From 8740b1c94ffd20b54b95962df886e43f722911c5 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期四, 24 四月 2025 17:31:12 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 2686 ++++++++++++++++++++++++-----------------------------------
1 files changed, 1,099 insertions(+), 1,587 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 311e8c1..1fbc07a 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3,54 +3,45 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
-import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
-import com.core.common.DateUtils;
import com.core.exception.CoolException;
+import com.zy.asrs.controller.CrnController;
+import com.zy.asrs.domain.enums.TaskStatusType;
+import com.zy.asrs.domain.enums.WorkNoType;
+import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.entity.*;
-import com.zy.asrs.mapper.BasCrnErrorMapper;
-import com.zy.asrs.mapper.WaitPakinMapper;
-import com.zy.asrs.mapper.WrkMastMapper;
+import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
+import com.zy.asrs.utils.CommandUtils;
+import com.zy.asrs.utils.RouteUtils;
+import com.zy.asrs.utils.TrackRangeUtils;
import com.zy.asrs.utils.Utils;
-import com.zy.asrs.utils.VersionUtils;
-import com.zy.common.model.LocTypeDto;
-import com.zy.common.model.MatDto;
-import com.zy.common.model.SearchLocParam;
-import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
-import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
-import com.zy.core.cache.MessageQueue;
-import com.zy.core.cache.SlaveConnection;
+import com.zy.core.cache.*;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
-import com.zy.core.model.LedSlave;
+import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
-import com.zy.core.model.command.LedCommand;
-import com.zy.core.model.protocol.CrnProtocol;
-import com.zy.core.model.protocol.StaProtocol;
+import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
-import com.zy.core.thread.LedThread;
+import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
-import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
-import java.util.ArrayList;
-import java.util.Date;
-import java.util.List;
-import java.util.Set;
-import java.util.stream.Collectors;
+import java.io.IOException;
+import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
/**
* 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
@@ -61,444 +52,387 @@
@Transactional
public class MainServiceImpl {
- public static final long COMMAND_TIMEOUT = 5 * 1000;
-
- @Autowired
- private CommonService commonService;
@Autowired
private SlaveProperties slaveProperties;
@Autowired
private WrkMastMapper wrkMastMapper;
@Autowired
- private WrkDetlService wrkDetlService;
- @Autowired
- private WaitPakinMapper waitPakinMapper;
- @Autowired
private LocMastService locMastService;
- @Autowired
- private StaDescService staDescService;
@Autowired
private BasCrnpService basCrnpService;
@Autowired
private BasDevpService basDevpService;
@Autowired
- private LocDetlService locDetlService;
- @Autowired
private BasErrLogService basErrLogService;
@Autowired
private BasCrnErrorMapper basCrnErrorMapper;
+ @Autowired
+ private TaskWrkMapper taskWrkMapper;
+ @Autowired
+ private TaskWrkService taskWrkService;
+ @Autowired
+ private StaDescMapper staDescMapper;
+ @Autowired
+ private StaDescService staDescService;
+ @Autowired
+ private ApiLogService apiLogService;
+ @Autowired
+ private CommonService commonService;
+ @Autowired
+ private CrnController crnController;
+ @Autowired
+ private BasDevpPositionService basDevpPositionService;
@Value("${wms.url}")
private String wmsUrl;
+ @Value("${wms.inboundTaskApplyPath}")
+ private String inboundTaskApplyPath;
+ @Value("${wms.taskStatusFeedbackPath}")
+ private String taskStatusFeedbackPath;
- /**
- * 缁勬墭
- * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 2
- */
+ @Value("${wms.rgvOpen}")
+ private boolean rgvOpen;
+
+ @Value("${constant-parameters.trackEntireLength}")
+ private Long trackEntireLength;
+
+ @Value("${constant-parameters.trackBenchmark}")
+ private Long trackBenchmark;
+
+ @Value("${constant-parameters.trackProportion}")
+ private Long trackProportion;
+
+ @Value("${constant-parameters.avoidDistance}")
+ private Long avoidDistance;
+
public void generateStoreWrkFile() {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鍏ュ簱鍙�
- for (DevpSlave.Sta inSta : devp.getInSta()) {
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
- if (barcodeThread == null) {
- continue;
- }
- String barcode = barcodeThread.getBarcode();
- if(!Cools.isEmpty(barcode)) {
- log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
- if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+ try {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鍏ュ簱鍙�
+ for (DevpSlave.Sta inSta : devp.getInSta()) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+ if (staProtocol == null) {
continue;
- }
- } else {
- continue;
- }
-
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
-
- // 鍏ュ嚭搴撴ā寮忓垽鏂�
-// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
- if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { continue; }
-
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading()
- && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
- && staProtocol.isPakMk()){// && !Cools.isEmpty(barcode)) {
-
-// if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
-// log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
-// //鏉＄爜涓虹┖鎴栬�呬笉绗﹀悎锛岄��搴撳埌172绔欑偣
-// staProtocol.setWorkNo((short)9999);
-// staProtocol.setStaNo((short)172);
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-// if (!result) {
-// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
-// }
-// continue;
-// }
-
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
- if (wrkMast != null) {
- log.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
- continue;
- }
-// // 鑾峰彇鍏ュ簱閫氱煡妗�
-// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
-// if (waitPakins.isEmpty()) {
-// log.error("鏃犳鍏ュ簱鏉＄爜鏁版嵁銆傛潯鐮佸彿={}", barcode);
-// continue;
-// }
-
- try {
-
- LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-
- SearchLocParam param = new SearchLocParam();
- param.setBarcode(barcode);
- param.setIoType(1);
- param.setSourceStaNo(inSta.getStaNo());
- param.setLocType1(locTypeDto.getLocType1());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/pakin/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);
-
- barcodeThread.setBarcode("");
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
- } else {
- log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
- }
-
-
-// // 妫�绱㈠簱浣�
-// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-// List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
-// StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos, locTypeDto, 0);
-// // 宸ヤ綔鍙�
-// int workNo = startupDto.getWorkNo();
-// // 鎻掑叆宸ヤ綔鏄庣粏妗�
-// wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);
-//
-// // 鎻掑叆宸ヤ綔涓绘。
-// wrkMast = new WrkMast();
-// wrkMast.setWrkNo(workNo);
-// wrkMast.setIoTime(new Date());
-// wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
-// wrkMast.setIoType(1); // 鍏ュ嚭搴撶姸鎬侊細1.鍏ュ簱
-// wrkMast.setIoPri(10D); // 浼樺厛绾э細10
-// wrkMast.setCrnNo(startupDto.getCrnNo());
-// wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
-// wrkMast.setStaNo(startupDto.getStaNo());
-// wrkMast.setLocNo(startupDto.getLocNo());
-// wrkMast.setBarcode(barcode); // 鎵樼洏鐮�
-// wrkMast.setFullPlt("Y"); // 婊℃澘锛歒
-// wrkMast.setPicking("N"); // 鎷ｆ枡
-// wrkMast.setExitMk("N"); // 閫�鍑�
-// wrkMast.setEmptyMk("N"); // 绌烘澘
-// wrkMast.setLinkMis("N");
-// // 鎿嶄綔浜哄憳鏁版嵁
-// wrkMast.setAppeTime(new Date());
-// wrkMast.setModiTime(new Date());
-// Integer insert = wrkMastMapper.insert(wrkMast);
-// if (insert == 0) {
-// throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
-// }
-// // 鏇存柊鐩爣搴撲綅鐘舵��
-// LocMast locMast = locMastService.selectById(startupDto.getLocNo());
-// locMast.setLocSts("S"); // S.鍏ュ簱棰勭害
-// locMast.setModiTime(new Date());
-// if (!locMastService.updateById(locMast)){
-// throw new CoolException("鏀瑰彉搴撲綅鐘舵�佸け璐�");
-// }
-// // 灏嗗叆搴撻�氱煡妗ｄ慨鏀逛负宸插惎鍔�
-// if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
-// throw new CoolException("淇敼鍏ュ簱閫氱煡妗ｇ姸鎬佷负宸插惎鍔ㄥけ璐�");
-// }
-//
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-//
-// // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
-// barcodeThread.setBarcode("");
-// staProtocol.setWorkNo((short) workNo);
-// staProtocol.setStaNo(startupDto.getStaNo().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-// if (!result) {
-// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
-// }
-
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
-
- }
-
-
- }
- }
-
- }
-
- /**
- * wms鍏ュ簱
- * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 1 ==>> 2
- */
- public void generateStoreWrkFile0() {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鍏ュ簱鍙�
- for (DevpSlave.Sta inSta : devp.getInSta()) {
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
-
-// // 鍏ュ嚭搴撴ā寮忓垽鏂�
- if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
-
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
- && staProtocol.isPakMk()) {
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
- if (wrkMast == null) { continue; }
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (result) {
- // 鏇存柊宸ヤ綔涓绘。
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
- }
} else {
- log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+ staProtocol = staProtocol.clone();
+ }
+ Integer workNo = staProtocol.getWorkNo();
+ Integer stano = staProtocol.getStaNo();
+
+ // 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";
