From 86cb750364e49debb8586a29f0469ba37ce0f85c Mon Sep 17 00:00:00 2001
From: zhangchao <zc857179121@qq.com>
Date: 星期日, 01 九月 2024 15:24:21 +0800
Subject: [PATCH] 对照协议调整
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 168 +++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 136 insertions(+), 32 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 89bffbf..79ac93f 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -91,6 +91,20 @@
@Value("${wms.url}")
private String wmsUrl;
+ private Short getWorkMode(Integer bay) {
+ if (bay == 2 || bay == 7) {
+ return (short) 3;
+ } else if (bay == 3) {
+ return (short) 1;
+ } else if (bay == 4) {
+ return (short) 2;
+ } else if (bay == 5) {
+ return (short) 1;
+ } else {
+ return (short) 0;
+ }
+ }
+
/**
* 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
@@ -218,6 +232,14 @@
param.setIoType(1);
param.setSourceStaNo(inSta.getStaNo());
param.setLocType1(locTypeDto.getLocType1());
+ if (inSta.getStaNo() == 102) {
+ param.setLocType2((short) 3);
+ } else if (inSta.getStaNo() == 211) {
+ param.setLocType1((short) 5);
+ param.setLocType2((short) 4);
+ } else if (inSta.getStaNo() == 201) {
+ param.setLocType2((short) 4);
+ }
String response = new HttpHandler.Builder()
.setUri(wmsUrl)
.setPath("/rpc/pakin/loc/v1")
@@ -543,7 +565,15 @@
wrkMast.setCrnEndTime(new Date());
if (wrkMastMapper.updateById(wrkMast) != 0) {
// 澶嶄綅鍫嗗灈鏈�
- crnThread.setResetFlag(true);
+ Short mode = crnProtocol.getMode();
+ if (mode == 1) {
+ crnThread.setResetFlag(true);
+ } else if (mode == 2) {
+ crnThread.setResetFlagTwo(true);
+ } else if (mode == 3) {
+ crnThread.setResetFlag(true);
+ crnThread.setResetFlagTwo(true);
+ }
} else {
News.error("" + mark + " - 1" + " - 鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
}
@@ -584,7 +614,6 @@
// if(crnThread.isBackHpFlag()){
// continue;
// }
-
// 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
@@ -704,25 +733,31 @@
flag = true;
}
if (!flag) {
- News.errorNoLog("" + mark + " - 1" + " - 3" + " - 鍫嗗灈鏈哄叆搴撶珯淇℃伅(浠ヤ笅闇�瑕佸叏true):"
+ System.out.println(staProtocol);
+ //TODO
+ News.error("" + mark + " - 1" + " - 3" + " - 鍫嗗灈鏈哄叆搴撶珯淇℃伅(浠ヤ笅闇�瑕佸叏true):"
+ "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
+ "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isInEnable()
+ "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanining());
continue;
}
+ System.out.println("wrkMast:" + slave.getId() + "-" + staProtocol.getWorkNo().intValue() + "-" + crnStn.getStaNo());
// 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級鐨勫叆搴撳伐浣滄。
WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
+ System.out.println("wrkMast:" + wrkMast);
if (null == wrkMast) {
News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
// log.error("鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
continue;
}
+ System.out.println("566");
// 鑾峰彇搴撲綅淇℃伅
LocMast locMast = locMastService.getById(wrkMast.getLocNo());
if (locMast == null) {
News.error("" + mark + " - 1" + " - 5" + " - 鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
continue;
}
+ System.out.println("334");
if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
News.error("" + mark + " - 1" + " - 6" + " - 鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
continue;
@@ -733,7 +768,7 @@
// News.infoNoLog(""+mark+" - 1"+" - 7"+" - 鍫嗗灈鏈烘帶鍒惰繃婊�:鍫嗗灈鏈烘槸鍚︾┖闂�={}锛屼换鍔″彿={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo());
continue;
}
-
+ System.out.println("aas");
// 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) {
continue;
@@ -781,6 +816,7 @@
}
}
}
+ System.out.println("434323");
News.warnNoLog("" + mark + " - 1" + " - 15" + " - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}", wrkMast.getWrkNo().shortValue()
, crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue()
, locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());
@@ -789,14 +825,32 @@
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+ Short workMode = getWorkMode(locMast.getBay1());
+ if (workMode == 2) {
+ //CrnTaskModeType璇ユ灇涓剧被鏃犳晥锛屽彧鏈�1浠ｈ〃宸ヤ綅锛�2浠ｈ〃宸ヤ綅2锛�3鍙屽伐浣�
+ crnCommand.setTaskMode(CrnTaskModeType.PAKOUT);
+ crnCommand.setSourcePosXTwo(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosYTwo(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZTwo(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosXTwo(locMast.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosYTwo(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZTwo(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
+ } else {
+ if (workMode == 1) {
+ crnCommand.setTaskMode(CrnTaskModeType.PAKIN);
+ } else if (workMode == 3) {
+ crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE);
+ }
+ crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
+ }
// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
+
+
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
News.error("" + mark + " - 1" + " - 16" + " - 鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
} else {
@@ -812,7 +866,7 @@
// Thread.sleep(500);
// }catch(Exception ignore){}
// }
-
+ System.out.println("ererdfd");
// 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
Date now = new Date();
wrkMast.setWrkSts(3L);
@@ -946,18 +1000,36 @@
, sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
, crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue());
+ String locNo = sourceSta.getLocNo();
+
// 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(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
-// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
+ Short workMode = getWorkMode(sourceSta.getBay1());
+ if (workMode == 2) {
+ //CrnTaskModeType璇ユ灇涓剧被鏃犳晥锛屽彧鏈�1浠ｈ〃宸ヤ綅锛�2浠ｈ〃宸ヤ綅2锛�3鍙屽伐浣�
+ crnCommand.setTaskMode(CrnTaskModeType.PAKOUT);
+ crnCommand.setSourcePosXTwo(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosYTwo(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZTwo(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosXTwo(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosYTwo(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZTwo(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
+ } else {
+ if (workMode == 1) {
+ crnCommand.setTaskMode(CrnTaskModeType.PAKIN);
+ } else if (workMode == 3) {
+ crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE);
+ }
+ crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
+ }
+
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
} else {
@@ -1144,14 +1216,30 @@
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+ Short workMode = getWorkMode(sourceSta.getBay1());
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(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 鐩爣搴撲綅灞�
+ if (workMode == 2) {
+ //CrnTaskModeType璇ユ灇涓剧被鏃犳晥锛屽彧鏈�1浠ｈ〃宸ヤ綅锛�2浠ｈ〃宸ヤ綅2锛�3鍙屽伐浣�
+ crnCommand.setSourcePosXTwo(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosYTwo(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZTwo(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosXTwo(sta.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosYTwo(sta.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZTwo(sta.getLev1().shortValue()); // 鐩爣搴撲綅灞�
+ } else {
+ if (workMode == 1) {
+ crnCommand.setTaskMode(CrnTaskModeType.PAKIN);
+ } else if (workMode == 3) {
+ crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE);
+ }
+ crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 鐩爣搴撲綅灞�
+ }
+
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
News.error("" + mark + " - 3" + " - 4" + " - 鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
} else {
@@ -1182,10 +1270,18 @@
}
// 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");
+ News.warn("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔");
if (crnProtocol.getTaskNo() == 9999) {
// 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
+ Short mode = crnProtocol.getMode();
+ if (mode == 1) {
+ crnThread.setResetFlag(true);
+ } else if (mode == 2) {
+ crnThread.setResetFlagTwo(true);
+ } else if (mode == 3) {
+ crnThread.setResetFlag(true);
+ crnThread.setResetFlagTwo(true);
+ }
} else {
// 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
@@ -1206,7 +1302,15 @@
if (wrkMastMapper.updateById(wrkMast) > 0) {
// 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);
+ Short mode = crnProtocol.getMode();
+ if (mode == 1) {
+ crnThread.setResetFlag(true);
+ } else if (mode == 2) {
+ crnThread.setResetFlagTwo(true);
+ } else if (mode == 3) {
+ crnThread.setResetFlag(true);
+ crnThread.setResetFlagTwo(true);
+ }
}
}
@@ -1711,7 +1815,7 @@
LocMast loc = null;
for (Integer row : rows) {
if (Utils.isDeepLoc(slaveProperties, row)) {
- loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
+ loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1(), shallowLoc.getLocType2());
if (loc != null) {
if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
@@ -1730,7 +1834,7 @@
if (null == loc) {
for (Integer row : rows) {
if (Utils.isShallowLoc(slaveProperties, row)) {
- loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
+ loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1(), shallowLoc.getLocType2());
if (null != loc) {//瀵瑰簲娣卞簱浣嶉潪鍦ㄥ簱鐘舵��,涓嶈兘绉诲簱
String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
--
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