From 87c4efe93e6fe31a9c989b4aa5cc0c8f559b845d Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 31 三月 2023 16:50:47 +0800
Subject: [PATCH] 提升机代码，四向穿梭车线程优化
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 957 ++++++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 769 insertions(+), 188 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 25e48c1..0db902b 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -4,20 +4,17 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
+import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
-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.model.*;
import com.zy.common.model.enums.WrkChargeType;
import com.zy.common.service.CommonService;
import com.zy.common.service.erp.ErpService;
-import com.zy.common.utils.CollectionUtils;
-import com.zy.common.utils.HttpHandler;
+import com.zy.common.utils.*;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.News;
@@ -25,17 +22,10 @@
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.*;
-import com.zy.core.model.command.CrnCommand;
-import com.zy.core.model.command.LedCommand;
-import com.zy.core.model.command.SteCommand;
-import com.zy.core.model.protocol.CrnProtocol;
-import com.zy.core.model.protocol.StaProtocol;
-import com.zy.core.model.protocol.SteProtocol;
+import com.zy.core.model.command.*;
+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.SiemensDevpThread;
-import com.zy.core.thread.SteThread;
+import com.zy.core.thread.*;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -95,6 +85,8 @@
private OrderMapper orderMapper;
@Autowired
private OrderDetlMapper orderDetlMapper;
+ @Autowired
+ private RedisUtil redisUtil;
/**
* 缁勬墭
@@ -114,59 +106,51 @@
staProtocol = staProtocol.clone();
}
Short workNo = staProtocol.getWorkNo();
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "寮傚父锛�";
+ if (staProtocol.isFrontErr()) {
+ errMsg = errMsg+"鍓嶈秴闄愶紱";
+ back = true;
+ }
+ if (staProtocol.isBackErr()) {
+ errMsg = errMsg+"鍚庤秴闄�";
+ back = true;
+ }
+ if (staProtocol.isHighErr()) {
+ errMsg = errMsg+"楂樿秴闄�";
+ back = true;
+ }
+ if (staProtocol.isLeftErr()) {
+ errMsg = errMsg+"宸﹁秴闄�";
+ back = true;
+ }
+ if (staProtocol.isRightErr()) {
+ errMsg = errMsg+"鍙宠秴闄�";
+ back = true;
+ }
+ if (staProtocol.isWeightErr()) {
+ errMsg = errMsg+"瓒呴噸";
+ back = true;
+ }
+ if (staProtocol.isBarcodeErr()) {
+ errMsg = errMsg+"鎵爜澶辫触";
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ if (ledThread != null) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
+ }
+ continue;
+ }
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading()
&& staProtocol.isInEnable()
&& !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
&& staProtocol.isPakMk()) {
-
- // 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) {
- 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((short) 32002);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- // led 寮傚父鏄剧ず
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
- if (ledThread != null) {
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
- }
- continue;
- }
// 鑾峰彇鏉＄爜鎵弿浠俊鎭�
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
@@ -176,7 +160,7 @@
String barcode = barcodeThread.getBarcode();
if(!Cools.isEmpty(barcode)) {
// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
- if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
+ if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)|| "00000000".equals(barcode)) {
staProtocol.setWorkNo((short) 32002);
staProtocol.setStaNo(inSta.getBackSta().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -407,7 +391,6 @@
if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
if (null == wrkMast) {
- News.error("{}浠诲姟鍙烽敊璇紝鏆傛棤鎷ｆ枡浠诲姟锛�", staProtocol.getWorkNo());
continue;
}
} else {
@@ -620,6 +603,391 @@
}
/**
+ * 鍏ュ嚭搴� ===>> 鍥涘悜绌挎杞﹀叆鍑哄簱浣滀笟涓嬪彂
+ */
+ public synchronized void shuttleIoExecute() {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鍏ュ簱绔�
+ for (DevpSlave.StaRack rackInStn : devp.getRackInStn()) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+
+ StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