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+ if (stano == inSta.getBackSta().shortValue()){
+ continue;
+ }
+ if (workNo == 0 && stano == 0){
+ continue;
+ }
+ if (!staProtocol.isPakMk()){
+ continue;
+ }
+// 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);
+ staProtocol.setWorkNo(workNo);
+ staProtocol.setStaNo(inSta.getStaNo());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
+ if (taskWrk != null) {
+ taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
+ taskWrk.setModiTime(new Date());
+ taskWrkMapper.updateById(taskWrk);
+ }
+ continue;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing() && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && !staProtocol.isEmptyMk() && (workNo == 9991 )
+ && staProtocol.isPakMk()) {
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
+ if (barcodeThread == null) {
+ continue;
+ }
+ String barcode = barcodeThread.getBarcode();
+ if(!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
+ // 璇锋眰wms鎺ュ彛锛岃幏鍙栧伐浣滃彿鍜岀洰鏍囧簱浣�
+ ToWmsDTO toWmsDTO = new ToWmsDTO(barcode,staProtocol.getSiteId(),staProtocol.isHigh() ? 2 : 1);
+ TaskWrk taskWrk1=taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode",barcode));
+ if(!Cools.isEmpty(taskWrk1)){
+ log.info("鎵樼洏鐮侊細"+barcode+"浠诲姟妗ｅ瓨鍦�");
+ if (taskWrk1.getIoType()==1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())){
+ StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
+ .eq("crn_no", taskWrk1.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
+ if (Cools.isEmpty(staDesc)){
+ log.info("鎵樼洏鐮侊細"+barcode+"浠诲姟妗ｅ瓨鍦�");
+ return;
+ }else {
+ staProtocol.setWorkNo(taskWrk1.getWrkNo());
+ staProtocol.setStaNo(staDesc.getCrnStn());
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ }
+ }
+ return;
+ }
+ HashMap<String, Object> headParam = new HashMap<>();
+ headParam.put("Content-Type","application/json");
+ String response;
+ try{
+ response = new HttpHandler.Builder()
+ // .setHeaders(headParam)
+ .setUri(wmsUrl)
+ .setPath(inboundTaskApplyPath)
+ .setJson(JSON.toJSONString(toWmsDTO))
+ .build()
+ .doPost();
+ }catch (Exception e){
+ log.error("璇锋眰鍏ュ簱璋冪敤鎺ュ彛澶辫触");
+ log.error("寮傚父淇℃伅鎵撳嵃锛�"+e);
+ try{
+ BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
+ if (Cools.isEmpty(basDevp)){
+ log.error("绔欑偣鍙峰紓甯�"+inSta.getStaNo());
+ } else if (basDevp.getStaErr()!=0){
+ basDevp.setStaErr(2);
+ basDevpService.updateById(basDevp);
+ }
+ }catch (Exception e1){
+ // 閫�鍥�
+ log.error("鎵爜妫�娴嬬▼搴忓紓甯�"+inSta.getStaNo()+"寮傚父淇℃伅"+e1);
+ }
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getStaNo());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
+// if (taskWrk != null) {
+// taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
+// taskWrkMapper.updateById(taskWrk);
+// }
+ continue;
+ }
+
+ JSONObject jsonObject = JSON.parseObject(response);
+ apiLogService.save("wms璇锋眰鍏ュ簱璐т綅鎺ュ彛"
+ ,wmsUrl+inboundTaskApplyPath
+ ,null
+ ,"127.0.0.1"
+ ,JSON.toJSONString(toWmsDTO)
+ ,response
+ ,true
+ );
+ log.info("鍏ュ簱璇锋眰鍙傛暟{}" + JSON.toJSONString(toWmsDTO));
+ log.info("鍏ュ簱璇锋眰杩斿洖鍙傛暟{}" + JSON.toJSONString(response));
+ if (jsonObject.getInteger("code").equals(200) && !Cools.isEmpty(jsonObject.get("data").toString())) {
+ GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
+ try{
+ BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
+ if (Cools.isEmpty(basDevp)){
+ log.error("绔欑偣鍙峰紓甯�1"+inSta.getStaNo());
+ throw new CoolException("绔欑偣鍙峰紓甯�1,鏈煡璇㈠埌绔欑偣淇℃伅"+inSta.getStaNo());
+ }
+ Integer staNoCrnNo = Utils.StaNoCrnNo(inSta.getStaNo());
+ if (staNoCrnNo==0){
+ basDevp.setStaErr(1);
+ basDevpService.updateById(basDevp);
+ log.error("绔欑偣鍙峰紓甯�2"+inSta.getStaNo());
+ throw new CoolException("绔欑偣鍙峰紓甯�2,绔欑偣鍙蜂笉瀛樺湪"+inSta.getStaNo());
+ }else {
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
+ .eq("crn_no", staNoCrnNo.longValue())
+ .eq("loc_no", getWmsDto.getLocNo()));
+ if (Cools.isEmpty(locMast)){
+ basDevp.setStaErr(1);
+ basDevpService.updateById(basDevp);
+ log.error("绔欑偣鍙峰紓甯�3"+inSta.getStaNo());
+ throw new CoolException("绔欑偣鍙峰紓甯�3锛氭宸烽亾涓嶅瓨鍦ㄧ洰鏍囧簱浣�"+inSta.getStaNo());
+ }
+ }
+ } catch (Exception e){
+// log.error("鎵爜妫�娴嬬▼搴忓紓甯�"+inSta.getStaNo()+"寮傚父淇℃伅"+e);
+ // 閫�鍥�
+ log.error("鎵爜妫�娴嬬▼搴忓紓甯�"+inSta.getStaNo()+errMsg);
+ log.error("鎵爜妫�娴嬬▼搴忓紓甯�,寮傚父淇℃伅"+e);
+
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getStaNo());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
+// if (taskWrk != null) {
+// taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
+// taskWrkMapper.updateById(taskWrk);
+// }
+ continue;
+ }
+ //鏌ョ湅璇ュ簱浣嶆槸鍚︿负绌哄簱浣�
+ LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
+ .eq("loc_sts","O")
+ .eq("loc_no",getWmsDto.getLocNo()));
+ if(Cools.isEmpty(locMast)){
+ try{
+ HashMap<String, Object> headParam1 = new HashMap<>();
+ headParam1.put("taskNo",getWmsDto.getTaskNo());
+ headParam1.put("status",6);
+ headParam1.put("ioType",1);
+ headParam1.put("barcode",barcode);
+ String response2;
+ response2 = new HttpHandler.Builder()
+ // .setHeaders(headParam)
+ .setUri(wmsUrl)
+ .setPath(taskStatusFeedbackPath)
+ .setJson(JSON.toJSONString(headParam1))
+ .build()
+ .doPost();
+ JSONObject jsonObject1 = JSON.parseObject(response2);
+ apiLogService.save("wcs娲惧彂搴撲綅==銆嬩笉涓虹┖銆�==涓婃姤wms"
+ ,wmsUrl+taskStatusFeedbackPath
+ ,null
+ ,"127.0.0.1"
+ ,JSON.toJSONString(headParam1)
+ ,response
+ ,true
+ );
+ }catch (Exception e){
+ log.error("wcs娲惧彂搴撲綅==銆嬩笉涓虹┖銆�==涓婃姤wms", getWmsDto.getWrkNo());
+ throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触,娲惧彂搴撲綅==銆嬩笉涓虹┖銆�==锛屽紓甯镐俊鎭細"+e);
+ }
+ }
+
+ // 鍒涙柊涓�涓叆搴撳伐浣滄。
+ TaskWrk taskWrk = taskWrkService.selectByTaskNo(getWmsDto.getWrkNo());
+ if(Cools.isEmpty(taskWrk)) {
+ taskWrk = createTask(getWmsDto,barcode);
+ if (Cools.isEmpty(taskWrk)){
+ log.error("搴撲綅寮傚父锛屽簱浣嶅彿锛歿}", getWmsDto.getTargetLocationCode());
+ }else {
+ taskWrkService.insert(taskWrk);
+ StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
+ .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
+ staProtocol.setWorkNo(taskWrk.getWrkNo());
+ staProtocol.setStaNo(staDesc.getCrnStn());
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ }
+ }
+
+ }else {
+ continue;
+ }
+
+ } else {
+ // 閫�鍥�
+ log.error("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);
+
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getStaNo());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
+ if (taskWrk != null) {
+ taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
+ taskWrk.setModiTime(new Date());
+ taskWrkMapper.updateById(taskWrk);
+ }
+ }
}
+
}
-
-
}
- }
-
- }
-
- /**
- * 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
- */
- public synchronized void stnToCrnStnPick(){
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
- for (DevpSlave.Sta pickSta : devp.getPickSta()) {
-// // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
-// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
-// if (barcodeThread == null) {
-// continue;
-// }
-// String barcode = barcodeThread.getBarcode();
-// if(!Cools.isEmpty(barcode)) {
-// log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
-// if("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());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
-
-// // 鍏ュ嚭搴撴ā寮忓垽鏂�
-// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
-
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){
-// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
- WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
- if (wrkMast == null) {
- // 鏃犳嫞鏂欐暟鎹�
- continue;
- }
- if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
- || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
- continue;
- }
-
- // 鎷ｃ�佺洏銆佸苟 浣滀笟绔欒浆鎹�
-// int stnNo = 0;
-// if (wrkMast.getStaNo() == 109) {
-// stnNo = 127;
-// } else if (wrkMast.getStaNo() == 113) {
-// stnNo = 128;
-// } else {
-// log.error("{}鍙蜂换鍔℃暟鎹紓甯革紒", wrkMast.getWrkNo());
-// }
- // 鑾峰彇鐩爣绔�
- Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
- .eq("type_no", wrkMast.getIoType() - 50)
- .eq("stn_no", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
- .eq("crn_no", wrkMast.getCrnNo()); // 鍫嗗灈鏈哄彿
- StaDesc staDesc = staDescService.selectOne(wrapper);
- if (Cools.isEmpty(staDesc)) {
- log.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
- continue;
- }
-
- try {
- // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
- if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
- }
- // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
- if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
- }
-
- Date now = new Date();
- // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
- Integer staNo = staDesc.getCrnStn();
- // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
- wrkMast.setIoTime(now);
- wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
- wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 婧愮珯
- wrkMast.setStaNo(staNo); // 鐩爣绔�
- wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
- wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
- }
- // 鏇存柊鏄庣粏妗o_time (鍘嗗彶妗ｅ叧鑱斾娇鐢級
- wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
- // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
- LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
- locMast.setLocSts("Q");
- locMast.setModiTime(new Date());
- if (!locMastService.updateById(locMast)) {
- throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
- }
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- continue;
- }
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
- }
-
- }
-
- }
-
+ } catch (Exception e) {
+ log.error("generateStoreWrkFile e", e);
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
}
/**
* 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
*/
- @Async
