From 890d6a4531a85375571885f7f4e9399bbcab99c6 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期四, 18 一月 2024 19:29:45 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/enums/RgvStatusType.java | 1
src/main/java/com/zy/core/thread/RgvThread.java | 13 -
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 298 ++++++++++++++++--------------------------
src/main/java/com/zy/asrs/entity/BasRgvOpt.java | 2
src/main/webapp/static/js/console.map.js | 44 -----
src/main/java/com/zy/core/thread/SiemensDevpThread.java | 10 -
src/main/resources/application.yml | 8
src/main/java/com/zy/core/enums/RgvTaskModeType.java | 2
src/main/resources/mapper/WrkMastStaMapper.xml | 2
9 files changed, 136 insertions(+), 244 deletions(-)
diff --git a/src/main/java/com/zy/asrs/entity/BasRgvOpt.java b/src/main/java/com/zy/asrs/entity/BasRgvOpt.java
index 6c257a2..0db9725 100644
--- a/src/main/java/com/zy/asrs/entity/BasRgvOpt.java
+++ b/src/main/java/com/zy/asrs/entity/BasRgvOpt.java
@@ -23,7 +23,7 @@
* ID
*/
@ApiModelProperty(value= "ID")
- @TableId(value = "id", type = IdType.INPUT)
+ @TableId(value = "id", type = IdType.AUTO)
private Long id;
/**
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 86f95aa..bd0b526 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -92,6 +92,8 @@
private BasRgvService basRgvService;
@Autowired
private BasRgvMapMapper basRgvMapMapper;
+ @Autowired
+ private WrkMastService wrkMastService;
@Value("${wms.url}")
private String wmsUrl;
@@ -103,17 +105,14 @@
* 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
*/
public synchronized void generateStoreWrkFile(Integer mark) {
+ String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
// 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;
- }
-
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
if (staProtocol == null) {
@@ -122,6 +121,10 @@
staProtocol = staProtocol.clone();
}
+ if (barcodeThread == null) {
+ continue;
+ }
+ String barcode = barcodeThread.getBarcode();
// 灏哄妫�娴嬪紓甯�
boolean back = false;
String errMsg = "";
@@ -156,7 +159,7 @@
// 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);
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
if (!staProtocol.isLoading()){
continue;
@@ -172,102 +175,33 @@
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
- //LED
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
- // 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.isLoading()){
- continue;
- }
- String barcode11 = barcodeThread.getBarcode();
- if (Cools.isEmpty(barcode11)){
- if (staProtocol.isAutoing()&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 9999 && staProtocol.isPakMk() && staProtocol.getStamp()==2){
- staProtocol.setStamp(3);
- News.info(""+mark+" - 7"+" - 鎵爜澶辫触2 ===>> {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{},绔欑偣:{}", inSta.getBarcode(), barcode11, inSta.getStaNo());
- staProtocol.setWorkNo(9989);
- 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
- if (ledThread != null) {
- String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
- }
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && !staProtocol.isEmptyMk()
+ && staProtocol.isPakMk()) {
+ if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
+ News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
+
continue;
}
- }
- if (staProtocol.isAutoing() && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
- && staProtocol.isPakMk() && staProtocol.getStamp()>=2 && staProtocol.getStamp()!=3) {// && !Cools.isEmpty(barcode)) {
- News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛�");
-// try {
-// Thread.sleep(300);
-// }catch (Exception e){}
-
- String barcode = barcodeThread.getBarcode();
- if(!Cools.isEmpty(barcode)) {
- News.info(""+mark+" - 1"+" - {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
- if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
- staProtocol.setWorkNo( 9999);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- News.info(""+mark+" - 2"+" - 鎵爜澶辫触1 ===>> {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{},绔欑偣:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
- }
- continue;
- }
- } else {
- staProtocol.setWorkNo( 9999);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- News.info(""+mark+" - 3"+" - 鎵爜澶辫触2 ===>> {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{},绔欑偣:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