+ StaProtocol staProtocol105 = devpThread.getStation().get(105);
+ staProtocol105.setWorkNo((short) 752);
+ staProtocol105.setStaNo((short) 100);
+
+ StaProtocol staProtocol106 = devpThread.getStation().get(106);
+ staProtocol106.setWorkNo((short) 753);
+ staProtocol106.setStaNo((short) 100);
+
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ Short workNo = staProtocol.getWorkNo();
+
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (true || staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
+ WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
+ if (wrkMast != null) {
+ if (wrkMast.getWrkSts() == 4 || wrkMast.getWrkSts() == 8) {
+ ShuttleThread shuttleThread = null;
+ HashMap<String, Object> searchIdleShuttle = null;
+ if (wrkMast.getWrkSts() == 4) {
+ //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅
+ searchIdleShuttle = this.searchIdleShuttle(wrkMast);
+ shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
+ }else {
+ //鐘舵��8锛屽洓鍚戠┛姊溅宸插湪鎻愬崌鏈哄彛锛岀瓑寰呭懡浠よ繘琛屽叆搴撴惉杩愬姩浣�
+ Integer shuttleNo = wrkMast.getShuttleNo();//鍥涘悜绌挎杞﹀彿
+ shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
+ }
+
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (!shuttleProtocol.isIdle()) {
+ continue;
+ }
+
+ wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
+
+ //鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍒嗛厤婧愬簱浣�
+ shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ //鍥涘悜绌挎杞﹀彿
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
+ //浠诲姟鍙�
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍏ュ嚭搴撴ā寮�
+ assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());
+ //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ assignCommand.setSourceLocNo(currentLocNo);
+
+ if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
+ //鍚屼竴灞�
+ //鍒嗛厤鐩爣搴撲綅
+ shuttleProtocol.setLocNo(wrkMast.getLocNo());
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(wrkMast.getLocNo());
+ wrkMast.setWrkSts(9L);//灏忚溅鍏ュ簱涓�
+ }else {
+ //涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿
+
+ //灏忚溅褰撳墠灞傞珮
+ Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
+
+ //鑾峰彇鎻愬崌鏈�
+ LiftSlave liftSlave = slaveProperties.getLift().get(0);
+ //鎻愬崌鏈哄簱浣嶅彿
+ String liftLocNo = liftSlave.getLiftLocNo(currentLev);
+ shuttleProtocol.setLocNo(liftLocNo);
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(liftLocNo);
+ wrkMast.setWrkSts(5L);//灏忚溅杩佺Щ鐘舵��
+ }
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+
+ }
+ }
+
+ }
+ }
+
+ }
+
+ /**
+ * 鎼滅储绌洪棽涓旀渶杩戠殑鍥涘悜绌挎杞�
+ */
+ public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
+ HashMap<String, Object> map = new HashMap<>();
+ String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//搴撲綅鍙�
+ LocMast locMast = locMastService.queryByLoc(locNo);//鎵惧埌搴撲綅璁板綍
+ String lay = locNo.substring(locNo.length() - 2, locNo.length());//褰撳墠宸ヤ綔妗ｅ簱浣嶅眰楂�
+ ShuttleThread recentShuttle = null;//褰撳墠璺濈鏈�杩戠殑鍥涘悜绌挎杞︾嚎绋�
+
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+ if (!shuttleProtocol.isIdle()) {
+ continue;
+ }
+
+ String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
+ String shuttleLocNoLay = shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length());//搴撲綅鍙峰搴斿眰楂�
+ if (lay.equals(shuttleLocNoLay)) {
+ //褰撳墠鍥涘悜绌挎杞﹀拰宸ヤ綔妗ｄ换鍔″湪鍚屼竴灞傦紝鍒欒皟閰嶈杞﹁締
+ map.put("sameLay", true);//鍚屼竴灞�
+ map.put("result", shuttleThread);
+ return map;
+ }
+
+ //鏇存柊褰撳墠鏈�杩戠殑鍥涘悜绌挎杞�
+ if (recentShuttle == null) {
+ recentShuttle = shuttleThread;
+ }else {
+ ShuttleProtocol recentShuttleProtocol = recentShuttle.getShuttleProtocol();//鐩墠鏈�杩戠┛姊溅
+ String recentShuttleLocNo = recentShuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
+ String recentShuttleLocNoLay = recentShuttleLocNo.substring(recentShuttleLocNo.length() - 2, recentShuttleLocNo.length());//搴撲綅鍙峰搴斿眰楂�
+
+ int recentShuttleLocNoLayInt = Integer.parseInt(recentShuttleLocNoLay);
+ int layInt = Integer.parseInt(lay);
+ int shuttleLocNoLayInt = Integer.parseInt(shuttleLocNoLay);
+ int i = Math.abs(layInt - recentShuttleLocNoLayInt);//宸ヤ綔妗ｆゼ灞傚噺鏈�杩戠┛姊溅妤煎眰锛屽彇缁濆鍊�
+ int j = Math.abs(layInt - shuttleLocNoLayInt);//宸ヤ綔妗ｆゼ灞傚噺褰撳墠绌挎杞︽ゼ灞傦紝鍙栫粷瀵瑰��
+ if (i < j) {
+ //鏇存柊鏈�杩戠┛姊溅
+ recentShuttle = shuttleThread;
+ } else if (i == j) {
+ //妤煎眰鐩稿悓鎯呭喌
+ //鎵捐窛绂诲嚭搴撶偣鏈�杩戠殑杞�
+
+ if (!(recentShuttleProtocol.isIdle() && shuttleProtocol.isIdle())) {
+ //鍙鏈変竴杈嗚溅涓嶆槸绌洪棽鍒欎笉杩涜璋冨害
+ map.put("sameLay", false);//涓嶅悓灞�
+ map.put("result", null);
+ return map;
+ }
+
+ //鑾峰彇鎻愬崌鏈�
+ LiftSlave liftSlave = slaveProperties.getLift().get(0);
+ //鎻愬崌鏈哄簱浣嶅彿
+ String recentLiftLocNo = liftSlave.getLiftLocNo(recentShuttleLocNoLayInt);
+ String shuttleLiftLocNo = liftSlave.getLiftLocNo(shuttleLocNoLayInt);
+
+ //褰撳墠鏈�杩戝洓鍚戠┛姊溅鍒版彁鍗囨満璺緞
+ List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentShuttleLocNo, recentLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
+ //褰撳墠妤煎眰鍥涘悜绌挎杞﹀埌鎻愬崌鏈鸿矾寰�
+ List<NavigateNode> shuttlePath = NavigateUtils.calc(shuttleLocNo, shuttleLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
+ //鍒ゆ柇鍝竴涓矾寰勬渶鐭�
+ if (shuttlePath.size() < recentShuttlePath.size()) {
+ //濡傛灉褰撳墠妤煎眰鐨勮溅璺緞鏇村皬锛屽垯鏇存柊鏈�杩戠┛姊溅
+ recentShuttle = shuttleThread;
+ }
+ }
+ }
+ }
+
+ map.put("sameLay", false);//涓嶅悓灞�
+ map.put("result", recentShuttle);
+ return map;
+ }
+
+ /**
+ * 鍥涘悜绌挎杞︿换鍔″畬鎴�
+ */
+ public synchronized void shuttleFinished() {
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︿俊鎭�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ //鍥涘悜绌挎杞︾姸鎬佷负绛夊緟纭
+ if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id && shuttleProtocol.getTaskNo() != 0) {
+ //灏嗕换鍔℃。鏍囪涓哄畬鎴�
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo59(shuttleProtocol.getTaskNo().intValue());
+ if (wrkMast != null) {
+ switch (wrkMast.getWrkSts().intValue()) {
+ case 9:
+ wrkMast.setWrkSts(14L);
+ break;
+ case 5:
+ wrkMast.setWrkSts(6L);
+ break;
+ default:
+ }
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ //浠诲姟鍙锋竻闆�
+ shuttleProtocol.setTaskNo((short) 0);
+ //婧愬簱浣嶆竻闆�
+ shuttleProtocol.setSourceLocNo(null);
+ //鐩爣搴撲綅娓呴浂
+ shuttleProtocol.setLocNo(null);
+ //鏍囪澶嶄綅
+ shuttleProtocol.setPakMk(true);
+ //浠诲姟鎸囦护娓呴浂
+ shuttleProtocol.setAssignCommand(null);
+ News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
+ } else {
+ News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
+ }
+ }
+
+ }
+ }
+ }
+
+ /**
+ * 鎻愬崌鏈轰换鍔�
+ */
+ public synchronized void liftIoExecute() {
+ for (LiftSlave liftSlave : slaveProperties.getLift()) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庣┖闂茬姸鎬�
+ if (!liftProtocol.isIdle()) {
+ continue;
+ }
+
+ //鎼滅储鏄惁鏈夊緟澶勭悊鐨勪换鍔�
+ WrkMast wrkMast = wrkMastMapper.selectLiftStep6();
+ if (wrkMast == null) {
+ continue;
+ }
+
+ //缁欐彁鍗囨満鍒嗛厤浠诲姟
+ liftProtocol.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+ liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
+ liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//璁剧疆鍥涘悜绌挎杞﹀彿
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
+
+ //鎵惧埌鍥涘悜绌挎杞︾殑绾跨▼
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, liftProtocol.getShuttleNo().intValue());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ //鍛戒护list
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+
+ //褰撳墠绌挎杞﹀簱浣嶅彿
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ //褰撳墠绌挎杞︽ゼ灞�
+ int currentLocNoLey = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
+
+ //宸ヤ綔妗ｇ洰鏍囧簱浣嶅彿
+ String wrkMastLocNo = wrkMast.getLocNo();
+ //宸ヤ綔妗ｇ洰鏍囧簱浣嶆ゼ灞�
+ int wrkMastLocNoLey = Integer.parseInt(wrkMastLocNo.substring(wrkMastLocNo.length() - 2, wrkMastLocNo.length()));
+
+ //鎻愬崌鏈哄綋鍓嶆ゼ灞�
+ int liftLev = liftProtocol.getLev().intValue();
+ if (liftLev != currentLocNoLey) {
+ //涓嶅悓妤煎眰
+ LiftCommand command1 = new LiftCommand();
+ command1.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
+ command1.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
+ command1.setRun((short) 1);//鍗囬檷
+ command1.setDistPosition((short) currentLocNoLey);//鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)
+ command1.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+
+ commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
+ }
+
+ //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵
+ LiftCommand command2 = new LiftCommand();