public void crnStnToOutStn() {
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
// 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
- // 鏌ヨ宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
- if (wrkMast == null) {
- continue;
- }
- // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
- if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
- continue;
- }
- // 鍒ゆ柇鍚婅溅鏄惁瀹為檯宸插畬鎴愶紝涓旂數鑴戠姸鎬佸湪move涓紝浠ュ鐢佃剳杩涜鏇存柊宸ヤ綔妗�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
- // 绉诲姩涓�
- continue;
- }
- // 鍒ゆ柇鍫嗗灈鏈虹姸鎬佺瓑寰呯‘璁�
- if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
- && crnProtocol.statusType == CrnStatusType.WAITING
- && crnProtocol.forkPosType == CrnForkPosType.HOME) {
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- // 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo()));
+ for (StaDesc staDesc : staDescs){
+ try{
+ // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ if (staProtocol == null) {
continue;
- }
-
- // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
- wrkMast.setWrkSts(14L);
- wrkMast.setCrnEndTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) != 0) {
- // 澶嶄綅鍫嗗灈鏈�
- crnThread.setResetFlag(true);
} else {
- log.error("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
+ staProtocol = staProtocol.clone();
}
-
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
+ // 鏌ヨ宸ヤ綔妗�
+ TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
+ if (taskWrk == null) {
+ continue;
+ }
+ log.info("涓嬪彂杈撻�佺嚎浠诲姟锛歵askWrk:"+JSON.toJSONString(taskWrk));
+// R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
+ staProtocol.setWorkNo(taskWrk.getWrkNo());
+ staProtocol.setStaNo(staDesc.getCrnStn());
+ boolean offer = false;
+ try{
+ offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
+ }catch (Exception e){
+ log.error("涓嬪彂杈撻�佺嚎浠诲姟澶辫触锛氬紓甯�:"+e);
+ log.error("涓嬪彂杈撻�佺嚎浠诲姟澶辫触锛氬紓甯�:offer:"+offer);
+ }
+// JSONObject jsonObject = JSON.parseObject(JSON.toJSONString(r));
+ if (offer){
+ log.info("涓嬪彂杈撻�佺嚎浠诲姟鎴愬姛锛歵askWrk:"+JSON.toJSONString(taskWrk));
+ Date now = new Date();
+ taskWrk.setStatus(5);
+ taskWrk.setWrkSts(14);
+ taskWrk.setModiTime(now);
+ taskWrk.setCompleteTime(now);
+ taskWrkService.updateById(taskWrk);
+ }else {
+ log.error("涓嬪彂杈撻�佺嚎浠诲姟澶辫触锛歵askWrk:"+JSON.toJSONString(taskWrk));
+// log.error("涓嬪彂杈撻�佺嚎浠诲姟澶辫触锛氬紓甯镐俊鎭�:"+JSON.toJSONString(r));
+ }
+ }
+ }catch (Exception e){
+ log.error("鍑哄簱鍒板嚭搴撶珯寮傚父:寮傚父淇℃伅锛�"+e);
}
-
}
+
}
}
}
@@ -506,7 +440,7 @@
/**
* 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
*/
- public synchronized void crnIoExecute(){
+ public synchronized void crnIoExecute() throws IOException {
for (CrnSlave crn : slaveProperties.getCrn()) {
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -518,10 +452,8 @@
continue;
}
-// //鍫嗗灈鏈哄洖鍘熺偣浠诲姟涓�
-// if(crnThread.isBackHpFlag()){
-// continue;
-// }
+ // 搴撲綅绉昏浆
+ this.locToLoc(crn, crnProtocol);
// 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
@@ -547,198 +479,153 @@
}
}
}
- // 搴撲綅绉昏浆
- this.locToLoc(crn, crnProtocol);
-// this.crnRebackHp(crnProtocol, crnThread);
}
}
/**
- * 鍥炲師鐐癸紝鍫嗗灈鏈烘病鏈夋墽琛屼腑浠诲姟锛岃澶囧瓨鍦ㄥ叆搴撲换鍔℃椂鍙洖鍘熺偣
- */
- public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread){
-// for (CrnSlave crn : slaveProperties.getCrn()) {
-// // 鑾峰彇鍫嗗灈鏈轰俊鎭�
-// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
-// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
-// if (crnProtocol == null) {
-// continue;
-// }
-// BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
-// if (basCrnp == null) {
-// log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
-// continue;
-// }
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- if(crnProtocol.getBay() ==1 && crnProtocol.getLevel()==1){
- 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;
- }
-
- //鍫嗗灈鏈烘湁鎵ц涓换鍔★紝杩囨护3,4,11,12
- if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
- return;
- }
-
- //杈撻�佺嚎娌℃湁鍏ュ簱浠诲姟锛岃繃婊�2
- if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
- return;
- }
- log.info("鍫嗗灈鏈哄彫鍥炲師鐐�==>>" + crnProtocol.getCrnNo() + "鍙峰爢鍨涙満鏈夊叆搴撲换鍔�,鍙洖鍘熺偣");
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo((short) 9999); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡: 鍥炲師鐐�
- crnCommand.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
- log.error("鍫嗗灈鏈哄洖鍘熺偣鍛戒护涓嬪彂澶辫触锛屽爢鍨涙満鍙�={}锛屼换鍔℃暟鎹�={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
- }
- crnThread.setBackHpFlag(true);
- }
-// }
- }
-
- /**
* 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
*/
- public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
+ public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException {
for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
- boolean flag = false;
- // 鑾峰彇鍫嗗灈鏈哄叆搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- // 鏌ヨ绔欑偣璇︾粏淇℃伅
- BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
- if (staDetl == null) {
- log.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
- continue;
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
- && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
- flag = true;
- }
- if (!flag) {
- continue;
- }
- // 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級鐨勫叆搴撳伐浣滄。
- WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
- if(null == wrkMast) {
-// log.error("鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
- continue;
- }
- // 鑾峰彇搴撲綅淇℃伅
- LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
- if (locMast == null) {
- log.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
- continue;
- }
- if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
- log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
- continue;
- }
-
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
- continue;
- }
-
- // 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;
- }
-
- // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
- if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
- String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
- LocMast shallowLoc = locMastService.selectById(shallowLocNo);
- // O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
- if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
- WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
- if (null == waitWrkMast) {
- log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
- } else {
- waitWrkMast.setIoPri(15D);
- waitWrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(waitWrkMast) == 0) {
- log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
- }
- continue;
- }
-
- } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
- // 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
- if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
- wrkMast.setUpdMk("Y");
- wrkMast.setIoPri(14D);
- wrkMastMapper.updateById(wrkMast);
- // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
- moveLocForDeepLoc(slave, shallowLoc);
- // 鐢熸垚宸ヤ綔妗ｃ�佹敼鍙樻祬搴撲綅鐨勬簮搴�/鐩爣搴� 搴撲綅鐘舵�併�佷笅鍙戝爢鍨涙満鍛戒护锛堢珛椹墽琛�)
-// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
- }
+ List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
+ for (StaDesc staDesc : staDescs) {
+ boolean flag = false;
+ // 鑾峰彇鍫嗗灈鏈哄叆搴撶珯淇℃伅
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ if (staProtocol == null) {
continue;
- } else if (shallowLoc.getLocSts().equals("Q")){
- WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
- if (null != waitWrkMast && waitWrkMast.getWrkSts()==4) {
- continue;
- }
+ } else {
+ staProtocol = staProtocol.clone();
}
- }
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ log.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
+ continue;
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
+ && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ continue;
+ }
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- 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(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))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
+ // 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。
+ TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
+ if(null == taskWrk) {
+ continue;
+ }
-// long startTime = System.currentTimeMillis();
-// while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+ continue;
+ }
+
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
+ continue;
+ }
+
+// int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//鑾峰彇鍏ュ簱宸ヤ綔鍙�
+// taskWrk.setWrkNo(workNo);//宸ヤ綔鍙�
+ Date now = new Date();
+ taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//娲惧彂鐘舵��
+// taskWrk.setAssignTime(now);//娲惧彂鏃堕棿
+ taskWrk.setExecuteTime(now);
+ taskWrk.setWrkSts(3);//宸ヤ綔鐘舵�� 3.鍚婅溅鍏ュ簱
+ taskWrk.setCrnNo(staDesc.getCrnNo());//鍫嗗灈鏈哄彿
+ taskWrk.setModiTime(now);
+ taskWrk.setModiUser(9988L);
+
+// //鍙栧嚭鍛戒护
+// List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
+// Integer commandStep = taskWrk.getCommandStep();
+// if (commandInfos.isEmpty()) {
+// continue;//鍛戒护绌�
+// }
+// CommandInfo commandInfo = commandInfos.get(commandStep);
+// CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//鍙栧嚭鍛戒护鎶ユ枃
+// CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
//
-// if (true) {
-// break;
+// if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
+// log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
+// } else {
+// // 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();
+// taskWrk.setWrkSts(3);
+// taskWrk.setModiTime(now);
+// if (taskWrkMapper.updateById(taskWrk) == 0) {
+// log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
// }
+// //寮�濮嬭繍琛�
+// String response = CrnStartRunning(taskWrk);
+// JSONObject jsonObject = JSON.parseObject(response);
+// if (jsonObject.getInteger("code").equals(200)) {
//
-// try{
-// Thread.sleep(500);
