continue;
}
-
if (barcodeThread == null) {
+ continue;
+ }
+
+ if(!staProtocol.isAutoing()){
continue;
}
@@ -186,9 +192,6 @@
log.error("鐗╂枡鐮佹壂鐮佸け璐�");
back = true;
}
- if(barcode.equals("0")){
- continue;
- }
// 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);
@@ -198,6 +201,9 @@
continue;
}
if (!staProtocol.isPakMk()) {
+ continue;
+ }
+ if(!staProtocol.isAutoing()){
continue;
}
// led 寮傚父鏄剧ず
@@ -224,26 +230,29 @@
&& !staProtocol.isEmptyMk()
&& staProtocol.isPakMk()
&& staProtocol.getWorkNo() == 0
+ && !barcode.equals("0")
+ && !Cools.isEmpty(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) {
- String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
- }
- staProtocol.setWorkNo(wrkNo);
- staProtocol.setErrCode(errMsg);
- News.info("鏉＄爜鍒ゆ柇{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
- wrkNo++;
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- staProtocol.setBarcode(barcode);
- 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;
- }
+
+// 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(3, errorMsg));
+// }
+// staProtocol.setWorkNo(wrkNo);
+// staProtocol.setErrCode(errMsg);
+// News.info("鏉＄爜鍒ゆ柇{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
+// wrkNo++;
+// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+// staProtocol.setBarcode(barcode);
+// 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;
+// }
// 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);
@@ -325,15 +334,6 @@
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2锛�"+dto.getWorkNo()+","+dto.getStaNo());
- if(staProtocol.getSiteId() == 1036){ //1036
- BasAgvMast basAgvMast = basAgvMastService.selectOne(new EntityWrapper<BasAgvMast>().eq("sta_no", 1037));
- AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
- agvBindCtnrAndBinParam.setCtnrCode(barcode);
- ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV瀹瑰櫒缁戝畾瑙ｇ粦", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
- if (resultBind.getCode()!=200){
- agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV瀹瑰櫒缁戝畾瑙ｇ粦", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
- }
- }
ledThread.errorReset();
log.error("缁勬墭璇锋眰鍚嶭ED閿欒娓呴櫎");
@@ -458,23 +458,74 @@
continue;
}
String barcode = barcodeThread.getBarcode();
- if(!Cools.isEmpty(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;
- }
- } else {
- continue;
- }
-
- // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
if (staProtocol == null) {
continue;
} else {
staProtocol = staProtocol.clone();
}
+ // 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�", pickSta.getStaNo(), errMsg);
+ MessageQueue.offer(SlaveType.Led, pickSta.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, pickSta.getLed(), new Task(3, errMsg));
+ }
+ staProtocol.setWorkNo(wrkNo);
+ staProtocol.setErrCode(errMsg);
+ News.info("寮傚父鍒ゆ柇{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", pickSta.getStaNo(), errMsg,wrkNo);
+ wrkNo++;
+ staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ staProtocol.setBarcode(barcode);
+ staProtocol.setPakMk(false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ System.out.println(staProtocol);
+ log.error("杈撻�佺嚎涓嬪彂1锛�"+wrkNo+","+pickSta.getBackSta());
+ }
+
// // 鍏ュ嚭搴撴ā寮忓垽鏂�
// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
@@ -514,7 +565,7 @@
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//LED
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+// 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";
@@ -933,16 +984,23 @@
*/
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);
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+
+ StaProtocol staProtocolIn = devpThread2.getStation().get(4001);
if (staProtocolIn == null) {
continue;
} else {
staProtocolIn = staProtocolIn.clone();
}
- int[] outStaNos = {1015, 2016}; //琛旀帴鍏ュ簱鐐�
+ int[] outStaNos = {1015,2016}; //琛旀帴鍏ュ簱鐐�
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�
+ StaProtocol staProtocolOut =null;
+ if(outStaNo == 2016){
+ staProtocolOut = devpThread2.getStation().get(outStaNo);
+ }else{
+ staProtocolOut = devpThread.getStation().get(outStaNo);
+ }
if (staProtocolOut == null) {
continue;
} else {
@@ -1095,7 +1153,7 @@
//mark - 3 - ....