+ command2.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
+ command2.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
+ command2.setRun((short) 6);//杈撻�佺嚎杩愪綔
+ command2.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+
+ commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //鎻愬崌鏈烘惉杩愬洓鍚戠┛姊溅
+ LiftCommand command3 = new LiftCommand();
+ command3.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
+ command3.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
+ command3.setRun((short) 1);//鍗囬檷
+ command3.setDistPosition((short) wrkMastLocNoLey);//宸ヤ綔妗ｇ洰鏍囨ゼ灞�
+ command3.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+
+ commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲嚭鍘�
+ //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵
+ LiftCommand command4 = new LiftCommand();
+ command4.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
+ command4.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
+ command4.setRun((short) 3);//杈撻�佺嚎杩愪綔
+ command4.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+
+ commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ wrkMast.setWrkSts(7L);//绉诲姩浠诲姟
+ //鎵�闇�鍛戒护缁勫悎瀹屾瘯锛屾洿鏂版暟鎹簱锛屾彁浜ゅ埌绾跨▼鍘诲伐浣�
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(liftProtocol.getTaskNo());
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+ }
+
+ /**
+ * 鎻愬崌鏈轰换鍔″畬鎴�
+ */
+ public synchronized void liftFinished() {
+ for (LiftSlave liftSlave : slaveProperties.getLift()) {
+ //鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
+
+ //鎻愬崌鏈轰负绛夊緟纭
+ if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
+ //灏嗕换鍔℃。鏍囪涓哄畬鎴�
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo7(liftProtocol.getTaskNo().intValue());
+ if (wrkMast != null) {
+ wrkMast.setWrkSts(8L);
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
+ //浠诲姟鍙锋竻闆�
+ liftProtocol.setTaskNo((short) 0);
+ //鏍囪澶嶄綅
+ liftProtocol.setPakMk(true);
+ //浠诲姟鎸囦护娓呴浂
+ liftProtocol.setAssignCommand(null);
+ News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
+ } else {
+ News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
+ }
+ }
+ }
+ }
+ }
+
+ /**
* 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
*/
public synchronized void crnIoExecute(){
@@ -666,7 +1034,7 @@
// 搴撲綅绉昏浆
// this.locToLoc(crn, crnProtocol);
// 婕旂ず
- this.steMoveDemo(crn, crnProtocol);
+// this.steMoveDemo(crn, crnProtocol);
}
}
}
@@ -726,6 +1094,51 @@
continue;
}
+ List<LocMast> locMasts = null;
+ boolean sign=false;
+ if (locMast.getRow1()>=5){
+ locMasts=locMastService.selectList(new EntityWrapper<LocMast>().ge("row1", 5)
+ .eq("bay1",locMast.getBay1()).eq("lev1",locMast.getLev1()));
+ for (LocMast locMast1:locMasts){
+ if (locMast1.getRow1()>locMast.getRow1()){
+ if (!locMast1.getLocSts().equals("F") && !locMast1.getLocSts().equals("D")){
+ if (!locMast1.getLocSts().equals("X")){
+ sign=true;
+ break;
+ }
+ }
+ }else if (locMast1.getRow1()<locMast.getRow1()){
+ if (locMast1.getLocSts().equals("F") || locMast1.getLocSts().equals("D")){
+ News.error("褰撳墠宸ヤ綔妗ｇ洰鏍囧簱浣嶆墍鍦ㄦ帓鍓嶈竟瀛樺湪璐х墿锛�", wrkMast.getWrkNo());
+ sign=true;
+ break;
+ }
+ }
+ }
+ }else {
+ locMasts=locMastService.selectList(new EntityWrapper<LocMast>().le("row1", 4)
+ .eq("bay1",locMast.getBay1()).eq("lev1",locMast.getLev1()));
+ for (LocMast locMast1:locMasts){
+ if (locMast1.getRow1()>locMast.getRow1()){
+ if (locMast1.getLocSts().equals("F") || locMast1.getLocSts().equals("D")){
+ News.error("褰撳墠宸ヤ綔妗ｇ洰鏍囧簱浣嶆墍鍦ㄦ帓鍓嶈竟瀛樺湪璐х墿锛�", wrkMast.getWrkNo());
+ sign=true;
+ break;
+ }
+ }else if (locMast1.getRow1()<locMast.getRow1()){
+ if (!locMast1.getLocSts().equals("F") && !locMast1.getLocSts().equals("D")){
+ if (!locMast1.getLocSts().equals("X")){
+ sign=true;
+ break;
+ }
+ }
+ }
+ }
+ }
+ if (sign){
+ continue;
+ }
+
// 妫�娴嬫槸鍚﹀瓨鍦ㄥ嚭搴撲换鍔�
if (null != wrkMastMapper.selectPakout(slave.getId(), null)) {
News.error("{}鍏ュ簱浠诲姟鏃犳硶浣滀笟锛屽洜瀛樺湪鍑哄簱涓换鍔�!", wrkMast.getWrkNo());
@@ -733,7 +1146,9 @@
}
// 缃《浠诲姟
- wrkMast.setIoPri((double) 9999);
+ if (wrkMast.getIoPri()<8000){
+ wrkMast.setIoPri(wrkMast.getIoPri()+9000d);
+ }
wrkMastMapper.updateById(wrkMast);