-// }catch(Exception ignore){}
+// }else {
+// log.error("鍏ュ簱寮�濮嬭繍琛岄�氳澶辫触,"+jsonObject.get("msg"));
+//
+// }
// }
- // 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);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(staDesc.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo(taskWrk.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(crnStn.getRow().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
+ crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
+ crnCommand.setCommand((short)1);
+ if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
+ log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
+ throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
+ }else{
+ try{
+ taskWrkService.updateById(taskWrk);
+ }catch (Exception e){
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽紓甯革細"+e);
+ }
+ try{
+ HashMap<String, Object> headParam = new HashMap<>();
+ headParam.put("taskNo",taskWrk.getTaskNo());
+ headParam.put("status",taskWrk.getStatus());
+ headParam.put("ioType",taskWrk.getIoType());
+ headParam.put("barcode",taskWrk.getBarcode());
+ String response;
+ response = new HttpHandler.Builder()
+ // .setHeaders(headParam)
+ .setUri(wmsUrl)
+ .setPath(taskStatusFeedbackPath)
+ .setJson(JSON.toJSONString(headParam))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ apiLogService.save("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms"
+ ,wmsUrl+taskStatusFeedbackPath
+ ,null
+ ,"127.0.0.1"
+ ,JSON.toJSONString(headParam)
+ ,response
+ ,true
+ );
+ } catch (Exception e){
+ log.error("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触", JSON.toJSONString(taskWrk));
+// throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
+ }
+
}
}
+
+ // return;
}
}
@@ -747,318 +634,220 @@
* 2022-06-09 TQS淇敼锛屾煡璇㈠伐浣滄。LIST锛岄亶鍘嗕笅鍙戯紝闃叉绗竴涓换鍔″牭濉炲嚭搴�
*/
public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
+ List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null);
+ if (taskWrksInitial.size()==0){
+ return;
+ }
for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
- // 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑鍑哄簱宸ヤ綔妗�
-// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
- List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
- for (WrkMast wrkMast : wrkMasts){
- if (wrkMast == null) {
- continue;
- }
- // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
- if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
- log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
- continue;
- }
- // 鑾峰彇婧愬簱浣嶄俊鎭�
- LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
- if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
- log.error("鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), sourceSta.getLocSts());
- continue;
- }
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- if (staProtocol == null) {
- break;
-// continue;
- } else {
- staProtocol = staProtocol.clone();
- }
-
-// // 鍏ュ嚭搴撴ā寮忓垽鏂�
-// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
- if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
- continue;
- }
-
- // 鏌ヨ绔欑偣璇︾粏淇℃伅
- BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
- if (staDetl == null) {
- log.error("鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
- break;
-// continue;
- }
- // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
- if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
- && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
-// continue;
+ List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
+ for (StaDesc staDesc : staDescs){
+ // 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑鍑哄簱宸ヤ綔妗�
+ List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(),staDesc.getStnNo().toString());
+ for (TaskWrk taskWrk : taskWrks){
+ if (taskWrk == null) {
+ continue;
+ }
+ // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
+ if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == null || taskWrk.getStartPoint() == null) {
+ log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", taskWrk.getWrkNo(), taskWrk.getStartPoint(), taskWrk.getIoType());
+ continue;
+ }
+ // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ if (staProtocol == null) {
break;
- }
-
- // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
- if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
- String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
- LocMast shallowLoc = locMastService.selectById(shallowLocNo);
- // O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
- if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
- WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
- if (null == waitWrkMast) {
- log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
- } else {
- if(waitWrkMast.getWrkSts() == 11) {
- waitWrkMast.setIoPri(15D);
- waitWrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(waitWrkMast) == 0) {
- log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
- }
- continue;
- } else {
-
- }
- }
- } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
-// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
- WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
- // 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
-// if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
-// || Cools.isEmpty(waitWrkMast)) {
- if (Cools.isEmpty(waitWrkMast)) {
- wrkMast.setUpdMk("Y");
- wrkMastMapper.updateById(wrkMast);
- // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
- moveLocForDeepLoc(slave, shallowLoc);
- }
- log.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛佹祬搴撲綅鍙�:{}", wrkMast.getWrkNo(),shallowLocNo);
- continue;
- } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")){
- WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
- if (null != waitWrkMast && waitWrkMast.getWrkSts()==4) {
- continue;
- }
- }
- }
-
- // 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(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�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
} 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();
- wrkMast.setWrkSts(12L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
+ staProtocol = staProtocol.clone();
+ }
+
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ log.error("鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
break;
+ }
+
+ // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
+ && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+ break;
+ }
+
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
+ break;
+ }
+
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(taskWrk.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+ command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
+ command.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 婧愬簱浣嶆帓
+ command.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅垪
+ command.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅眰
+ command.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
+ command.setCommand((short)1);
+ if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command),false)) {
+ log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(command));
+ throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
+ }else{
+ try{
+ // 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();
+ taskWrk.setWrkSts(12);
+ taskWrk.setStatus(2);
+ taskWrk.setModiTime(now);
+ taskWrk.setExecuteTime(now);
+ if (taskWrkMapper.updateById(taskWrk) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+ }
+ }catch (Exception e){
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽紓甯革細"+e);
+ }
+ try{
+ HashMap<String, Object> headParam = new HashMap<>();
+ headParam.put("taskNo",taskWrk.getTaskNo());
+ headParam.put("status",taskWrk.getStatus());
+ headParam.put("ioType",taskWrk.getIoType());
+ headParam.put("barcode",taskWrk.getBarcode());
+ String response;
+ response = new HttpHandler.Builder()
+ // .setHeaders(headParam)
+ .setUri(wmsUrl)
+ .setPath(taskStatusFeedbackPath)
+ .setJson(JSON.toJSONString(headParam))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ apiLogService.save("wcs娲惧彂鍑哄簱浠诲姟涓婃姤wms"
+ ,wmsUrl+taskStatusFeedbackPath
+ ,null
+ ,"127.0.0.1"
+ ,JSON.toJSONString(headParam)
+ ,response
+ ,true
+ );
+ }catch (Exception e){
+ log.error("wcs娲惧彂鍑哄簱浠诲姟涓婃姤wms澶辫触", JSON.toJSONString(taskWrk));
+// throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
+ }
+ }
}
}
}
}
}
-// /**
-// * 鍑哄簱 ===>> 搴撲綅鍒板爢鍨涙満绔�
-// */
-// public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
-// for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
-// // 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑鍑哄簱宸ヤ綔妗�
-// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
-// if (wrkMast == null) {
-// continue;
-// }
-// // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
-// if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
-// log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
-// continue;
-// }
-// // 鑾峰彇婧愬簱浣嶄俊鎭�
-// LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
-// if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
-// log.error("鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), sourceSta.getLocSts());
-// continue;
-// }
-// // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
-// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
-// StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
-// if (staProtocol == null) {
-// continue;
-// } else {
-// staProtocol = staProtocol.clone();
-// }
-//
-//// // 鍏ュ嚭搴撴ā寮忓垽鏂�
-//// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
-//
-//
-// // 鏌ヨ绔欑偣璇︾粏淇℃伅
-// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
-// if (staDetl == null) {
-// log.error("鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