this.locToLoc(crn, crnProtocol,mark);
//棰勮皟搴�
-// this.crnRebackHp(crnProtocol, crnThread);
+ this.crnRebackHp(crn, 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");
@@ -1104,10 +1162,30 @@
/**
* 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) {
+ public synchronized void crnRebackHp(CrnSlave slave, CrnProtocol crnProtocol, CrnThread crnThread) {
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- if (crnProtocol.getBay() == 1) {
+ if (crnProtocol.getBay() == 52) {
return;
+ }
+ BasCrnp basCrnp = basCrnpService.selectOne(
+ new EntityWrapper<BasCrnp>().eq("crn_no", crnProtocol.getCrnNo())
+ );
+ boolean result = true;
+ if(crnProtocol.getCrnNo() != 5){
+ return;
+ }
+ for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo2());
+ if (staProtocol == null) {
+ News.infoNoLog(" - 鍫嗗灈鏈哄叆搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц)锛歴taProtocol="+staProtocol);
+ return;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 ){
+ result =false;
+ }
}
int x=1;
switch (crnProtocol.getCrnNo()){
@@ -1117,10 +1195,18 @@
case 4: x =14; break;
case 5: x =18; break;
}
-
+ Date modiTime = basCrnp.getModiTime();
+ Date now = new Date();
+ // 褰撳墠鏃堕棿 - 淇敼鏃堕棿 > 1鍒嗛挓锛�60000姣锛�
+ if(result){
+ if (now.getTime() - modiTime.getTime() < 60 * 1000) {
+ return;
+ }
+ }
if(crnProtocol.getCrnNo() != 5){
return;
}
+
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�3,12
if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
return;
@@ -1153,8 +1239,6 @@
}
crnThread.setBackHpFlag(true);
}
-
-// }
}
/**
@@ -1947,9 +2031,6 @@
// 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);
@@ -2300,6 +2381,9 @@
case 57:
ledCommand.setTitle("鐩樼偣鍐嶅叆搴�");
break;
+ case 53:
+ ledCommand.setTitle("鎷ｆ枡鍐嶅叆搴�");
+ break;
case 101:
ledCommand.setTitle("鍏ㄦ澘鍑哄簱");
break;
@@ -2334,7 +2418,7 @@
} else {
total = locDetl.getAnfme();
}
- ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getBoxType3(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),wrkDetl.getAnfme(),total));
});
}
if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
@@ -2350,13 +2434,13 @@
total = locDetl.getAnfme();
}
if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
- ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getBoxType3(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),wrkDetl.getAnfme(),total));
}
if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
- ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getBoxType3(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),wrkDetl.getAnfme(),total));
}
if (wrkMast.getIoType() == 107) {
- ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getBoxType3(), wrkDetl.getStandby1(), wrkDetl.getStandby2(), wrkDetl.getStandby3(),wrkDetl.getAnfme(),total));
}
});
}
@@ -2871,6 +2955,8 @@
public synchronized void autoEmptyOut() {
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+
List<Integer> list = new ArrayList<>();
list.add(1108);list.add(2031);
for (Integer site:list){
@@ -2878,13 +2964,13 @@
StaProtocol staProtocol = null;
if(emptyCount >= 2 && site == 1108){
continue;
- }else if(emptyCount == 1 && site == 2031){
+ }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 2031:staProtocol = devpThread.getStation().get(site);break;
+ case 2031:staProtocol = devpThread2.getStation().get(site);break;
}
if (staProtocol == null) {
return;
@@ -2923,8 +3009,12 @@
}
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<WrkMast> wrkMast = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("source_sta_no",1038));
+ if(wrkMast.size() >3){
+ return;
+ }
list.add(1038);
for (Integer site:list){
StaProtocol staProtocol = devpThread.getStation().get(site);
@@ -2961,6 +3051,11 @@
staProtocol.setStaNo(site.shortValue());
devpThread.setPakMk(site,false);
MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
+ Date now = new Date();
+ System.out.println("灏忚溅涓嬪彂鍛戒护鏃堕棿锛�" +
+ new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS").format(now));
+
+
} 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);
}
@@ -3627,11 +3722,38 @@
}
-// 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 && rgvThread.isPakMk()
+ && rgvThread.isPaking() && basRgv.getPakAll().equals("1")){
+ if(basRgv.getPakOut().equals("1") && basRgv.getPakIn().equals("1")){
+ rgvPreSchedulingIn(rgv, rgvProtocol);//鑻ユ殏鏃犱笅鍙戜换鍔￠璋冨害鎻愬墠鍒板彇璐х偣
+ if (rgvProtocol.getLastIo().equals("I")) {
+ if (basRgv.getInEnable().equals("1") && basRgv.getPakIn().equals("1")) {
+ //mark - 1 - ....