// 鐩爣搴撲綅 ===>> 鏈�澶栧眰搴撲綅
@@ -899,6 +1314,36 @@
News.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;
}
+ List<LocMast> locMasts = null;
+ boolean sign=false;
+ if (sourceSta.getRow1()>=5){
+ locMasts=locMastService.selectList(new EntityWrapper<LocMast>().ge("row1", 5)
+ .eq("bay1",sourceSta.getBay1()).eq("lev1",sourceSta.getLev1()));
+ for (LocMast locMast1:locMasts){
+ if (locMast1.getRow1()<sourceSta.getRow1()){
+ if (!locMast1.getLocSts().equals("O")){
+ News.error("褰撳墠宸ヤ綔妗ｆ簮搴撲綅鎵�鍦ㄦ帓鍓嶈竟瀛樺湪璐х墿锛�", wrkMast.getWrkNo());
+ sign=true;
+ break;
+ }
+ }
+ }
+ }else {
+ locMasts=locMastService.selectList(new EntityWrapper<LocMast>().le("row1", 4)
+ .eq("bay1",sourceSta.getBay1()).eq("lev1",sourceSta.getLev1()));
+ for (LocMast locMast1:locMasts){
+ if (locMast1.getRow1()>sourceSta.getRow1()){
+ if (!locMast1.getLocSts().equals("O")){
+ News.error("褰撳墠宸ヤ綔妗ｇ洰鏍囧簱浣嶆墍鍦ㄦ帓鍓嶈竟瀛樺湪璐х墿锛�", wrkMast.getWrkNo());
+ sign=true;
+ break;
+ }
+ }
+ }
+ }
+ if (sign){
+ continue;
+ }
// 鍚屽簱浣嶇粍杩涜鏍￠獙
List<String> groupLocNo = Utils.getGroupLocNo(wrkMast.getSourceLocNo());
@@ -948,7 +1393,9 @@
}
// 缃《浠诲姟
- wrkMast.setIoPri((double) 9998);
+ if (wrkMast.getIoPri()<8000){
+ wrkMast.setIoPri(wrkMast.getIoPri()+8999d);
+ }
wrkMastMapper.updateById(wrkMast);
// 鏈�澶栧眰搴撲綅锛岀洿鎺ュ爢鍨涙満鍑哄簱
@@ -1244,7 +1691,7 @@
SteProtocol steProtocol = steThread.getSteProtocol();
if (steProtocol == null) { continue; }
if (!steProtocol.isIdle()) { continue; }
- if (steProtocol.getRow() == 1) { continue; }
+// if (steProtocol.getRow() == 1) { continue; }
String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
// 濡傛灉鍦ㄥ悓涓�涓簱浣嶇粍
if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
@@ -1613,6 +2060,17 @@
WrkCharge wrkCharge = wrkChargeService.selectById(crnProtocol.getTaskNo());
if (wrkCharge == null) {
News.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());
+ wrkMast = wrkMastMapper.selectCrnWaiting2(crnProtocol.getTaskNo().intValue());
+ if (wrkMast.getIoType() != 11) {
+ // 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);
+ News.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵��,澶嶄綅锛屼絾鏈壘鍒板伐浣滄。銆傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
+ } else {
+ News.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵��,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
+ }
+ }
continue;
} else {
// 灏忚溅鎼嚦鎸囧畾搴撲綅瀹屾垚
@@ -1835,6 +2293,22 @@
}
}
// 绉诲簱 ===>> 鍫嗗灈鏈烘惉鑷崇洰鏍囧簱浣嶇粍 瀹屾垚
+ } else if (wrkMast.getWrkSts() == 16) {
+ // 16.鍚婅溅鍑哄簱涓� ==> 17.鍑哄簱瀹屾垚
+ wrkMast.setWrkSts(17L);
+ Date now = new Date();
+ wrkMast.setCrnEndTime(now);
+ wrkMast.setModiTime(now);
+ LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
+ Integer outCrnNo = locMastService.getOutCrnNo(locMast);
+ wrkMast.setCrnNo(outCrnNo);
+ // 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);
+ } else {
+ News.error("淇敼宸ヤ綔妗ｇ姸鎬� 16.鍚婅溅鍑哄簱涓� ==> 17.鍑哄簱瀹屾垚 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+ }
}
}
}
@@ -1879,15 +2353,17 @@
} else {
steThread.setResetFlag(true);
}
- } else if (wrkCharge.getWrkSts() == 29) {
- // 29.寮�濮嬪厖鐢� ===>> 30.瀹屾垚鍏呯數
- wrkCharge.setWrkSts(30L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼鍏呯數浠诲姟鐘舵�� 29.寮�濮嬪厖鐢� ===>> 30.瀹屾垚鍏呯數 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- } else {
- steThread.setResetFlag(true);
- }
- } else if (wrkCharge.getWrkSts() == 32) {
+ }
+// else if (wrkCharge.getWrkSts() == 29) {
+// // 29.寮�濮嬪厖鐢� ===>> 30.瀹屾垚鍏呯數
+// wrkCharge.setWrkSts(30L);
+// if (!wrkChargeService.updateById(wrkCharge)) {
+// News.error("淇敼鍏呯數浠诲姟鐘舵�� 29.寮�濮嬪厖鐢� ===>> 30.瀹屾垚鍏呯數 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
+// } else {
+// steThread.setResetFlag(true);
+// }
+// }
+ else if (wrkCharge.getWrkSts() == 32) {
// 32.灏忚溅璧拌 ===>> 33.灏忚溅寰呮惉
wrkCharge.setWrkSts(33L);
if (!wrkChargeService.updateById(wrkCharge)) {
@@ -2366,18 +2842,11 @@
break;
}
ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
+ ledCommand.setLocNo(wrkMast.getLocNo());
ledCommand.setStaNo(wrkMast.getStaNo());
- if (wrkMast.getIoType() != 110) {
+ if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
- try {