- }
- continue;
- }
-
// 鍒ゆ柇閲嶅宸ヤ綔妗�
WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
- //杩囨护鍒ゆ柇锛岄槻姝㈡嫞鏂欏啀鍏ュ簱璐х墿锛岀粡杩囧叆搴撶珯鍐嶅叆搴撴椂锛岃閫�鍥炲埌閫�搴撶珯
- WrkMast wrkMast1 = wrkMastMapper.selectPakInStepBarcode(barcode);
- if (wrkMast1 !=null){
- if (wrkMast1.getIoType()==103 || wrkMast1.getIoType()==107 || wrkMast1.getIoType()==104){
- continue;
- }
- }
if (wrkMast != null) {
- News.error(""+mark+" - 4"+" - 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());
- staProtocol.setWorkNo(9999);
- staProtocol.setStaNo(inSta.getBackSta().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");
- }
-
- // led 寮傚父鏄剧ず
+ News.error(methodName + ":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());
if (ledThread != null) {
- String errorMsg = "宸ヤ綔妗ｅ凡瀛樺湪璇ユ潯鐮佸彿===>>" + barcode;
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
+ News.error(methodName + ":鎵爜澶辫触锛岃閲嶈瘯");
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "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() + "}, 璇锋墜鍔ㄥ彇娑堝凡瀛樺湪宸ヤ綔妗�"));
}
continue;
}
-
+ WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
+ .eq("barcode", barcode)
+ .in("io_type", 107,103));
+ if (!Cools.isEmpty(checkPick)) {
+ continue;
+ }
try {
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -285,58 +219,40 @@
JSONObject jsonObject = JSON.parseObject(response);
if (jsonObject.getInteger("code").equals(200)) {
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
-
barcodeThread.setBarcode("");
staProtocol.setWorkNo(dto.getWorkNo());
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");
- }
+ News.error(methodName + ":鏇存柊plc绔欑偣淇℃伅澶辫触");
- // led 鍏ュ簱淇℃伅鏄剧ず
- if (ledThread != null) {
- // 鍛戒护闆嗗悎
- List<LedCommand> commands = new ArrayList<>();
- // 缁勮鍛戒护
- LedCommand ledCommand = new LedCommand();
- ledCommand.setWorkNo(dto.getWorkNo());
- ledCommand.setIoType(1);
- ledCommand.setTitle("鍏ㄦ澘鍏ュ簱");
- ledCommand.setLocNo(dto.getLocNo());
- ledCommand.setStaNo(dto.getStaNo());
- commands.add(ledCommand);
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, commands));
-// ledThread.errorReset();
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
}
} else {
- News.error(""+mark+" - 5"+" - 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);
- staProtocol.setWorkNo(9999);
+ staProtocol.setWorkNo(wrkNo);
+ wrkNo++;
staProtocol.setStaNo(inSta.getBackSta().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");
- }
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- // led 寮傚父鏄剧ず
if (ledThread != null) {
String errorMsg = jsonObject.getString("msg");
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
+ if (!Cools.isEmpty(errorMsg)) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+ }
}
+ News.error(methodName + ":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();
}
- }else {
- News.errorNoLog(""+mark+" - 6"+" - 绔欑偣淇℃伅涓嶇鍚堝叆搴撴潯浠讹紒锛侊紒"+" 鑷姩淇″彿锛�"+staProtocol.isAutoing()+"銆佸彲鍏ヤ俊鍙凤細" + staProtocol.isInEnable()
- +"銆佺┖鏉夸俊鍙凤細"+ staProtocol.isEmptyMk()+"銆佸伐浣滃彿锛�" + staProtocol.getWorkNo()
- +"銆侀攣瀹氭爣璁�"+ staProtocol.isPakMk()+"銆佸叆搴撳嵃璁帮細" + staProtocol.getStamp());
}
+
}
}
@@ -1475,22 +1391,22 @@
// ledThread.errorReset();
}
} else {
- staProtocol.setWorkNo(9999);
- staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- News.errorNoLog(""+mark+" - 2"+" - 鏇存柊plc绔欑偣淇℃伅澶辫触");
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
-
- if (ledThread != null) {
- String errorMsg = jsonObject.getString("msg");
- if (!Cools.isEmpty(errorMsg)) {
- MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
- }
- }
- News.error(""+mark+" - 3"+" - 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);
+// staProtocol.setWorkNo(wrkNo++);
+// staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// if (!result) {
+// News.errorNoLog(""+mark+" - 2"+" - 鏇存柊plc绔欑偣淇℃伅澶辫触");
+// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+// }
+//
+// if (ledThread != null) {
+// String errorMsg = jsonObject.getString("msg");
+// if (!Cools.isEmpty(errorMsg)) {
+// MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
+// }
+// }
+// News.error(""+mark+" - 3"+" - 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();
@@ -2268,7 +2184,7 @@
// 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
&& rgvProtocol.getModeType() == RgvModeType.AUTO
- && (rgvProtocol.getStatusType() == RgvStatusType.WORKING)
+ && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