-// continue;
-// }
-// // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
-// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
-// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-//
-// // 鍫嗗灈鏈烘帶鍒惰繃婊�
-// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
-// continue;
-// }
-//
-// // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
-// if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
-// String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
-// LocMast shallowLoc = locMastService.selectById(shallowLocNo);
-// // O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
-// if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
-// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
-// if (null == waitWrkMast) {
-// log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
-// } else {
-// if(waitWrkMast.getWrkSts() == 11) {
-// waitWrkMast.setIoPri(15D);
-// waitWrkMast.setModiTime(new Date());
-// if (wrkMastMapper.updateById(waitWrkMast) == 0) {
-// log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
-// }
-// continue;
-// } else {
-//
-// }
-// }
-// } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
-// // 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
-// if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
-// wrkMast.setUpdMk("Y");
-// wrkMastMapper.updateById(wrkMast);
-// // 鐢熸垚宸ヤ綔妗ｃ�佹敼鍙樻祬搴撲綅鐨勬簮搴�/鐩爣搴� 搴撲綅鐘舵�併�佷笅鍙戝爢鍨涙満鍛戒护锛堢珛椹墽琛�)
-// moveLocForDeepLoc(slave, shallowLoc);
-// }
-// log.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛�", wrkMast.getWrkNo());
-// continue;
-// }
-// }
-//
-// // 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) {
-// 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(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�
-// if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
-// log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
-// } 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();
-// wrkMast.setWrkSts(12L);
-// wrkMast.setCrnStrTime(now);
-// wrkMast.setModiTime(now);
-// if (wrkMastMapper.updateById(wrkMast) == 0) {
-// log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
-// }
-// }
-// }
-// }
-// }
-
/**
* 搴撲綅绉昏浆
*/
public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
- // 鑾峰彇宸ヤ綔妗ｄ俊鎭�
- WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
- if (null == wrkMast) {
- return;
- }
- // 鑾峰彇婧愬簱浣嶄俊鎭�
- LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
- if (null == sourceSta) {
- log.error("宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈡簮搴撲綅澶辫触锛佸伐浣滃彿={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
- return;
- }
- // 婧愬簱浣� 搴撲綅鐘舵�佸垽鏂�
- if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) {
- return;
- }
- // 鑾峰彇鐩爣搴撲綅淇℃伅
- LocMast sta = locMastService.selectById(wrkMast.getLocNo());
- if (null == sta) {
- log.error("宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈢洰鏍囧簱浣嶅け璐ワ紒宸ヤ綔鍙�={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
- return;
- }
- // 鑾峰彇鍫嗗灈鏈轰俊鎭� 骞� 鍒ゆ柇鏄惁鍙叆鍑�
- BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
- if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
- return;
- }
+ for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
+ // 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑绉诲簱宸ヤ綔妗�
+ List<TaskWrk> taskWrks = taskWrkMapper.selectList(
+ new EntityWrapper<TaskWrk>()
+ .eq("CRN_NO",slave.getId())
+ .eq("WRK_STS",11)
+ .eq("IO_TYPE",3)
+ .orderBy("IO_PRI",false));
+ for (TaskWrk taskWrk : taskWrks){
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
- return;
- }
+ // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
+// if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
+// String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
+// TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
+// if (!Cools.isEmpty(hallowLocNoTask)){
+// continue;
+// }
+// }
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+ continue;
+ }
- // 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) {
- return;
- }
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
+ continue;
+ }
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- 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(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))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } 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();
- wrkMast.setWrkSts(12L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("銆愬簱浣嶇Щ杞�� 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+ if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("") || taskWrk.getWrkNo() == null) {
+ continue;
+ }
+ // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
+ if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) {
+ log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/鐩爣搴撲綅鍙�, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
+ continue;
+ }
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+
+
+
+
+ // 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(taskWrk.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(Utils.getRowShort(taskWrk.getStartPoint())); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
+ crnCommand.setCommand((short) 1);
+ if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
+ log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.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();
+ taskWrk.setWrkSts(12);
+ taskWrk.setStatus(2);
+ taskWrk.setModiTime(now);
+ taskWrk.setExecuteTime(now);
+ if (taskWrkMapper.updateById(taskWrk) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+ }
+ try{
+ HashMap<String, Object> headParam = new HashMap<>();
+ headParam.put("taskNo",taskWrk.getTaskNo());
+ headParam.put("status",taskWrk.getStatus());
+ headParam.put("ioType",taskWrk.getIoType());
+ headParam.put("barcode",taskWrk.getBarcode());
+ String response;
+ response = new HttpHandler.Builder()
+ // .setHeaders(headParam)
+ .setUri(wmsUrl)
+ .setPath(taskStatusFeedbackPath)
+ .setJson(JSON.toJSONString(headParam))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ apiLogService.save("wcs娲惧彂绉诲簱浠诲姟涓婃姤wms"
+ ,wmsUrl+taskStatusFeedbackPath
+ ,null
+ ,"127.0.0.1"
+ ,JSON.toJSONString(headParam)
+ ,response
+ ,true
+ );
+ }catch (Exception e){
+ log.error("wcs娲惧彂绉诲簱搴撲换鍔′笂鎶ms澶辫触", taskWrk);
+// throw new CoolException("wcs娲惧彂绉诲簱搴撲换鍔′笂鎶ms澶辫触");
+ }
+
+ }
+ return;
}
}
@@ -1067,38 +856,105 @@
/**
* 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
*/
- @Async
- public void storeFinished() {
+ public void storeFinished() throws InterruptedException {
for (CrnSlave crn : slaveProperties.getCrn()) {
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
if (crnProtocol == null) { continue; }
+
// 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
- if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
- if(crnProtocol.getTaskNo()==9999){
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- }else {
- // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
- WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
- if (wrkMast == null) {
- log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
- continue;
+ if (!Cools.isEmpty(crnProtocol.getTaskFinish()) && crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
+ //鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
+ TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
+ if (Cools.isEmpty(taskWrk)&&crnProtocol.getTaskNo() !=999) {
+ log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
+ continue;
+ }
+ Thread.sleep(300);
+ //纭瀹屾垚淇″彿
+ CrnOperatorParam crnOperatorParam=new CrnOperatorParam();
+ crnOperatorParam.setCrnNo(crn.getId());
+ Date now = new Date();
+
+ crnController.crnTaskComplete(crnOperatorParam);
+ if(!Cools.isEmpty(taskWrk)){
+ if(taskWrk.getIoType()==1 && taskWrk.getWrkSts()==3){
+ taskWrk.setWrkSts(4);//鍏ュ簱瀹屾垚
+ taskWrk.setStatus(5);//瀹岀粨
+ //鏇存柊搴撲綅鐘舵��
+ LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
+ locMast.setLocSts("F");//F.鍦ㄥ簱
+ locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
+ locMast.setModiTime(now);
+ locMast.setModiUser(9999L);
+ locMastService.updateById(locMast);
+ }else if(taskWrk.getIoType()==2&&taskWrk.getWrkSts()==12){
+ taskWrk.setWrkSts(13);//鍑哄簱瀹屾垚
+ taskWrk.setStatus(5);//瀹岀粨
+ //鏇存柊搴撲綅鐘舵��
+ LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
+ locMast.setLocSts("O");//O.绌哄簱浣�
+ locMast.setBarcode("");//鎵樼洏鐮�
+ locMast.setModiTime(now);
+ locMast.setModiUser(9999L);
+ locMastService.updateById(locMast);
+ }else if(taskWrk.getIoType()==3&&taskWrk.getWrkSts()==12){
+ taskWrk.setWrkSts(4);//鍏ュ簱瀹屾垚
+ taskWrk.setStatus(5);//瀹岀粨
+ //鏇存柊搴撲綅鐘舵��
+ LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
+ locMast.setLocSts("F");//F.鍦ㄥ簱
+ locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
+ locMast.setModiTime(now);
+ locMast.setModiUser(9999L);
+ locMastService.updateById(locMast);
+
+ LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
+ locMast1.setLocSts("O");//O.绌哄簱浣�
+ locMast1.setBarcode("");//鎵樼洏鐮�
+ locMast1.setModiTime(now);
+ locMast1.setModiUser(9999L);
+ locMastService.updateById(locMast1);
}
- // 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
- if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
- wrkMast.setWrkSts(4L);
- } else {
- continue;
- }
- Date now = new Date();
- wrkMast.setCrnEndTime(now);
- wrkMast.setModiTime(now);
- // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
+ taskWrk.setModiTime(now);
+ taskWrk.setCompleteTime(now);
+ taskWrkService.updateById(taskWrk);
+
+
+ try{
+ HashMap<String, Object> headParam = new HashMap<>();
+ headParam.put("taskNo",taskWrk.getTaskNo());
+ headParam.put("status",taskWrk.getStatus());
+ headParam.put("ioType",taskWrk.getIoType());