- WrkDetl wrkDetl = wrkDetls.get(0);
- if (!Cools.isEmpty(wrkDetl.getOrderNo())) {
- OrderDetl orderDetl = orderDetlMapper.selectItemNoneOfBatch(wrkDetl.getOrderNo(), wrkDetl.getMatnr());
- ledCommand.getMatDtos().add(new MatDto(orderDetl));
- }
- } catch (Exception e) {
- News.error("led execute fail", e);
- }
+ wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
}
commands.add(ledCommand);
}
@@ -2390,9 +2859,20 @@
}
// 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
if (!commands.isEmpty()) {
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
- News.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;
+ if (led.getId()>3){
+ if (!MessageQueue.offer(SlaveType.Led, led.getId()-3, 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()-3, led.getIp(), led.getPort());
+ continue;
+ }else {
+ ledThread.setLedMk(false);
+ }
+ }else {
+ if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
+ log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+ continue;
+ }else {
+ ledThread.setLedMk(false);
+ }
}
}
@@ -2422,6 +2902,35 @@
*/
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;
+ }
+ 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(4, new ArrayList<>()))) {
+ News.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 {
+
+ }
+ }
+ }
+ 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
@@ -2436,9 +2945,10 @@
}
}
// 鑾峰彇led绾跨▼
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
// led鏄剧ず榛樿鍐呭
- if (reset) {
+ if (reset && !ledThread.isLedMk()) {
+ ledThread.setLedMk(true);
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
News.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());
}
@@ -2451,6 +2961,9 @@
*/
@SuppressWarnings("serial")
public synchronized void loopSteCharge() {
+ if (!Cools.isEmpty(wrkMastMapper.selectAllC())){
+ return;
+ }
if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) {
return;
}
@@ -2486,7 +2999,7 @@
SteChargeType steCharge = null;
do {
String locNo;
- if (!devpThread.charge0) {
+ if (devpThread.charge0) {
SteChargeType first = SteChargeType.FIRST;
locNo = first.locNo;
if (basSteService.hasCarOfLocNo(locNo) == null
@@ -2537,14 +3050,14 @@
}
// 澶勪簬鍏呯數搴撲綅缁�
- if (steProtocol.getRow().intValue() == Utils.getRow(chargeLocNo)
+ if ( 0<steProtocol.getRow().intValue() && steProtocol.getRow().intValue()<=4
&& steProtocol.getBay().intValue() == Utils.getBay(chargeLocNo)
&& steProtocol.getLev().intValue() == Utils.getLev(chargeLocNo)) {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 21.鍑嗗鍏呯數 => 28.鍏呯數灏辩华
- wrkCharge.setWrkSts(28L);
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 21.鍑嗗鍏呯數 => 24.灏忚溅鍒拌揪
+ wrkCharge.setWrkSts(24L);
wrkCharge.setModiTime(new Date());
if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼鍏呯數浠诲姟鐘舵�� 21.鍑嗗鍏呯數 => 28.鍏呯數灏辩华 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
+ News.error("淇敼鍏呯數浠诲姟鐘舵�� 21.鍑嗗鍏呯數 => 24.灏忚溅鍒拌揪 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
}
} else {
this.letCarBeWaiting(wrkCharge, ste.getId());
@@ -2564,10 +3077,26 @@
*/
public synchronized void executeSteCharge() {
WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
- if (null == wrkCharge) { return; }
- Integer steNo = wrkCharge.getSteNo();
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
+ SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, 1);
SteProtocol steProtocol = steThread.getSteProtocol();
+ if (null == wrkCharge) {
+ try{
+ if (steProtocol.getChargeStatus()==(short)0 && steProtocol.isBrushConnect()){
+ SteCommand steCommand = new SteCommand();
+ steCommand.setSteNo(1); // 绌挎杞︾紪鍙�
+ steCommand.setTaskNo(10060); // 宸ヤ綔鍙�
+ steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 浠诲姟妯″紡: 鏂紑鍏呯數
+ if (!MessageQueue.offer(SlaveType.Ste, 1, new Task(2, steCommand))) {
+ News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
+ }
+ }
+ }catch (Exception e){
+ return;
+ }
+ return;
+ }
+ Integer steNo = wrkCharge.getSteNo();
+
BasSte basSte = basSteService.selectById(steNo);
if (Cools.isEmpty(steProtocol, basSte)) { return; }
if (steProtocol.getMode() == 0
@@ -2581,9 +3110,35 @@
if (!steProtocol.isEnable()) {