){
log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
if (rgvProtocol.getTaskNo1()!=0){
@@ -2288,9 +2204,25 @@
continue;
}
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
+// boolean rgvComplete = true;
if (!rgvComplete){
log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
break;
+ }
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
+ if (!Cools.isEmpty(wrkMast)){
+ if (!staProtocol.isPakMk()){
+ continue;
+ }
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
+ continue;
+ }
}
wrkMastSta.setWrkSts(3);
wrkMastStaMapper.updateById(wrkMastSta);
@@ -2298,33 +2230,7 @@
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
}
-// else if (rgvProtocol.getTaskNo2()!=0){
-// if (rgvProtocol.getTaskNo2()==9999){
-// boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
-// if (!rgvComplete){
-// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
-// }
-// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
-// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
-// break;
-// }
-// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().intValue());
-// if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=2){
-// log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�"+wrkMastSta);
-// continue;
-// }
-// boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
-// if (!rgvComplete){
-// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
-// break;
-// }
-// wrkMastSta.setWrkSts(3);
-// wrkMastStaMapper.updateById(wrkMastSta);
-// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
-// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
-// }
+
else {
log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{},绛夊緟wcs纭浣嗘槸娌℃湁宸ヤ綔鍙凤紒",rgvProtocol.getRgvNo());
}
@@ -2569,24 +2475,52 @@
* 灏忚溅XY绉诲姩 閬胯
* */
public synchronized boolean rgvAvoidanceXY(Integer rgvId){
- try{
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1((short)9999); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(9, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+ if (rgvId==1){
+ try{
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+ rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
+ //basRgvMap.getLockStartRoute().shortValue()
+ rgvCommand.setSourceStaNo1( (short)100);
+ rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+ return false;
+ } else {
+ return true;
+ }
+ }catch (Exception e){
return false;
- } else {
- return true;
- }
- }catch (Exception e){
- return false;
+ }
+ }else {
+ try{
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+ rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
+ //basRgvMap.getLockStartRoute().shortValue()
+ rgvCommand.setSourceStaNo1( (short)161);
+ rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+ return false;
+ } else {
+ return true;
+ }
+ }catch (Exception e){
+ return false;
+
+ }
}
}
@@ -2723,7 +2657,7 @@
public synchronized boolean rgvComplete(Integer rgvId){
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(3, new RgvCommand()))) {
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
//step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}",rgvId);
return false;
diff --git a/src/main/java/com/zy/core/enums/RgvStatusType.java b/src/main/java/com/zy/core/enums/RgvStatusType.java
index 52a3179..2b1abff 100644
--- a/src/main/java/com/zy/core/enums/RgvStatusType.java
+++ b/src/main/java/com/zy/core/enums/RgvStatusType.java
@@ -6,6 +6,7 @@
IDLE(0, "绌洪棽"),
WORKING(1, "浣滀笟涓�"),
SOS(2, "鎶ヨ"),
+ WORKING1(3, "浣滀笟涓�"),
FETCHING(11, "鍙栬揣涓�"),
PUTTING(12, "鏀捐揣涓�"),
WAITING(90, "浠诲姟瀹屾垚绛夊緟WCS纭"),
diff --git a/src/main/java/com/zy/core/enums/RgvTaskModeType.java b/src/main/java/com/zy/core/enums/RgvTaskModeType.java
index da9046b..cd241f4 100644
--- a/src/main/java/com/zy/core/enums/RgvTaskModeType.java
+++ b/src/main/java/com/zy/core/enums/RgvTaskModeType.java
@@ -6,7 +6,7 @@
FETCH(1), // 鍙栬揣
PUT(2), // 鏀捐揣
FETCH_PUT(3), // 鍙栨斁璐�
-// X_MOVE(4), // 绔欎綅绉昏浆
+ X_MOVE(4), // 绔欎綅绉昏浆
// Y_MOVE(5), // 绔欎綅绉昏浆
// XY_MOVE(6), // 绔欎綅绉昏浆
GO_ORIGIN(7), // 鍥炲師鐐�
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index df569ca..be94698 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -91,13 +91,8 @@
command.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
command.setSourceStaNo1((short)0); // 婧愮珯
command.setDestinationStaNo1((short)0); // 鐩爣绔�
-// command.setTaskNo2((short) 0); // 宸ヤ綔鍙�
-// command.setAckFinish2((short) 1); // 浠诲姟瀹屾垚纭浣�
-// command.setTaskMode2(RgvTaskModeType.NONE); // 浠诲姟妯″紡
-// command.setSourceStaNo2((short)0); // 婧愮珯
-// command.setDestinationStaNo2((short)0); // 鐩爣绔�
command.setCommand((short)0);
- write(command);
+ write1(command);
break;
// 鍥炲師鐐� 閬胯
case 9:
@@ -349,7 +344,7 @@
if (command.getAckFinish1() == 0) {
short commandFinish = 1; //宸ヤ綅1浠诲姟鍐欏叆
- Thread.sleep(100L);
+ Thread.sleep(200);
result = siemensNet.Write("DB100.10", commandFinish);
}
@@ -371,7 +366,9 @@
null
);
bean.insert(basRgvOpt);
- } catch (Exception ignore) {}
+ } catch (Exception ignore) {
+ log.error(ignore.getMessage());
+ }
if (result != null && result.IsSuccess) {
Thread.sleep(200);
diff --git a/src/main/java/com/zy/core/thread/SiemensDevpThread.java b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
index fabc856..edb31c2 100644
--- a/src/main/java/com/zy/core/thread/SiemensDevpThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -342,21 +342,13 @@
}
ArrayList<Integer> staNos = getStaNo();
int index = staNos.indexOf(staProtocol.getSiteId());
-// short[] array = new short[2];
-// array[0] = staProtocol.getWorkNo();
-// array[1] = staProtocol.getStaNo();
-// OperateResult write = siemensS7Net.Write("DB100." + index*4, array);
-
OperateResult write = null;
OperateResult write1 = null;
//浠诲姟涓嬪彂娆℃暟
int writeCount = 0;
do {
-// write = siemensS7Net.Write("DB100.0" + index*2, staProtocol.getWorkNo()); // 宸ヤ綔鍙�
-// Thread.sleep(500);
-// write1 = siemensS7Net.Write("DB100.0" + index*2+2, staProtocol.getStaNo()); // 鐩爣绔�
write = siemensS7Net.Write("DB100." + index*6, staProtocol.getWorkNo()); // 宸ヤ綔鍙�
- Thread.sleep(500);
+ Thread.sleep(200);
write1 = siemensS7Net.Write("DB100." + (index*6+4), staProtocol.getStaNo().shortValue()); // 鐩爣绔�
if(write.IsSuccess && write1.IsSuccess){
break;
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index c751e79..70e315d 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -81,14 +81,14 @@
# 鍫嗗灈鏈哄叆搴撶珯鐐�
crnInStn[0]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 128
+ staNo: 127
row: 6
bay: 1
lev: 1
# 鍫嗗灈鏈哄嚭搴撶珯鐐�
crnOutStn[0]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 132
+ staNo: 131
row: 7
bay: 1
lev: 1
@@ -105,14 +105,14 @@
# 鍫嗗灈鏈哄叆搴撶珯鐐�
crnInStn[0]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 136
+ staNo: 135
row: 12
bay: 1
lev: 1
# 鍫嗗灈鏈哄嚭搴撶珯鐐�
crnOutStn[0]:
devpPlcId: ${wcs-slave.devp[0].id}
- staNo: 140
+ staNo: 139
row: 11
bay: 1
lev: 1
diff --git a/src/main/resources/mapper/WrkMastStaMapper.xml b/src/main/resources/mapper/WrkMastStaMapper.xml
index 12ec111..6997839 100644
--- a/src/main/resources/mapper/WrkMastStaMapper.xml
+++ b/src/main/resources/mapper/WrkMastStaMapper.xml
@@ -33,7 +33,7 @@
<select id="selectByWrkNo" resultMap="BaseResultMap">
select top 1 * from asr_wrk_mast_sta
where 1=1
- and wrk_no = #{wrkNo}
+ and wrk_no = #{workNo}
</select>
<select id="selectNoInterfere" resultMap="BaseResultMap">
diff --git a/src/main/webapp/static/js/console.map.js b/src/main/webapp/static/js/console.map.js
index f6d7d2b..0460771 100644
--- a/src/main/webapp/static/js/console.map.js
+++ b/src/main/webapp/static/js/console.map.js
@@ -419,19 +419,11 @@
"height": 42
}, {
"type": "stn",
- "id": "site-140",
- "text": "140",
- "top": 304,
- "left": 468,
- "width": 60,
- "height": 19
- }, {
- "type": "stn",
"id": "site-139",
"text": "139",
"top": 304,
"left": 406,
- "width": 60,
+ "width": 120,
"height": 19
}, {
"type": "stn",
@@ -455,17 +447,9 @@
"text": "135",
"top": 352,
"left": 406,
- "width": 60,
+ "width": 120,
"height": 19
- }, {
- "type": "stn",
- "id": "site-136",
- "text": "136",
- "top": 352,
- "left": 468,
- "width": 60,
- "height": 19
- }, {
+ }, {
"type": "stn",
"id": "site-137",
"text": "137",
@@ -495,15 +479,7 @@
"text": "131",
"top": 417,
"left": 406,
- "width": 60,
- "height": 19
- }, {
- "type": "stn",
- "id": "site-132",
- "text": "132",
- "top": 417,
- "left": 468,
- "width": 60,
+ "width": 120,
"height": 19
}, {
"type": "stn",
@@ -527,17 +503,9 @@
"text": "127",
"top": 464.5,
"left": 406,
- "width": 60,
+ "width": 120,
"height": 19
- }, {
- "type": "stn",
- "id": "site-128",
- "text": "128",
- "top": 464.5,
- "left": 468,
- "width": 60,
- "height": 19
- }, {
+ }, {
"type": "stn",
"id": "site-125",
"text": "125",
--
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