+ if (rgvProtocol.getTaskNo1()==0){
+ rgvPreSchedulingIn(rgv, rgvProtocol);//鑻ユ殏鏃犱笅鍙戜换鍔￠璋冨害鎻愬墠鍒板彇璐х偣
+ }
+ } else if (basRgv.getOutEnable().equals("1") && basRgv.getPakOut().equals("1")) {
+ //mark - 2 - ....
+ if (rgvProtocol.getTaskNo2()==0){
+ this.rgvPreSchedulingOut(rgv, rgvProtocol); // 鍑哄簱
+ }
+ }
+ }
+ // 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") && basRgv.getPakOut().equals("1")) {
+ if (rgvProtocol.getTaskNo2()==0){
+ this.rgvPreSchedulingOut(rgv, rgvProtocol); // 鍑哄簱
+ }
+ } else if (basRgv.getInEnable().equals("1") && basRgv.getPakIn().equals("1")) {
+ if (rgvProtocol.getTaskNo1()==0){
+ rgvPreSchedulingIn(rgv, rgvProtocol);//鑻ユ殏鏃犱笅鍙戜换鍔￠璋冨害鎻愬墠鍒板彇璐х偣
+ }
+ }
+ }
+ }
+ }
}
}
/**
@@ -3752,7 +3874,7 @@
try{
wrkMastSta.setWrkSts(1);
wrkMastStaMapper.updateById(wrkMastSta);
- log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛{}",wrkMastSta);
}catch (Exception e){
log.error("鏇存柊灏忚溅浠诲姟澶辫触");
}
@@ -3849,7 +3971,7 @@
continue;
}
- if(wrkMastSta != null &&LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
+ if( LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
StaProtocol staProtocolSta = devpThread.getStation().get(wrkMastSta.getStaEnd());
if (staProtocolSta == 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);
@@ -3901,7 +4023,149 @@
try{
wrkMastSta.setWrkSts(1);
wrkMastStaMapper.updateById(wrkMastSta);
- log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛{}",wrkMastSta);
+ }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 rgvPreSchedulingOut(RgvSlave slave, RgvProtocol rgvProtocol){
+ 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.getStaNo2());
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
+ BasRgv basRgv = basRgvService.selectById(slave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", slave.getId());
+ continue;
+ }
+ if(staProtocol.getWorkNo() == 0){
+ continue;
+ }
+ StaProtocol staProtocol2 = null;
+ WrkMastSta wrkMastSta3 = null;
+
+// if(rgvStn.getStaNo2()!= null ){
+// staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
+// if (staProtocol2 == null) {
+// News.infoNoLog(" - Rgv鍑哄簱绔欎俊鎭�(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( " - 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;
+// }
+// wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
+//
+// }
+ if (staProtocol == null) {
+ News.infoNoLog(" - 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(" - 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(" - 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.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ basRgvMapService.updateById(basRgvMap);
+ 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 wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
+ if(basRgv.getPakToCrn().equals("0")){
+ wrkMastSta = wrkMastStaMapper.selectNoInterfereCrn(route, route, Long.valueOf(staProtocol2.getWorkNo()));//澶勭悊鎺ラ┏浠诲姟鏃讹紝杩炵画鍙彇鎺ラ┏浠诲姟
+ }
+ if( null == wrkMastSta ) {
+ News.infoNoLog(" - 鏌ヨ鏃犲緟鍑哄簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol2.getWorkNo());
+ continue;
+ }
+ boolean result = false;
+ if( LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
+ StaProtocol staProtocolSta = devpThread.getStation().get(wrkMastSta.getStaEnd());
+ if (staProtocolSta == null) {
+ News.infoNoLog(" - Rgv鍑哄簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocolSta = staProtocolSta.clone();
+ }
+ if(staProtocolSta.isLoading()){
+ continue;
+ }
+ }
+ wrkMastSta.setWorkSta(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(wrkMastSta.getMk() == 1){//鑻ュ凡鎵ц
+ basRgv.setPakAll("1");
+ basRgvService.updateById(basRgv);
+ }
+ if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
+ basRgv.setPakToCrn("0");
+ basRgvService.updateById(basRgv);
+ if(wrkMastSta3 != null){
+ if(!LEFT_POSITION.contains(wrkMastSta3.getStaEnd())){
+ wrkMastSta3 = null;//鑻ユ帴椹崇浜屼綅涓嶆帴椹虫椂鍙栨秷杩炵画鍙栬揣
+ }
+ }
+ }
+ if(wrkMastSta3 != null ){