return;
}
- if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) {
+ if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())+40) {
+ MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 999));//涓柇鍏呯數鏍囪
wrkCharge.setWrkSts(30L);
- wrkChargeMapper.updateById(wrkCharge);
+ if (!wrkChargeService.updateById(wrkCharge)) {
+ News.error("淇敼鍏呯數浠诲姟鐘舵�� 29.寮�濮嬪厖鐢� ===>> 30.瀹屾垚鍏呯數 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
+ }else {
+ SteCommand steCommand = new SteCommand();
+ steCommand.setSteNo(wrkCharge.getSteNo()); // 绌挎杞︾紪鍙�
+ steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
+ steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 浠诲姟妯″紡: 鏂紑鍏呯數
+ if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
+ News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
+ }
+ }
+ return;
+ }else if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine()) && steProtocol.getChargeStatus()==(short)0 && steProtocol.isBrushConnect()) {
+ MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 999));//涓柇鍏呯數鏍囪
+ wrkCharge.setWrkSts(30L);
+ if (!wrkChargeService.updateById(wrkCharge)) {
+ News.error("淇敼鍏呯數浠诲姟鐘舵�� 29.寮�濮嬪厖鐢� ===>> 30.瀹屾垚鍏呯數 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
+ }else {
+ SteCommand steCommand = new SteCommand();
+ steCommand.setSteNo(wrkCharge.getSteNo()); // 绌挎杞︾紪鍙�
+ steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
+ steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 浠诲姟妯″紡: 鏂紑鍏呯數
+ if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
+ News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
+ }
+ }
return;
}
try {
@@ -2600,49 +3155,39 @@
return;
}
+ LocMast locMast = locMastService.selectById(basSte.getIdleLoc());
+
// 鎼皬杞﹁嚦灏忚溅璧板悜閫氶亾
- List<String> channel = slaveProperties.getChannel();
- for (String channelLocNo : channel) {
- Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
- if (null != otherSte) {
- News.warn("{}鍙峰皬杞︾Щ鍏}搴撲綅缁勫け璐ワ紝鍘熷洜锛氬瓨鍦▄}鍙风┛姊溅锛�", wrkCharge.getSteNo(), channelLocNo, otherSte);
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) { return; }
+ // 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) {
+ // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+ crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+ crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).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, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
+ News.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�={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
} else {
- LocMast channelLoc = locMastService.selectById(channelLocNo);
-
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
- 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) {
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), true).shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
- News.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�={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
- steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), true), channelLoc.getBay1(), channelLoc.getLev1());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 22.灏忚溅寰呮惉 => 23.鍚婅溅鎼繍
- Date now = new Date();
- wrkCharge.setWrkSts(23L);
- wrkCharge.setCrnStrTime(now);
- wrkCharge.setModiTime(now);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 22.灏忚溅寰呮惉 => 23.鍚婅溅鎼繍 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
- break;
+ // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
+ steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 22.灏忚溅寰呮惉 => 23.鍚婅溅鎼繍
+ Date now = new Date();
+ wrkCharge.setWrkSts(23L);
+ wrkCharge.setCrnStrTime(now);
+ wrkCharge.setModiTime(now);
+ if (!wrkChargeService.updateById(wrkCharge)) {
+ News.error("淇敼宸ヤ綔妗ｇ姸鎬� 22.灏忚溅寰呮惉 => 23.鍚婅溅鎼繍 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
}
-
}
}
@@ -2654,7 +3199,7 @@
SteCommand steCommand = new SteCommand();
steCommand.setSteNo(wrkCharge.getSteNo()); // 绌挎杞︾紪鍙�
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.GO_ORIGIN); // 鍘诲彸绔�
+ steCommand.setTaskMode(SteTaskModeType.BACK_ORIGIN); // 鍘诲彸绔�
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
steCommand.setBay(steProtocol.getBay());
@@ -2673,49 +3218,7 @@
}
}
} else if (wrkCharge.getWrkSts() == 26) {
- // 鍥哄畾鍫嗗灈鏈�
- int crnNo = 1;
- // 鍏ュ嚭搴撲换鍔′紭鍏�
- if (null != wrkMastMapper.selectWorkingByCrn(crnNo)) {
- return;
- }
-
- // 鍏呯數浣�
- LocMast chargeLoc = locMastService.selectById(wrkCharge.getLocNo());
-
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) { return; }
- // 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) {
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(chargeLoc.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(chargeLoc.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(chargeLoc.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
- News.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�={}", crnNo, JSON.toJSON(crnCommand));
- } else {
- // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
- steThread.modifyPos(chargeLoc.getRow1(), chargeLoc.getBay1(), chargeLoc.getLev1());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 26.绛夊緟鍏呯數 => 27.鏀捐嚦鍏呯數浣�
- Date now = new Date();
- wrkCharge.setWrkSts(27L);
- wrkCharge.setCrnStrTime(now);
- wrkCharge.setModiTime(now);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 26.绛夊緟鍏呯數 => 27.鏀捐嚦鍏呯數浣� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
- }
- } else if (wrkCharge.getWrkSts() == 28L) {
+ //26.绛夊緟鍏呯數 ===>
// 绌挎杞︿笅鍙戝厖鐢典换鍔�
SteCommand steCommand = new SteCommand();
steCommand.setSteNo(wrkCharge.getSteNo()); // 绌挎杞︾紪鍙�
@@ -2728,6 +3231,27 @@
wrkCharge.setWrkSts(29L);
if (!wrkChargeService.updateById(wrkCharge)) {
News.error("淇敼鍏呯數浠诲姟鐘舵�� 28.鍏呯數灏辩华 ===>> 29.寮�濮嬪厖鐢� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
+ }
+ }
+ } else if (wrkCharge.getWrkSts() == 29) {
+ Float idle2 = steProtocol.isIdle2();
+ String chargeLine = SpringUtils.getBean(BasSteService.class).selectById(1).getChargeLine();
+ if (idle2<(Float.parseFloat(chargeLine)+2)){
+ MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 666));//鍏呯數鏍囪
+ }else if (idle2 >= 100f){
+ MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 999));//涓柇鍏呯數鏍囪
+ // 29.寮�濮嬪厖鐢� ===>> 30.瀹屾垚鍏呯數
+ wrkCharge.setWrkSts(30L);
+ if (!wrkChargeService.updateById(wrkCharge)) {
+ News.error("淇敼鍏呯數浠诲姟鐘舵�� 29.寮�濮嬪厖鐢� ===>> 30.瀹屾垚鍏呯數 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
+ }else {
+ SteCommand steCommand = new SteCommand();
+ steCommand.setSteNo(wrkCharge.getSteNo()); // 绌挎杞︾紪鍙�
+ steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
+ steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 浠诲姟妯″紡: 鏂紑鍏呯數
+ if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
+ News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
+ }
}
}
}
@@ -3254,6 +3778,63 @@
}
}
+ /**
+ * 鍑哄叆搴撴ā寮忓垏鎹�
+ */
+ public synchronized void outAndIn() {
+ try {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ for (DevpSlave.Sta inSta : devp.getInSta()) {
+ Thread.sleep(500);
+ boolean a=true,b=true;
+ List<WrkMast> wrkMasts = wrkMastMapper.selectAll(inSta.getStaNo());
+ if (Cools.isEmpty(wrkMasts)){
+ b=false;
+ }else {
+ for (WrkMast wrkMast:wrkMasts){
+ if (wrkMast.getSourceStaNo() > wrkMast.getStaNo()){
+ a=false;
+ break;
+ }
+ }
+ }
+ switch (inSta.getStaNo()) {
+ case 102://1F
+ if (a && b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 11));
+ }else if (b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 12));
+ }else {
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 10));
+ }
+ break;
+ case 202://2F
+ if (a && b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 21));
+ }else if (b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 22));
+ }else {
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 20));
+ }
+ break;
+ case 302://3F
+ if (a && b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 31));
+ }else if (b){
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 32));
+ }else {
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 30));
+ }
+ break;
+ }
+ }
+ }
+
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
}
--
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