+ headParam.put("barcode",taskWrk.getBarcode());
+ String response;
+ log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", headParam);
+
+ response = new HttpHandler.Builder()
+ // .setHeaders(headParam)
+ .setUri(wmsUrl)
+ .setPath(taskStatusFeedbackPath)
+ .setJson(JSON.toJSONString(headParam))
+ .build()
+ .doPost();
+ log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", response);
+
+// JSONObject jsonObject = JSON.parseObject(response);
+// log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", jsonObject);
+
+ apiLogService.save("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms"
+ ,wmsUrl+taskStatusFeedbackPath
+ ,null
+ ,"127.0.0.1"
+ ,JSON.toJSONString(headParam)
+ ,response
+ ,true
+ );
+ }catch (Exception e){
+ log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触", taskWrk);
+ log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触,鎶ラ敊淇℃伅锛�", e);
+// throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
}
}
@@ -1109,7 +965,6 @@
/**
* 鍫嗗灈鏈哄紓甯镐俊鎭褰�
*/
- @Async
public void recCrnErr(){
Date now = new Date();
for (CrnSlave crn : slaveProperties.getCrn()) {
@@ -1119,7 +974,7 @@
if (crnProtocol == null) {
continue;
}
- if (true) {
+ if (false) {
// if (crnProtocol.getModeType() != CrnModeType.STOP) {
// 鏈変换鍔�
if (crnProtocol.getTaskNo() != 0) {
@@ -1171,7 +1026,7 @@
}
}
}
- // 鏃犱换鍔�
+ // 鏃犱换鍔�
} else {
BasErrLog latest = basErrLogService.findLatest(crn.getId());
// 鏈夊紓甯�
@@ -1207,7 +1062,7 @@
log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
}
}
- // 鏃犲紓甯�
+ // 鏃犲紓甯�
} else {
// 寮傚父淇
if (latest != null && latest.getStatus() == 1) {
@@ -1225,697 +1080,354 @@
}
}
-
- // -------------------------------------------------------------------------------
-
- /**
- * 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
- */
- @Async
- public void storeEmptyPlt(){
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻绌烘澘鍏ュ簱鍙�
- for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
- // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
-
-// // 鍏ュ嚭搴撴ā寮忓垽鏂�
-// if ( emptyInSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
- if ( emptyInSta.getStaNo()==203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { continue; }
-
- // 绔欑偣鏉′欢鍒ゆ柇
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
- && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {
-
- try {
- LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-
- SearchLocParam param = new SearchLocParam();
- param.setIoType(10);
- param.setSourceStaNo(emptyInSta.getStaNo());
- param.setLocType1(locTypeDto.getLocType1());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/pakin/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);
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
- } else {
- log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
- }
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
-
-
-
-
-// // 妫�绱㈠簱浣�
-// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-// StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null, locTypeDto, 0);
-// // 宸ヤ綔鍙�
-// int workNo = startupDto.getWorkNo();
-//
-// try {
-// // 鎻掑叆宸ヤ綔涓绘。
-// WrkMast wrkMast = new WrkMast();
-// wrkMast.setWrkNo(workNo);
-// wrkMast.setIoTime(new Date());
-// wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
-// wrkMast.setIoType(10); // 鍏ュ嚭搴撶姸鎬侊細10.绌烘澘鍏ュ簱
-// wrkMast.setIoPri(10D); // 浼樺厛绾э細10
-// wrkMast.setCrnNo(startupDto.getCrnNo());
-// wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
-// wrkMast.setStaNo(startupDto.getStaNo());
-// wrkMast.setLocNo(startupDto.getLocNo());
-// wrkMast.setFullPlt("N"); // 婊℃澘
-// wrkMast.setPicking("N"); // 鎷ｆ枡
-// wrkMast.setExitMk("N"); // 閫�鍑�
-// wrkMast.setEmptyMk("Y"); // 绌烘澘
-// wrkMast.setLinkMis("N");
-//// wrkMast.setCtnType(sourceStaNo.getCtnType()); // 瀹瑰櫒绫诲瀷
-// // 鎿嶄綔浜哄憳鏁版嵁
-// wrkMast.setAppeTime(new Date());
-// wrkMast.setModiTime(new Date());
-// Integer insert = wrkMastMapper.insert(wrkMast);
-// if (insert == 0) {
-// throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
-// }
-// // 鏇存柊鐩爣搴撲綅鐘舵��
-// LocMast locMast = locMastService.selectById(startupDto.getLocNo());
-// locMast.setLocSts("S"); // S.鍏ュ簱棰勭害
-// locMast.setModiTime(new Date());
-// if (!locMastService.updateById(locMast)){
-// throw new CoolException("鏀瑰彉搴撲綅鐘舵�佸け璐�");
-// }
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-//
-// // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
-// staProtocol.setWorkNo((short) workNo);
-// staProtocol.setStaNo(startupDto.getStaNo().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-// if (!result) {
-// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
-// }
-// } catch (Exception e) {
-// e.printStackTrace();
-// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
-// }
-
- }
-
-
- }
+ private TaskWrk createTask(GetWmsDto dto, String barcode){
+ String wcsLocNo = dto.getLocNo();
+ if(Cools.isEmpty(wcsLocNo)){
+ return null;
}
- }
-
- /**
- * 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
- */
- @Async
- public void ledExecute() {
- for (LedSlave led : slaveProperties.getLed()) {
- // 鑾峰彇杈撻�佺嚎plc绾跨▼
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
- // 鍛戒护闆嗗悎
- List<LedCommand> commands = new ArrayList<>();
- // 宸ヤ綔妗ｉ泦鍚�
- List<WrkMast> wrkMasts = new ArrayList<>();
- for (Integer staNo : led.getStaArr()) {
- // 鑾峰彇鍙夎溅绔欑偣
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- // 鑾峰彇宸ヤ綔妗ｆ暟鎹�
- WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
-// if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
- if (null == wrkMast) { continue; }
- wrkMasts.add(wrkMast);
- // 缁勮鍛戒护
- LedCommand ledCommand = new LedCommand();
- ledCommand.setWorkNo(wrkMast.getWrkNo());
- ledCommand.setIoType(wrkMast.getIoType());
- // 鍑哄簱妯″紡
- switch (wrkMast.getIoType()) {
- case 1:
- ledCommand.setTitle("鍏ㄦ澘鍏ュ簱");
- break;
- case 10:
- ledCommand.setTitle("绌烘澘鍏ュ簱");
- break;
- case 101:
- ledCommand.setTitle("鍏ㄦ澘鍑哄簱");
- break;
- case 103:
- ledCommand.setTitle("鎷ｆ枡鍑哄簱");
- break;
- case 104:
- ledCommand.setTitle("骞舵澘鍑哄簱");
- break;
- case 107:
- ledCommand.setTitle("鐩樼偣鍑哄簱");
- break;
- case 110:
- ledCommand.setTitle("绌烘澘鍑哄簱");
- ledCommand.setEmptyMk(true);
- break;
- default:
- log.error("浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
- break;
- }
- ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
- ledCommand.setLocNo(wrkMast.getLocNo());
- ledCommand.setStaNo(wrkMast.getStaNo());
-// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
- if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10 ) {
- List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
- wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())));
- }
- commands.add(ledCommand);
- }
- Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
- // 鑾峰彇LED绾跨▼
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
- // 鐩稿悓宸ヤ綔鍙烽泦鍚堝垯杩囨护
- if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
- continue;
- }
- // 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
- if (!commands.isEmpty()) {
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
- log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
- continue;
- } else {
- ledThread.setLedMk(false);
- }
- }
-
- try {
- // 淇敼涓绘。led鏍囪
- for (WrkMast wrkMast : wrkMasts) {
- wrkMast.setOveMk("Y");
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｅけ璐�");
- }
- }
-
- // 鏇存柊绾跨▼褰撳墠宸ヤ綔鍙烽泦鍚�
- ledThread.setWorkNos(workNos);
-
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
-
- }
- }
-
- /**
- * 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
- */
- @Async
- public void ledReset() {
-// for (LedSlave led : slaveProperties.getLed()) {
-// // 鑾峰彇杈撻�佺嚎plc绾跨▼
-// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
-// // 鍛戒护闆嗗悎
-// boolean reset = true;
-// for (Integer staNo : led.getStaArr()) {
-// // 鑾峰彇鍙夎溅绔欑偣
-// StaProtocol staProtocol = devpThread.getStation().get(staNo);
-// if (staProtocol == null) {
-// continue;
-// } else {
-// staProtocol = staProtocol.clone();
-// }
-// if (staProtocol.getWorkNo() != 0) {
-// reset = false;
-// break;
-// }
-// }
-// // 鑾峰彇led绾跨▼
-// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
-// // led鏄剧ず榛樿鍐呭
-// if (reset) {
-// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
-// log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
-// }
-// }
-// }
- for (LedSlave led : slaveProperties.getLed()) {
- // 鑾峰彇杈撻�佺嚎plc绾跨▼
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
- // 鍛戒护闆嗗悎
- boolean reset = true;
- for (Integer staNo : led.getStaArr()) {
- // 鑾峰彇鍙夎溅绔欑偣
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if (staProtocol == null) {
- continue;
- }
- if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
- reset = false;
- break;
- }
- }
- // 鑾峰彇led绾跨▼
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
- // led鏄剧ず榛樿鍐呭
- if (reset && !ledThread.isLedMk()) {
- ledThread.setLedMk(true);
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
- log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
- } else {
-
- }
- }
- }
- }
-
- /**
- * 鍥犲弻娣卞簱浣嶉樆濉烇紝瀵规祬搴撲綅杩涜绉昏浆锛堝叆搴撶増)
- * tip锛氬悓姝�
- */
- @Transactional
- public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast){
- LocMast loc = locMastService.selectById(pakinWrkMast.getLocNo());
-
- // 鑾峰彇宸ヤ綔鍙�
- int workNo = commonService.getWorkNo(0);
Date now = new Date();
- // 淇濆瓨宸ヤ綔妗�
- WrkMast wrkMast = new WrkMast();
- wrkMast.setWrkNo(workNo);
- wrkMast.setIoTime(now);
- wrkMast.setWrkSts(11L); // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
- wrkMast.setIoType(11); // 鍏ュ嚭搴撶姸鎬侊細 11.搴撴牸绉昏浇
- wrkMast.setIoPri(15D);
- wrkMast.setCrnNo(crn.getId());
- wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 婧愬簱浣�
- wrkMast.setLocNo(loc.getLocNo()); // 鐩爣搴撲綅
- wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 婊℃澘
- wrkMast.setPicking("N"); // 鎷ｆ枡
- wrkMast.setExitMk("N"); // 閫�鍑�
- wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D")?"Y":"N"); // 绌烘澘
- wrkMast.setBarcode(shallowLoc.getBarcode()); // 鎵樼洏鐮�
- wrkMast.setLinkMis("N");
- wrkMast.setCtnNo("Y"); // 鍏ュ簱闃诲搴撲綅绉昏浆鏍囪
- wrkMast.setAppeTime(now);
- wrkMast.setModiTime(now);
- int res = wrkMastMapper.insert(wrkMast);
- if (res == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
+ TaskWrk taskWrk = new TaskWrk();
+ int workNo1 = commonService.getWorkNo(WorkNoType.PAKIN.type);//鑾峰彇鍏ュ簱宸ヤ綔鍙�
+ taskWrk.setTaskNo(dto.getWrkNo());//浠诲姟鍙�
+ taskWrk.setWrkNo(workNo1);
+ taskWrk.setStatus(TaskStatusType.RECEIVE.id);//浠诲姟鐘舵�侊細鎺ユ敹
+ taskWrk.setCreateTime(now);
+ taskWrk.setAssignTime(now);
+ taskWrk.setModiTime(now);
+ taskWrk.setModiUser(5555L);
+ taskWrk.setIoType(1);//浠诲姟绫诲瀷
+ taskWrk.setIoPri(Cools.isEmpty(dto.getTaskPriority()) ? 300 : Integer.parseInt(dto.getTaskPriority()));//浼樺厛绾�
+ taskWrk.setBarcode(barcode);//鏉＄爜
+ LocMast locMast = locMastService.selectByLocNo(wcsLocNo);
+ taskWrk.setCrnNo(locMast.getCrnNo());
+ taskWrk.setTargetPoint(wcsLocNo);
+ taskWrk.setStartPoint(dto.getStaNo().toString());
+ if(taskWrk.getIoType() == 1){
+ taskWrk.setWrkSts(2);
+ if (!Cools.isEmpty(taskWrk.getTargetPoint())) {
+ taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint());
+ }
}
- // 宸ヤ綔妗ｆ槑缁嗕繚瀛�
- if (shallowLoc.getLocSts().equals("F")) {
- List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
- for (LocDetl locDetl : locDetls) {
- WrkDetl wrkDetl = new WrkDetl();
- wrkDetl.setWrkNo(workNo);
- wrkDetl.setIoTime(now);
- wrkDetl.setAnfme(locDetl.getAnfme());
- VersionUtils.setWrkDetl(wrkDetl, locDetl); // 鐗堟湰鎺у埗
- wrkDetl.setAppeTime(now);
- wrkDetl.setModiTime(now);
- if (!wrkDetlService.insert(wrkDetl)) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
+ return taskWrk;
+ }
+
+ public String rgvOtherTaskWrk(RgvSlave slave){
+
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
+ TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+ ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+ if (!allTaskProtocol.isEmpty()){
+ for (TaskProtocol taskProtocol : allTaskProtocol.values()){
+ if (taskProtocol.getTaskNo() != 0 ){
+ return taskProtocol.getTaskNo().toString();
}
}
}
- // 淇敼婧愬簱浣嶇姸鎬�
- if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
- shallowLoc.setLocSts("S"); // S.鍏ュ簱棰勭害锛屽叆搴撻樆濉炲簱浣嶇Щ杞�
- shallowLoc.setModiTime(now);
- if (!locMastService.updateById(shallowLoc)){
- throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
- }
- } else {
- throw new CoolException("婧愬簱浣嶅嚭搴撳け璐�");
+ return "鏃�";
+
+ }
+ public boolean rgvDetection(RgvSlave slave){
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+
+ if (rgvProtocol == null || rgvTaskProtocol ==null) {
+ return false;
}
-// // 淇敼鐩爣搴撲綅鐘舵��
-// if (loc.getLocSts().equals("O")) {
-// loc.setLocSts("S"); // S.鍏ュ簱棰勭害
-// loc.setModiTime(new Date());
-// if (!locMastService.updateById(loc)) {
-// throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 || rgvProtocol.getRgvPosDestination() == 0L
+ || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ return false;
+ }
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
+
+ if (rgvProtocolOther == null) {
+ return false;
+ }
+ if (rgvProtocolOther.statusEnable){
+ if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
+ return false;
+ }
+ }
+ return true;
+ }
+
+ public TaskWrk deviceDetection(RgvSlave.RgvStn inSta){
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+ if (staProtocol == null){
+ return null;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
+ if (staProtocol.isAutoing()
+// && staProtocol.isLoading()
+ && staProtocol.getWorkNo()!=0) {
+ TaskWrk taskWrk = taskWrkService.selectByTaskNo(staProtocol.getWorkNo().toString());
+ if (taskWrk!=null){
+ return taskWrk;
+ }
+ }
+ return null;
+ }
+
+ public boolean rgvOtherStatusEnable(RgvSlave slave){
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ if (rgvProtocolOther == null) {
+ return true;
+ }
+ if (rgvProtocolOther.statusEnable){
+// if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
+ return true;
// }
-// } else {
-// throw new CoolException("绉昏浆澶辫触");
-// }
- wrkMast.setLocNo(shallowLoc.getLocNo());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("淇敼闃诲鍏ュ簱浠诲姟澶辫触");
}
+ return false;
}
- /**
- * 鍥犲弻娣卞簱浣嶉樆濉烇紝瀵规祬搴撲綅杩涜绉昏浆锛堢珛鍗虫墽琛岀増)
- * tip锛氬悓姝�
- */
- private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){
- try {
- List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
- LocMast loc = null;
- for (Integer row : rows) {
- if (Utils.isDeepLoc(slaveProperties, row)) {
- loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
+ public synchronized void taskStart() {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ try{
+ if (rgvDetection(rgvSlave)){
+ String taskNoNow = rgvOtherTaskWrk(rgvSlave);
+ List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("PLC_POSITION", true));
+ boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
+ if (basDevpPositions.isEmpty()) {
+ log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�");
+ continue;
+ }
+ List<TaskWrk> taskWrkList = new ArrayList<>();
+ List<Integer> staList = new ArrayList<>();
+ for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()){
+ TaskWrk taskWrk = deviceDetection(inSta);
+ if (taskWrk!=null){
+ if (taskWrk.getTaskNo().equals(taskNoNow)) continue;
+ taskWrkList.add(taskWrk);
+ staList.add(inSta.getStaNo());
+ }
+ }
- if (loc != null) {
- if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
- String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
- LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
- if (!shallowLoc1.getLocSts().equals("O")) {
- loc = null;
+ if (taskWrkList.isEmpty() || staList.isEmpty()) continue;
+
+ boolean sign = false;
+
+ if (rgvOtherStatusEnable(rgvSlave)){
+ //鍒嗘垚涓婁笅涓ら儴鍒嗕换鍔�
+ List<Integer>[] avoidRange = RouteUtils.gradeRange(staList, basDevpPositions);
+ List<Integer> rangeListSou = avoidRange[itSmall ? 0 : 1];
+ List<Integer> rangeListSouOther = avoidRange[itSmall ? 1 : 0];
+ //灏辫繎鎺掑簭
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
+ List<Integer> rangeList = RouteUtils.SortNearby(rangeListSou, rgvProtocol.RgvPos, basDevpPositions);
+ List<Integer> rangeListOther = RouteUtils.SortNearby(rangeListSouOther, rgvProtocol.RgvPos, basDevpPositions);
+
+ //鎵�灞為儴鍒嗗氨杩涘彇璐�
+
+ //绛涢�夎寖鍥村唴浠诲姟
+ //灏辫繎鎺掑簭
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(rgvSlave.getOtherId());
+ //绛涢�夊湪鑼冨洿浠诲姟
+ List<Integer> belongToRange = RouteUtils.belongToRange(rangeList, rgvProtocolOther.getRgvPosDestination(), basDevpPositions);
+ for (Integer staNoNow : belongToRange){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNoNow)){
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk!=null){
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
+ sign = taskGenerate(rgvSlave,rgvStn,0);
+ }
+ }
+ break;
+ }
+ }
+ if (sign){
+ break;
}
}
- }
- if (null != loc) {
- break;
- }
- }
- }
- if (null == loc) {
- for (Integer row : rows) {
- if (Utils.isShallowLoc(slaveProperties, row)) {
- loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
-
- 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());
- LocMast deepLoc1 = locMastService.selectById(deepLoc);
- if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
- loc = null;
- }
- }
-
- if (null != loc) {
- break;
- }
- }
- }
- }
-
- if (null == loc) {
- log.error("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
- throw new CoolException("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
- }
-
- // 鑾峰彇宸ヤ綔鍙�
- int workNo = commonService.getWorkNo(0);
- // 淇濆瓨宸ヤ綔妗�
- WrkMast wrkMast = new WrkMast();
- wrkMast.setWrkNo(workNo);
- wrkMast.setIoTime(new Date());
- wrkMast.setWrkSts(11L); // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
- wrkMast.setIoType(11); // 鍏ュ嚭搴撶姸鎬侊細 11.搴撴牸绉昏浇
- wrkMast.setIoPri(13D);
- wrkMast.setCrnNo(crn.getId());
- wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 婧愬簱浣�
- wrkMast.setLocNo(loc.getLocNo()); // 鐩爣搴撲綅
- wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 婊℃澘
- wrkMast.setPicking("N"); // 鎷ｆ枡
- wrkMast.setExitMk("N"); // 閫�鍑�
- wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 绌烘澘
- wrkMast.setBarcode(shallowLoc.getBarcode()); // 鎵樼洏鐮�
- wrkMast.setLinkMis("N");
- wrkMast.setAppeTime(new Date());
- wrkMast.setModiTime(new Date());
- int res = wrkMastMapper.insert(wrkMast);
- if (res == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
- }
- // 宸ヤ綔妗ｆ槑缁嗕繚瀛�
- if (shallowLoc.getLocSts().equals("F")) {
- List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
- for (LocDetl locDetl : locDetls) {
- WrkDetl wrkDetl = new WrkDetl();
- wrkDetl.setWrkNo(workNo);
- wrkDetl.setIoTime(new Date());
- wrkDetl.setAnfme(locDetl.getAnfme());
- VersionUtils.setWrkDetl(wrkDetl, locDetl); // 鐗堟湰鎺у埗
- wrkDetl.setAppeTime(new Date());
- wrkDetl.setModiTime(new Date());
- if (!wrkDetlService.insert(wrkDetl)) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
- }
- }
- }
- // 淇敼婧愬簱浣嶇姸鎬�
- if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
- shallowLoc.setLocSts("R"); // R.鍑哄簱棰勭害
- shallowLoc.setModiTime(new Date());
- if (!locMastService.updateById(shallowLoc)) {
- throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
- }
- } else {
- throw new CoolException("婧愬簱浣嶅嚭搴撳け璐�");
- }
- // 淇敼鐩爣搴撲綅鐘舵��
- if (loc.getLocSts().equals("O")) {
- loc.setLocSts("S"); // S.鍏ュ簱棰勭害
- loc.setModiTime(new Date());
- if (!locMastService.updateById(loc)) {
- throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
- }
- } else {