+ List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
+ if(wrkMastStaPaking.size() < 1){
+ wrkMastSta3.setMk(1);
+ basRgv.setPakAll("0");
+ basRgvService.updateById(basRgv);
+ 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");
+ }
+ }
+ }
+ basRgv.setPakIn("0");
+ basRgvService.updateById(basRgv);
+ rgvThread.setPaking(false);
+ try{
+ wrkMastSta.setWrkSts(1);
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛{}",wrkMastSta);
}catch (Exception e){
log.error("鏇存柊灏忚溅浠诲姟澶辫触");
}
@@ -4178,77 +4442,140 @@
/**
* 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");
-// }
-// }
+ public synchronized void rgvPreSchedulingIn(RgvSlave slave, RgvProtocol rgvProtocol){
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvInTStn()) {//rgv鍏ュ簱鍙栬揣绔欑偣
+ boolean flag = false;
+ BasRgv basRgv = basRgvService.selectById(slave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", slave.getId());
+ continue;
+ }
+ if(rgvStn.getStaNo2() == null){
+ continue;
+ }
+ //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.getStaNo2()); //鍊掓暟绗簩涓�
+ 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
+ Integer staNo = null; //涓庤皟搴�
+ switch (rgvStn.getStaNo2()){
+ case 1043: staNo = 1044;break;
+ case 1104: staNo = 1103;break;
+ }
+ if(staNo != null ){
+ staProtocol2 = devpThread.getStation().get(staNo);
+ if (staProtocol2 == null) {
+ News.infoNoLog(" - 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(" - 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.getWorkNo()>9999 && staProtocol2.getWorkNo()>9999) || (staProtocol.getWorkNo()<10000 && staProtocol2.getWorkNo()<10000)){
+ //褰撹繛缁彇璐х珯鐐逛负鐩稿悓绫诲瀷鏃舵墠鑳借繛缁彇
+ wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
+ }
+
+ }
+ if(rgvProtocol.getTaskNo2() > 9999 && staProtocol.getWorkNo() < 10000){
+ continue;
+ }
+
+ if (staProtocol == null) {
+ News.infoNoLog( " - 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(" - 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(" - 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.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ basRgvMapService.updateById(basRgvMap);
+ 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(" - 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
+ basRgv.setPakRgv("0");
+ basRgvService.updateById(basRgv);
+
+// 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 ){
+ List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
+ if(wrkMastStaPaking.size() < 1 && !wrkMastSta3.getWrkNo().equals(wrkMastSta.getWrkNo())){//宸叉湁鏍囪涓嶅啀鏍囪
+ wrkMastSta3.setMk(1);
+ basRgv.setPakAll("0");
+ basRgvService.updateById(basRgv);
+
+ 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");
+ }
+ }
+ }
+ basRgv.setPakOut("0");//鍑哄簱涓嶅厑璁�
+ basRgvService.updateById(basRgv);
+ rgvThread.setPaking(false);//浠诲姟涓嬪彂閿佸畾
+
+ try{
+ wrkMastSta.setWrkSts(1);
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛{}",wrkMastSta);
+ }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());
+ }
+
+
+ }
+ }
@@ -4269,6 +4596,12 @@
type = RgvTaskStatusType.PUT; //鏀捐揣
targetPosition = wrkMastSta.getStaEnd();
}
+ Date now = new Date();
+ if (targetPosition == 1038) {
+ System.out.println("灏忚溅涓嬪彂鍛戒护鏃堕棿锛�" +
+ new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS").format(now));
+ }
+
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
@@ -4408,6 +4741,111 @@
/*
* arm浠诲姟瀹屾垚鑷姩缁勬墭
* */
+ public synchronized void armMissionAccomplished1() {
+ try{
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta armSta : devp.getArmStaTwo()) {
+
+ // 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) || "0".equals(barcode) || barcode.length()<5) {
+ armTaskAssignmentCallApiLogSave(staProtocol, "鎵樼洏鏉＄爜涓虹┖", staProtocol.getSiteId()+"鐮佸灈浣嶇疆锛�===銆嬫墭鐩樻潯鐮佷负绌�", false);
+ continue;
+ }
+ } else {
+ armTaskAssignmentCallApiLogSave(staProtocol, "鎵樼洏鏉＄爜涓虹┖", staProtocol.getSiteId()+"鐮佸灈浣嶇疆锛�===銆嬫墭鐩樻潯鐮佷负绌�", false);
+ continue;
+ }
