From 8c0d2c49eb091aedd053d8f7a1be28b67ce8d0c3 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期一, 27 十月 2025 18:47:51 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 1063 ++++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 838 insertions(+), 225 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 47e4f08..5789190 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -4,11 +4,10 @@
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.common.R;
+import com.core.common.*;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
+import com.zy.asrs.entity.param.AgvTaskAssignmentParam;
import com.zy.asrs.entity.param.ArmOrderAssignmentParam;
import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
import com.zy.asrs.entity.param.CombParam;
@@ -20,6 +19,7 @@
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
import com.zy.asrs.utils.core.ReturnT;
+import com.zy.common.constant.AgvConstant;
import com.zy.common.constant.ArmConstant;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
@@ -105,6 +105,8 @@
private BasRgvMapService basRgvMapService;
@Autowired
private BasArmService basArmService;
+ @Autowired
+ private BasAgvMastService basAgvMastService;
@Autowired
private BasArmMastService basArmMastService;
@Autowired
@@ -491,10 +493,10 @@
if (Cools.isEmpty(staDesc)) {
News.error(""+mark+" - 2"+" - 鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
staProtocol.setWorkNo(wrkNo++);
- staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
+ staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()));
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- log.error("杈撻�佺嚎涓嬪彂4锛�"+9989+","+(pickSta.getStaNo().shortValue()-(short)1));
+ log.error("杈撻�佺嚎涓嬪彂4锛�"+9996+","+(pickSta.getStaNo().shortValue()-(short)1));
//LED
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
// led 寮傚父鏄剧ず
@@ -518,6 +520,14 @@
Date now = new Date();
// 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
Integer staNo = staDesc.getCrnStn();
+ if(wrkMast.getSourceStaNo() > 2000){
+ switch (wrkMast.getCrnNo()){
+ case 1: staNo = 2004;break;
+ case 2: staNo = 2010;break;
+ case 4: staNo = 2022;break;
+ case 5: staNo = 2028;break;
+ }
+ }
// 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
@@ -547,7 +557,7 @@
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
staProtocol.setWorkNo(wrkMast.getWrkNo());
- staProtocol.setStaNo((short) 161);
+ staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
log.error("杈撻�佺嚎涓嬪彂5锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
@@ -747,6 +757,101 @@
staProtocol = staProtocol.clone();
}
if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
+ WrkMast wrkMast9997 = wrkMastMapper.selectPakOutStep9997(staProtocol.getSiteId());
+ WrkMast wrkMast9996 = wrkMastMapper.selectPakOutStep9996(staProtocol.getSiteId());
+
+ if(crnSlave.getId() == 3 && wrkMast9997 != null){
+ WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9997.getBarcode());
+ // 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,3);
+ 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()== 9997
+ && crnProtocol.statusType == CrnStatusType.WAITING
+ && crnProtocol.forkPosType == CrnForkPosType.HOME) {
+ log.info("鍫嗗灈鏈哄嚭搴撳畬鎴� - 寮�濮嬫墽琛�");
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast107.getWrkNo());
+ staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast107.getStaNo(),wrkMast107.getSourceStaNo()));
+ if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂澶辫触");
+ continue;
+ }else {
+ log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂鎴愬姛");
+ }
+
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
+ wrkMast9997.setWrkSts(14L);
+ wrkMast9997.setCrnEndTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast9997) != 0) {
+ // 澶嶄綅鍫嗗灈鏈�
+ log.error("鍑哄簱浠诲姟瀹屾垚涓嬪彂鍫嗗灈鏈哄浣�,{}", wrkMast9997.getWrkNo());
+ crnThread.setResetFlag(true);
+ } else {
+ News.error(""+mark+" - 1"+" - 鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast9997.getWrkNo());
+ }
+
+ }else {
+ News.errorNoLog(""+mark+" - 6"+" - 鍫嗗灈鏈轰俊鎭笉绗﹀悎鍏ュ簱鏉′欢锛侊紒锛�"
+ +" 鍫嗗灈鏈虹姸鎬侊細"+crnProtocol.modeType+"==鑷姩AUTO锛�" + CrnModeType.AUTO
+ +"銆佸爢鍨涙満浠诲姟鍙凤細"+crnProtocol.getTaskNo()+"==宸ヤ綔妗ｄ换鍔″彿锛�" + wrkMast9997.getWrkNo().shortValue()
+ +"銆佺姸鎬佹灇涓撅細"+crnProtocol.statusType+"==WAITING锛�90 //浠诲姟瀹屾垚绛夊緟WCS纭)锛�" + CrnStatusType.WAITING
+ +"銆佽揣鍙変綅缃細"+crnProtocol.forkPosType+"==HOME锛�0 // 璐у弶鍘熶綅锛�" + CrnForkPosType.HOME);
+ }
+ }
+ if(crnSlave.getId() == 3 && wrkMast9996 != null){
+ WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9996.getBarcode());
+ // 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, 3);
+ 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() == 9996
+ && crnProtocol.statusType == CrnStatusType.WAITING
+ && crnProtocol.forkPosType == CrnForkPosType.HOME) {