- throw new CoolException("绉昏浆澶辫触");
- }
- } catch (Exception e) {
- log.error("鍙屾繁搴撲綅闃诲锛屽娴呭簱浣嶈繘琛岀Щ杞け璐�", e);
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
- }
-
- /**
- * 鍫嗗灈鏈烘紨绀� ===>> 搴撲綅绉昏浆
- */
- public synchronized void crnDemoOfLocMove1(){
- try {
- for (CrnSlave crn : slaveProperties.getCrn()) {
- if (!crn.getDemo()) {
- continue;
- } // 蹇呴』涓烘紨绀虹姸鎬�
-
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) {
- 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) {
- // 鑾峰彇绉诲簱宸ヤ綔妗ｄ俊鎭�
- WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
- if (null != wrkMast) {
- continue;
- }
-
- LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
- LocMast loc = locMastService.queryDemoLoc(crn.getId());
- if (null == sourceLoc || null == loc) {
- continue;
- }
-
- String sourceLocNo = sourceLoc.getLocNo();
- String locNo = loc.getLocNo();
-
- // 鑾峰彇宸ヤ綔鍙�
- int workNo = commonService.getWorkNo(0);
- // 淇濆瓨宸ヤ綔妗�
- wrkMast = new WrkMast();
- wrkMast.setWrkNo(workNo);
- wrkMast.setIoTime(new Date());
- wrkMast.setWrkSts(11L); // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
- wrkMast.setIoType(11); // 鍏ュ嚭搴撶姸鎬侊細 11.搴撴牸绉昏浇
- wrkMast.setIoPri(13D);
- wrkMast.setCrnNo(crn.getId());
- wrkMast.setSourceLocNo(sourceLocNo); // 婧愬簱浣�
- wrkMast.setLocNo(locNo); // 鐩爣搴撲綅
- wrkMast.setFullPlt("N"); // 婊℃澘锛歒
- wrkMast.setPicking("N"); // 鎷ｆ枡
- wrkMast.setExitMk("N"); // 閫�鍑�
- wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 绌烘澘
- wrkMast.setBarcode(sourceLoc.getBarcode()); // 鎵樼洏鐮�
- wrkMast.setLinkMis("N");
- wrkMast.setAppeTime(new Date());
- wrkMast.setModiTime(new Date());
- int res = wrkMastMapper.insert(wrkMast);
- if (res == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
- }
- // 宸ヤ綔妗ｆ槑缁嗕繚瀛�
-// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
-// for (LocDetl locDetl : locDetls) {
-// WrkDetl wrkDetl = new WrkDetl();
-// wrkDetl.setWrkNo(workNo);
-// wrkDetl.setIoTime(new Date());
-// wrkDetl.setAnfme(locDetl.getAnfme());
-// VersionUtils.setWrkDetl(wrkDetl, locDetl); // 鐗堟湰鎺у埗
-// wrkDetl.setAppeTime(new Date());
-// wrkDetl.setModiTime(new Date());
-// if (!wrkDetlService.insert(wrkDetl)) {
-// throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
-// }
-// }
- // 淇敼婧愬簱浣嶇姸鎬�
- if (sourceLoc.getLocSts().equals("D")) {
- sourceLoc.setLocSts("R"); // R.鍑哄簱棰勭害
- sourceLoc.setModiTime(new Date());
- if (!locMastService.updateById(sourceLoc)) {
- throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
- }
- } else {
- throw new CoolException("婧愬簱浣嶅嚭搴撳け璐�");
- }
- // 淇敼鐩爣搴撲綅鐘舵��
- if (loc.getLocSts().equals("O")) {
- loc.setLocSts("S"); // S.鍏ュ簱棰勭害
- loc.setModiTime(new Date());
- if (!locMastService.updateById(loc)) {
- throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
- }
- } else {
- throw new CoolException("绉昏浆澶辫触");
- }
-
- }
- }
- } catch (Exception e) {
- log.error("鍫嗗灈鏈烘紨绀� ===>> 搴撲綅绉昏浆澶辫触", e);
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
- }
-
- /**
- * 鍫嗗灈鏈哄懡浠や笅鍙戝悗锛屽紓姝ヤ慨鏀瑰伐浣滄。鐘舵��
- */
- public synchronized void crnIoWrkMast(){
- for (CrnSlave crn : slaveProperties.getCrn()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) {
- continue;
- }
- Date now = new Date();
- // 鍫嗗灈鏈烘鍦ㄨ繍琛�
- if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- // 鑾峰彇宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
- if (wrkMast == null) { continue; }
- // 鍏ュ簱
- if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 2) {
- log.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
- wrkMast.setWrkSts(3L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- log.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
- }
- // 鍑哄簱銆佺Щ搴�
- if (wrkMast.getWrkSts() == 11) {
- log.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
- wrkMast.setWrkSts(12L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- log.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
- }
-
-
- }
-
- }
- }
-
- /**
- * 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
- */
- public void ioConvert() {
- try {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
-
- for (DevpSlave.Sta inSta : devp.getInSta()) {
- if (inSta.getStaNo() == 2) {
- continue;
- }
- WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getStaNo());
- switch (inSta.getStaNo()) {
- case 203://1F
- if (pakout != null) {
- if (devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
- // 鍑哄簱鍒囨崲涓�
- devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
- WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
- if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
- && !devpThread.getStation().get(inSta.getStaNo()+1).isLoading()
- && devpThread.getStation().get(inSta.getStaNo()+1).getWorkNo()==0) {
- // 鍑哄簱妯″紡
- devpThread.ioModeOf2F = IoModeType.PAKOUT_MODE;
+ if (!sign){
+ // 绛涢�夎寖鍥村唴鍙栬揣浠诲姟
+ for (Integer staNoNow : belongToRange){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNoNow)){
+ sign = taskGenerate(rgvSlave,rgvStn,0);
+ break;
}
}
- } else {
- // 鍏ュ簱妯″紡
- devpThread.ioModeOf2F = IoModeType.PAKIN_MODE;
+ if (sign){
+ break;
+ }
}
- break;
+ }
+
+ if (!sign){
+ for (Integer staNoNow : rangeList){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNoNow)){
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk!=null){
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
+ sign = taskGenerate(rgvSlave,rgvStn,0);
+ }
+ }
+ break;
+ }
+ }
+ if (sign){
+ break;
+ }
+ }
+ }
+ if (!sign){
+ // 鍗婅竟鍖哄煙鍐呭彇璐т换鍔�
+ for (Integer staNoNow : rangeList){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNoNow)){
+ sign = taskGenerate(rgvSlave,rgvStn,0);
+ break;
+ }
+ }
+ if (sign){
+ break;
+ }
+ }
+ }
+ if (!sign){
+ // 鍗婅竟鍖哄煙鍐呮斁璐т换鍔�
+ for (Integer staNoNow : rangeListOther){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNoNow)){
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk!=null){
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList,taskWrk.getTargetPointConvert(),basDevpPositions)){
+ sign = taskGenerate(rgvSlave,rgvStn,0);
+ }
+ }
+ break;
+ }
+ }
+ if (sign){
+ break;
+ }
+ }
+ }
+ } else {
+ //鍙敤鍖哄煙灏辫繎鍙栬揣
+ //灏辫繎鎺掑簭
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
+ List<Integer> rangeList = RouteUtils.SortNearby(staList, rgvProtocol.RgvPos, basDevpPositions);
+ // 鍗婅竟鍖哄煙鍐呭彇璐т换鍔�
+ for (Integer staNoNow : rangeList){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNoNow)){
+ sign = taskGenerate(rgvSlave,rgvStn,0);
+ break;
+ }
+ }
+ if (sign){
+ break;
+ }
+ }
}
}
-
+ } catch (Exception e){
+ log.error("浠诲姟鐢熸垚澶辫触===銆嬪紓甯镐俊鎭細{}",e.getMessage());
}
-
- } catch (Exception e) {
- e.printStackTrace();
}
-
-
+ }
+ //鑾峰彇璧风偣涓庣粓鐐瑰璞�
+ public RgvSlave.RgvStn getRgvStnNow(RgvSlave rgvSlave,Integer staNo) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(staNo)){
+ return rgvStn;
+ }
+ }
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvOutSta()){
+ if (rgvStn.getStaNo().equals(staNo)){
+ return rgvStn;
+ }
+ }
+ return null;
}
- public void outOfDevp() {
- List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
- for (WrkMast wrkMast : wrkMasts) {
- if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
- wrkMast.setCtnNo("Y");
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼{}宸ヤ綔妗ｅけ璐ワ紝ctn_no", wrkMast.getWrkNo());
+ //鑾峰彇璧风偣涓庣粓鐐瑰璞�
+ public RgvSlave.RgvStn[] getRgvStnAll(RgvSlave rgvSlave,Integer souSta,Integer endSta) {
+ RgvSlave.RgvStn[] rgvStns = new RgvSlave.RgvStn[2];
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()){
+ if (rgvStn.getStaNo().equals(souSta)){
+ rgvStns[0] = rgvStn;
+ }
+ }
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvOutSta()){
+ if (rgvStn.getStaNo().equals(endSta)){
+ rgvStns[1] = rgvStn;
+ }
+ }
+ return rgvStns;
+ }
+
+ public boolean taskGenerate(RgvSlave rgvSlave,RgvSlave.RgvStn rgvStn,Integer sign) {
+ try{
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+
+ TaskProtocol issuedTake = new TaskProtocol();
+ TaskProtocol issuedPut = new TaskProtocol();
+ try{
+ ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+ if (allTaskProtocol.size() > 0){
+ return false;
}
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk == null){
+ return false;
+ }
+ Integer targetPointConvert = taskWrk.getTargetPointConvert();
+ if (targetPointConvert == null){
+ return false;
+ }
+ RgvSlave.RgvStn rgvStnEnd = getRgvStnNow(rgvSlave, targetPointConvert);
+ if (rgvStnEnd == null){
+ return false;
+ }
+
+ BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
+ BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
+ //鎵ц
+ issuedTake.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
+ issuedTake.setTaskStatus(1);
+ issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(),issuedTake.getTaskStatus()));
+ issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
+ issuedTake.setIsRunning(1);
+ issuedTake.setDirection(rgvStn.isDirection());
+
+
+ issuedPut.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
+ issuedPut.setTaskStatus(2);
+ issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(),issuedPut.getTaskStatus()));
+ issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
+ issuedPut.setIsRunning(1);
+ issuedPut.setDirection(rgvStnEnd.isDirection());
+ }catch (Exception e){
+ log.error("浠诲姟鐢熸垚澶辫触issued1===銆嬪紓甯镐俊鎭細{}",e.getMessage());
+ return false;
}
+ switch (sign){
+ case 1:
+ taskProtocolCache.updateTaskProtocol(issuedTake);
+ break;
+ case 2:
+ taskProtocolCache.updateTaskProtocol(issuedPut);
+ break;
+ default:
+ taskProtocolCache.updateTaskProtocol(issuedTake);
+ taskProtocolCache.updateTaskProtocol(issuedPut);
+ break;
+ }
+ } catch (Exception e){
+ log.error("浠诲姟鐢熸垚澶辫触issued2===銆嬪紓甯镐俊鎭細{}",e.getMessage());
}
+ return true;
}
+
}
--
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