+ String[] barcodeList = barcode.split(";");
+ String[][] barcodeArr = new String[barcodeList.length / 2][2];
+ int i = 0;
+ for (String[] barcodes : barcodeArr){
+ barcodes[0]=barcodeList[i];
+ i++;
+ barcodes[1]=barcodeList[i];
+ i++;
+ }
+ ArmBarcodeTwoParam armBarcodeTwoParam = new ArmBarcodeTwoParam(barcodeArr);
+ if (!armBarcodeTwoParam.allBool()){
+ continue;
+ }
+
+
+ List<BasArmMast> basArmMastList = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", armSta.getArmNo())
+ .lt("status", 2)
+ );
+ if (!basArmMastList.isEmpty()){
+ armTaskAssignmentCallApiLogSave(staProtocol, armSta.getArmNo()+"鍙锋満姊拌噦瀛樺湪鏈畬鎴愪换鍔�", staProtocol.getSiteId()+"鏈烘鑷傦紝===銆嬪瓨鍦ㄦ湭瀹屾垚浠诲姟", false);
+ continue;
+ }
+ List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().eq("arm_no",armSta.getArmNo()));
+ boolean sign = true;
+ for (BasArm basArm : basArmList){
+ if (basArm.getStaNo()==2){//NG
+ continue;
+ }
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
+ if (Cools.isEmpty(locMast) || !locMast.getLocSts().equals("D")){
+ continue;
+ }
+ List<BasArmMast> basArmMastList2 = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("sta_no", basArm.getStaNoSou())
+ .eq("status", 2)
+ );
+ if (!basArmMastList2.isEmpty()){
+ BasArmMast basArmMast2 = basArmMastList2.get(0);
+ if (!armBarcodeTwoParam.allBool(basArmMast2)){
+ continue;
+ }
+ }
+ BasArmMast basArmMast = new BasArmMast(armBarcodeTwoParam);
+ basArmMast.setArmNo(basArm.getArmNo());
+ basArmMast.setStaNo(basArm.getStaNoSou());
+ basArmMast.setSortingLine(basArm.getSortingLineSou());
+ basArmMastService.insert(basArmMast);
+ sign = false;
+ break;
+ }
+ if (sign){
+ for (BasArm basArm : basArmList){
+ if (basArm.getStaNo()==2){//NG
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
+ if (Cools.isEmpty(locMast) || !locMast.getLocSts().equals("D")){
+ continue;
+ }
+ BasArmMast basArmMast = new BasArmMast(armBarcodeTwoParam);
+ basArmMast.setArmNo(basArm.getArmNo());
+ basArmMast.setStaNo(basArm.getStaNoSou());
+ basArmMast.setSortingLine(basArm.getSortingLineSou());
+ basArmMastService.insert(basArmMast);
+ 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());
+ }
+ }
+
+ /*
+ * arm浠诲姟瀹屾垚鑷姩缁勬墭
+ * */
public synchronized void armMissionAccomplished2() {
try{
List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().gt("arm_no",4));
@@ -4424,6 +4862,7 @@
new EntityWrapper<BasArmMast>()
.eq("arm_no", basArm.getArmNo())
.eq("sorting_line", basArm.getSortingLineSou())
+ .eq("sta_no", basArm.getStaNoSou())
.eq("status", 3)
);
if (basArmMastList.isEmpty()){
@@ -4514,6 +4953,9 @@
staProtocol = staProtocol.clone();
}
+ if(!staProtocol.isLoading()){
+ continue;
+ }
String barcode = staProtocol.getBarcode();
if(!Cools.isEmpty(barcode)) {
if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
@@ -4616,16 +5058,21 @@
}
}
- OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getMatnr());
-
- if (Cools.isEmpty(orderDetlValueResultUtil)){
- continue;
- }
+// OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getMatnr());
+// if (Cools.isEmpty(orderDetlValueResultUtil)){
+// continue;
+// }
+ OrderDetlValueResultUtil orderDetlValueResultUtil = new OrderDetlValueResultUtil();
+ Mat mat = matService.selectOne(new EntityWrapper<Mat>().eq("matnr", basArmMast.getMatnr()));
+ orderDetlValueResultUtil.setHeight(mat.getHeight());
+ orderDetlValueResultUtil.setWeight(mat.getWeight());
+ orderDetlValueResultUtil.setLength(mat.getManLength());
+ orderDetlValueResultUtil.setWidth(mat.getWidth());
Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getMatnr(),basArmMast.getBindingTags());
orderDetlValueResultUtil.setAnfme(anfmeSign);
//璁㈠崟涓嬪彂
try{
- ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
+ ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArm,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){
@@ -4736,7 +5183,7 @@
.eq("sta_no", basArm.getStaNoSou())
.eq("status", 0)
);