+ log.info("鍫嗗灈鏈哄嚭搴撳畬鎴� - 寮�濮嬫墽琛�");
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast107.getWrkNo());
+ staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast107.getStaNo(),wrkMast107.getSourceStaNo()));
+ if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂澶辫触");
+ continue;
+ }else {
+ log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂鎴愬姛");
+ }
+
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
+ wrkMast9996.setWrkSts(14L);
+ wrkMast9996.setCrnEndTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast9996) != 0) {
+ // 澶嶄綅鍫嗗灈鏈�
+ log.error("鍑哄簱浠诲姟瀹屾垚涓嬪彂鍫嗗灈鏈哄浣�,{}", wrkMast9996.getWrkNo());
+ crnThread.setResetFlag(true);
+ } else {
+ News.error(""+mark+" - 1"+" - 鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast9996.getWrkNo());
+ }
+
+ }else {
+ News.errorNoLog(""+mark+" - 6"+" - 鍫嗗灈鏈轰俊鎭笉绗﹀悎鍏ュ簱鏉′欢锛侊紒锛�"
+ +" 鍫嗗灈鏈虹姸鎬侊細"+crnProtocol.modeType+"==鑷姩AUTO锛�" + CrnModeType.AUTO
+ +"銆佸爢鍨涙満浠诲姟鍙凤細"+crnProtocol.getTaskNo()+"==宸ヤ綔妗ｄ换鍔″彿锛�" + wrkMast9996.getWrkNo().shortValue()
+ +"銆佺姸鎬佹灇涓撅細"+crnProtocol.statusType+"==WAITING锛�90 //浠诲姟瀹屾垚绛夊緟WCS纭)锛�" + CrnStatusType.WAITING
+ +"銆佽揣鍙変綅缃細"+crnProtocol.forkPosType+"==HOME锛�0 // 璐у弶鍘熶綅锛�" + CrnForkPosType.HOME);
+ }
+ }
// 鏌ヨ宸ヤ綔妗�
WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
if (wrkMast == null) {
@@ -828,14 +933,17 @@
staProtocolOut = staProtocolOut.clone();
}
- if (staProtocolOut.getWorkNo() != null && staProtocolOut.getStaNo() == 4006) {
- WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
+ WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
+ if(wrkMastOut == null ){
+ continue;
+ }
+ if (staProtocolOut.getWorkNo() != null && wrkMastOut.getStaNo() == 4006) {
WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9997);
if (wrkMastOut == null) {
continue;
}
if (wrkMast != null) {
- News.info("宸插瓨鍦ㄦ枩琛椾换鍔★紝绛夊緟浠诲姟瀹屾垚");
+// News.info("宸插瓨鍦ㄦ枩琛椾换鍔★紝绛夊緟浠诲姟瀹屾垚");
continue;
}
try {
@@ -868,7 +976,13 @@
}
}
}
- if(staProtocolIn.getWorkNo() != null &&staProtocolIn.getStaNo() != 4001){
+ if(staProtocolIn.getWorkNo() != null && staProtocolIn.getStaNo() != 4001){
+ WrkMast wrkMastCrn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
+ if(wrkMastCrn!=null){
+ if(wrkMastCrn.getCrnNo() == 3 ){
+ continue;
+ }
+ }
WrkMast wrkMastIn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9996);
if(wrkMastIn == null){
@@ -1040,8 +1154,10 @@
} else {
staProtocol = staProtocol.clone();
}
-// if (slave.getId() == 3) {
-// SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+// WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9996(9996);
+//
+// if (slave.getId() == 3 && wrkMast9996 != null) {
+// SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp,2);
// StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
// if (staProtocol2 == null) {
// News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
@@ -1049,14 +1165,13 @@
// } else {
// staProtocol2 = staProtocol2.clone();
// }
-// WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
// if (staDetl == null) {
// News.error(""+mark+" - 2"+" - 5"+" - 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;
// }
-// if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
+// if( staProtocol2.isAutoing() && staProtocol2.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
// // 鍫嗗灈鏈烘帶鍒惰繃婊�
// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//// continue;
@@ -1073,23 +1188,30 @@
// crnCommand.setTaskNo((short) 9996); // 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((short) 5); // 婧愬簱浣嶆帓
-// crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
-// crnCommand.setSourcePosZ((short) 4); // 婧愬簱浣嶅眰
-// crnCommand.setDestinationPosX((short) 6); // 鐩爣搴撲綅鎺�
-// crnCommand.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
-// crnCommand.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+// crnCommand.setSourcePosX((short) 9); // 婧愬簱浣嶆帓
+// crnCommand.setSourcePosY((short) 52); // 婧愬簱浣嶅垪
+// crnCommand.setSourcePosZ((short) 3); // 婧愬簱浣嶅眰
+// if(wrkMast9996.getStaNo()>2000){
+// crnCommand.setDestinationPosX((short) 9); // 鐩爣搴撲綅鎺�
+// crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
+// crnCommand.setDestinationPosZ((short) 2); // 鐩爣搴撲綅灞�
+// }else{
+// crnCommand.setDestinationPosX((short) 11); // 鐩爣搴撲綅鎺�
+// crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
+// crnCommand.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+// }
+//
//// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
-// if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
-// News.error("" + mark + " - 2" + " - 13" + " - 鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast9999.getCrnNo(), JSON.toJSON(crnCommand));
+// if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) {