- if (basArmMastList.isEmpty()){
+ if (basArmMastList.isEmpty()){
continue;
}
if (basArmMastList.size()>1){
@@ -4769,7 +5216,7 @@
orderDetlValueResultUtil.setWidth(mat.getWidth());
//璁㈠崟涓嬪彂
try{
- ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
+ ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArm,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){
@@ -4877,7 +5324,108 @@
continue;
}
if (staProtocol.isAutoing() ) {
+ //staProtocol.getWorkNo()>10000
+ if(staProtocol.getWorkNo()>10000){
+ BasAgvMast basAgvMast = new BasAgvMast();
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("task_no", staProtocol.getWorkNo()));
+ if(!basAgvMastList.isEmpty()){
+ continue;
+ }
+
+ try {
+ LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(staProtocol.getWorkNo().toString());
+ param.setIoType(1);
+ param.setSourceStaNo(outStaAgv.getStaNo());
+ param.setLocType1(locTypeDto.getLocType1());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/agv/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+ basAgvMast.setFloorNo(1);
+ basAgvMast.setTaskNo(staProtocol.getWorkNo());
+ basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
+ basAgvMast.setLocNo(dto.getLocNo());
+ basAgvMast.setBarcode("1");
+ basAgvMast.setSourceLocNo("1041");
+ basAgvMast.setDevpId(devp.getId());
+ basAgvMast.setIoType(2);
+ basAgvMastService.insert(basAgvMast);
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no",dto.getLocNo()));
+ locMast.setLocSts("S");
+ locMastService.updateById(locMast);
+
+ AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
+ agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
+ agvBindCtnrAndBinParam.setCtnrTyp("1");
+ ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV鍑哄簱瀹瑰櫒瑙ｇ粦", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
+ break;
+ }
+ }catch (Exception e){
+ News.error(JSON.toJSONString(e.getMessage()));
+
+ }
+
+ }
WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
+ if(Cools.isEmpty(wrkMast)){
+ continue;
+ }
+ if(wrkMast.getIoType() == 110 ){
+ BasAgvMast basAgvMast = new BasAgvMast();
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("task_no", staProtocol.getWorkNo()));
+ if(!basAgvMastList.isEmpty()){
+ continue;
+ }
+
+ try {
+ LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(staProtocol.getWorkNo().toString());
+ param.setIoType(1);
+ param.setSourceStaNo(outStaAgv.getStaNo());
+ param.setLocType1(locTypeDto.getLocType1());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/agv/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+ basAgvMast.setFloorNo(1);
+ basAgvMast.setTaskNo(staProtocol.getWorkNo());
+ basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
+ basAgvMast.setLocNo(dto.getLocNo());
+ basAgvMast.setBarcode("1");
+ basAgvMast.setSourceLocNo("1041");
+ basAgvMast.setDevpId(devp.getId());
+ basAgvMast.setIoType(2);
+ basAgvMastService.insert(basAgvMast);
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no",dto.getLocNo()));
+ locMast.setLocSts("S");
+ locMastService.updateById(locMast);
+
+ AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
+ agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
+ agvBindCtnrAndBinParam.setCtnrTyp("1");
+ ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV鍑哄簱瀹瑰櫒瑙ｇ粦", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
+
+ }
+ }catch (Exception e){
+ News.error(JSON.toJSONString(e.getMessage()));
+
+ }
+ }
if (Cools.isEmpty(wrkMast) || Cools.isEmpty(wrkMast.getTakeNone()) || !wrkMast.getTakeNone().equals("1")){
continue;
}
@@ -4922,14 +5470,21 @@
basAgvMast.setTaskNo(wrkMast.getWrkNo());
basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
basAgvMast.setLocNo(dto.getLocNo());
+ basAgvMast.setBarcode(wrkMast.getBarcode());
basAgvMast.setSourceLocNo(wrkMast.getSourceLocNo());
basAgvMast.setDevpId(devp.getId());
basAgvMast.setIoType(2);
basAgvMastService.insert(basAgvMast);
-
-
-
+ AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
+ agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getBarcode());
+ if(basAgvMast.getFloorNo() == 3){
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no",dto.getLocNo()));
+ locMast.setBarcode(wrkMast.getBarcode());
+ locMastService.updateById(locMast);
+ }
+ agvBindCtnrAndBinParam.setCtnrTyp("1");
+ ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV瀹瑰櫒缁戝畾", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
wrkMast.setTakeNone("2");
wrkMastMapper.updateById(wrkMast);
} else {
@@ -4954,6 +5509,8 @@
// 鑾峰彇鍏ュ簱绔欎俊鎭�
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(outStaAgv.getStaNo());
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 6);
+
if (staProtocol == null) {
continue;
} else {
@@ -4965,7 +5522,7 @@
continue;
}
- String barcode = staProtocol.getBarcode();
+ String barcode = barcodeThread.getBarcode();//2033
if(!Cools.isEmpty(barcode)) {
if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "0".equals(barcode)) {
// News.info("{}鍙风珯鐐规壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", outStaAgv.getStaNo(), barcode);
@@ -4978,7 +5535,7 @@
if (staProtocol.isAutoing()) {
// 鍒ゆ柇閲嶅宸ヤ綔妗�
- List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()));
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()).eq("barcode",barcode));
if (!basAgvMastList.isEmpty()) {
// News.info("{}鍙风珯鐐瑰瓨鍦ㄤ换鍔℃墽琛屼腑锛岃绛夊緟浠诲姟鎵ц瀹屾瘯锛歿}", outStaAgv.getStaNo(), barcode);
continue;
@@ -4986,9 +5543,17 @@
if(barcode.equals("0")){
continue;
}
+ List<LocMast> locMastListFull = locMastService.selectList(new EntityWrapper<LocMast>()
+ .eq("loc_sts", "O")
+ .ge("row1", 28)
+ .le("row1", 31)
+ );
+ if(locMastListFull.isEmpty()){
+ continue;
+ }
List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>().eq("barcode", barcode));
if (!locMastList.isEmpty()) {
- News.info("{}鍙风珯鐐规潯鐮佷俊鎭噸澶嶏細{}", outStaAgv.getStaNo(), barcode);
+// News.info("{}鍙风珯鐐规潯鐮佷俊鎭噸澶嶏細{}", outStaAgv.getStaNo(), barcode);
continue;
}
// 浠诲姟鐢熸垚鍖� --------------------------------------------------------------------------
@@ -5013,10 +5578,33 @@
JSONObject jsonObject = JSON.parseObject(response);
if (jsonObject.getInteger("code").equals(200)) {
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
- basAgvMast.setTaskNo(outStaAgv.getStaNo());
+ List<BasAgvMast> list = basAgvMastService.selectList(
+ new EntityWrapper<BasAgvMast>()
+ .eq("source_sta_no", outStaAgv.getStaNo())
+ .in("task_no", 2033, 2031)
+ );
+ boolean has2033 = false;
+ boolean has2034 = false;
+ for (BasAgvMast mast : list) {
+ if (mast.getTaskNo() == 2033) {
+ has2033 = true;
+ }
+ if (mast.getTaskNo() == 2031) {
+ has2034 = true;
+ }
+ }
+
+ if (has2033 && has2034) {
+ return;
+ } else if (has2033) {
+ basAgvMast.setTaskNo(2031);
+ } else {
+ basAgvMast.setTaskNo(2033);
+ }
basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
basAgvMast.setLocNo(dto.getLocNo());
basAgvMast.setDevpId(devp.getId());
+ basAgvMast.setBarcode(barcode);
basAgvMast.setIoType(2);
basAgvMast.setFloorNo(2);
@@ -5025,8 +5613,10 @@
News.error(JSON.toJSONString(staProtocol));
}
} catch (Exception e) {
- News.error(JSON.toJSONString(e.getMessage()));
+ News.error("AGV浠诲姟鐢熸垚寮傚父", e);
+ throw new CoolException("AGV浠诲姟鐢熸垚寮傚父");
}
+
}
}
}
@@ -5059,7 +5649,7 @@
// 鍒ゆ柇閲嶅宸ヤ綔妗�
List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("sta_no", inStaAgv.getStaNo()));
if (!basAgvMastList.isEmpty()) {
- News.info("{}鍙风珯鐐瑰瓨鍦ㄤ换鍔℃墽琛屼腑锛岀瓑寰呬换鍔℃墽琛屽畬姣�!!!", inStaAgv.getStaNo());
+// News.info("{}鍙风珯鐐瑰瓨鍦ㄤ换鍔℃墽琛屼腑锛岀瓑寰呬换鍔℃墽琛屽畬姣�!!!", inStaAgv.getStaNo());
continue;
}
// 浠诲姟鐢熸垚鍖� --------------------------------------------------------------------------
@@ -5097,6 +5687,7 @@
basAgvMast.setStaNo(inStaAgv.getStaNo());
basAgvMast.setDevpId(devp.getId());
basAgvMast.setFloorNo(floorNo);
+ basAgvMast.setBarcode(locMast.getBarcode());
basAgvMast.setIoType(0);//AGV搴撲綅==銆嬭緭閫佺嚎绔欑偣 0
basAgvMastService.insert(basAgvMast);