+// News.error("" + mark + " - 2" + " - 13" + " - 鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast9996.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();
-// wrkMast9999.setWrkSts(3L);
-// wrkMast9999.setCrnStrTime(now);
-// wrkMast9999.setModiTime(now);
-// if (wrkMastMapper.updateById(wrkMast9999) == 0) {
-// News.error("" + mark + " - 2" + " - 14" + " - 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={}", wrkMast9999.getWrkNo());
+// wrkMast9996.setWrkSts(3L);
+// wrkMast9996.setCrnStrTime(now);
+// wrkMast9996.setModiTime(now);
+// if (wrkMastMapper.updateById(wrkMast9996) == 0) {
+// News.error("" + mark + " - 2" + " - 14" + " - 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={}", wrkMast9996.getWrkNo());
// }
// break;
// }
@@ -1239,61 +1361,170 @@
// 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());
-// if (slave.getId() == 3) {
-// SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
-// StaProtocol staProtocol2 = devpThread1.getStation().get(1015);
-// if (staProtocol2 == null) {
-// News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
-// break;
-// } else {
-// staProtocol2 = staProtocol2.clone();
-// }
-// WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9997);
-// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
-// if (staDetl == null) {
-// News.error(""+mark+" - 2"+" - 5"+" - 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;
-// }
-// if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
-// // 鍫嗗灈鏈烘帶鍒惰繃婊�
-// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
-//// continue;
-// break;
-// }
-// // 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((short) 9997); // 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((short) 5); // 婧愬簱浣嶆帓
-// crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
-// crnCommand.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
-// crnCommand.setDestinationPosX((short) 6); // 鐩爣搴撲綅鎺�
-// crnCommand.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
-// crnCommand.setDestinationPosZ((short) 4); // 鐩爣搴撲綅灞�
-//// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
-// if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
-// News.error("" + mark + " - 2" + " - 13" + " - 鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast9999.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();
-// wrkMast9999.setWrkSts(12L);
-// wrkMast9999.setCrnStrTime(now);
-// wrkMast9999.setModiTime(now);
-// if (wrkMastMapper.updateById(wrkMast9999) == 0) {
-// News.error("" + mark + " - 2" + " - 14" + " - 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={}", wrkMast9999.getWrkNo());
-// }
-// break;
-// }
-// }
-// }
+ WrkMast wrkMast9997 = wrkMastMapper.selectByWrkNo9997(9997);
+ WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9997(9996);
+
+
+ if (slave.getId() == 3 && wrkMast9997 != null) {
+ SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol2 = devpThread1.getStation().get(1015);
+ if (staProtocol2 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
+ break;
+ } else {
+ staProtocol2 = staProtocol2.clone();
+ }
+ SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+ StaProtocol staProtocol3 = devpThread2.getStation().get(2016);
+ if (staProtocol3 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
+ break;
+ } else {
+ staProtocol3 = staProtocol3.clone();
+ }
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ News.error(""+mark+" - 2"+" - 5"+" - 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;
+ }
+ if(staProtocol2.isLoading() && staProtocol2.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+// continue;
+ break;
+ }
+ // 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((short) 9997); // 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((short) 9); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 52); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX((short) 11); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 3); // 鐩爣搴撲綅灞�
+// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) {
+ News.error("" + mark + " - 2" + " - 13" + " - 鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast9997.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();
+ wrkMast9997.setWrkSts(12L);
+ wrkMast9997.setCrnStrTime(now);
+ wrkMast9997.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast9997) == 0) {
+ News.error("" + mark + " - 2" + " - 14" + " - 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={}", wrkMast9997.getWrkNo());
+ }
+ break;
+ }
+ }
+ if(staProtocol3.isLoading() && staProtocol3.isAutoing()){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+// continue;
+ break;
+ }