break;
@@ -5178,12 +5769,7 @@
}
if (staProtocol.isAutoing()){
- AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
- agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
- ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV瀹瑰櫒缁戝畾", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
- if (resultBind.getCode()!=200){
- agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV瀹瑰櫒缁戝畾", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
- }
+//
AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
//浠诲姟涓嬪彂
@@ -5257,30 +5843,51 @@
staProtocol = staProtocol.clone();
}
- if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo()))
- ||
- (basAgvMast.getSourceStaNo().equals(2033))){
-
+ if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())) || basAgvMast.getSourceStaNo().equals(2033)){
AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
- if(basAgvMast.getFloorNo()==1 || basAgvMast.getStaNo().equals(2034)) {
- WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
- AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
- agvBindCtnrAndBinParam.setCtnrCode(wrkMast.getBarcode());
- agvBindCtnrAndBinParam.setCtnrTyp("1");
- ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV瀹瑰櫒缁戝畾瑙ｇ粦", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
- if (resultBind.getCode()==200){
- //浠诲姟涓嬪彂
- ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
- if (result.getCode()==200){
- basAgvMast.setStatus(1);
- basAgvMastService.updateById(basAgvMast);
- } else {
- agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV浠诲姟涓嬪彂澶辫触", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
- }
+ if(basAgvMast.getFloorNo()==1) {
+// WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
+// AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
+// agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
+// agvBindCtnrAndBinParam.setCtnrTyp("1");
+// ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV瀹瑰櫒缁戝畾瑙ｇ粦", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
+// if (resultBind.getCode()==200){
+// //浠诲姟涓嬪彂
+// ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
+// if (result.getCode()==200){
+// basAgvMast.setStatus(1);
+// basAgvMastService.updateById(basAgvMast);
+// } else {
+// agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV浠诲姟涓嬪彂澶辫触", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
+// }
+// } else {
+// agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV瀹瑰櫒缁戝畾瑙ｇ粦", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
+// }
+ //浠诲姟涓嬪彂
+ ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
+ if (result.getCode()==200){
+ basAgvMast.setStatus(1);
+ basAgvMastService.updateById(basAgvMast);
} else {
- agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV瀹瑰櫒缁戝畾瑙ｇ粦", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
+ agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV浠诲姟涓嬪彂澶辫触", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
}
}else{
+ if (!Cools.isEmpty(basAgvMast.getSourceStaNo())){
+ if (basAgvMast.getSourceStaNo().equals(4006)){
+
+ AgvBindCtnrAndBinTwoParam agvBindCtnrAndBinTwoParam = new AgvBindCtnrAndBinTwoParam();
+ agvBindCtnrAndBinTwoParam.setReqCode(String.valueOf(snowflakeIdWorker.nextId()));
+ agvBindCtnrAndBinTwoParam.setPodcode(basAgvMast.getBarcode());
+ agvBindCtnrAndBinTwoParam.setPositionCode(basAgvMast.getSourceStaNo().toString());
+ agvBindCtnrAndBinTwoParam.setIndBind("1");;
+ ReturnT<String> resultBind = new PostMesDataUtils().postMesDataArmGrating("AGV瀹瑰櫒缁戝畾瑙ｇ粦",
+ AgvConstant.AGV_URL+"/"+AgvConstant.AGV_hikRpcService,AgvConstant.getAGVADAPTOR(2), agvBindCtnrAndBinTwoParam);
+ if (resultBind.getCode()!=200){
+ basAgvMast.setStatus(4);
+ basAgvMastService.updateById(basAgvMast);
+ }
+ }
+ }
//浠诲姟涓嬪彂
ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
if (result.getCode()==200){
--
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