+ // 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((short) 9997); // 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((short) 11); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 52); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 2); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX((short) 11); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 3); // 鐩爣搴撲綅灞�
+// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) {
+ News.error("" + mark + " - 2" + " - 13" + " - 鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast9997.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();
+ wrkMast9997.setWrkSts(12L);
+ wrkMast9997.setCrnStrTime(now);
+ wrkMast9997.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast9997) == 0) {
+ News.error("" + mark + " - 2" + " - 14" + " - 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={}", wrkMast9997.getWrkNo());
+ }
+ break;
+ }
+ }
+ }
+ if (slave.getId() == 3 && wrkMast9996 != null) {
+ SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+ StaProtocol staProtocol4001 = devpThread2.getStation().get(4001);
+ if (staProtocol4001 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol4001);
+ break;
+ } else {
+ staProtocol4001 = staProtocol4001.clone();
+ }
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ News.error(""+mark+" - 2"+" - 5"+" - 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;
+ }
+ if(staProtocol4001.isLoading() && staProtocol4001.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+// continue;
+ break;
+ }
+ // 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((short) 9996); // 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((short) 9); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 52); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 3); // 婧愬簱浣嶅眰
+ if(wrkMast9996.getStaNo()>2000){
+ crnCommand.setDestinationPosX((short) 9); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 2); // 鐩爣搴撲綅灞�
+ }else{
+ crnCommand.setDestinationPosX((short) 11); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+ }
+// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) {
+ News.error("" + mark + " - 2" + " - 13" + " - 鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast9996.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();
+ wrkMast9996.setWrkSts(12L);
+ wrkMast9996.setCrnStrTime(now);
+ wrkMast9996.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast9996) == 0) {
+ News.error("" + mark + " - 2" + " - 14" + " - 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={}", wrkMast9996.getWrkNo());
+ }
+ break;
+ }
+ }
+ }
for (WrkMast wrkMast : wrkMasts) {
if (wrkMast == null) {
continue;
@@ -3253,6 +3484,11 @@
basRgvService.updateById(basRgv);
rgvThread.setPakMk(true);
}
+ List<WrkMastSta> wrkMastStaPakingNum = wrkMastStaService.selectPakingWrkNum(basRgv.getRgvNo());
+ if(wrkMastStaPakingNum.size() <1){
+ basRgv.setPakAll("1"); //闃叉鏃犲叾浠栦换鍔℃椂锛岃繛缁彇璐ф棤娉曟仮澶�
+ basRgvService.updateById(basRgv);
+ }
}
}
@@ -3282,6 +3518,7 @@
basRgv.setPakAll("1");
basRgvService.updateById(basRgv);
}
+
// 鍙湁褰揜GV绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE &&
rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk()
@@ -3324,58 +3561,14 @@
WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
if(wrkMastSta1 != null && wrkMastSta2 != null){
rgvThread.setPakMk(false); //灏忚溅鍙屽伐浣嶉攣瀹�
+
}
-// if(!rgvThread.isPakToCrn()){
-// rgvRunWrkToCrn(rgv, rgvProtocol,mark); //鑻ュ皬杞﹀彇鍒颁竴涓帴椹充换鍔★紝绗簩涓伐浣嶅彧鑳藉彇鎺ラ┏浠诲姟
-// }
+
// if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
// rgvPreScheduling();//鑻ユ殏鏃犱笅鍙戜换鍔￠璋冨害鎻愬墠鍒板彇璐х偣
// }
-// if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
-// //灏忚溅鎵ц鏀捐揣浠诲姟
-// rgvOutExecute();
-//
-// }
- }
- }
- public synchronized void rgvRunWrkMastInTest(){
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(1);
- List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
- basRgvMap.setNowRoute(1021); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(342);//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
-
-// WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, 1);
- boolean result = false;
-// if(wrkMastSta2 != null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
-// result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
-// }
-// if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
-// rgvThread.setPakRgv(false);
-// continue;
-// }
- wrkMastSta.setWorkSta(1);
- wrkMastSta.setRgvNo(1);
- wrkMastSta.setStaStart(1035);
- Short direction = 2;//鍙屽伐浣嶆渶缁堟姷杈句綅缃�
- boolean sign = false;
-// sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,); //鍛戒护涓嬪彂
- if (sign){
- wrkMastSta.setWrkSts(1);
- try{
- wrkMastStaMapper.updateById(wrkMastSta);
- log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
- }catch (Exception e){
- log.error("鏇存柊灏忚溅浠诲姟澶辫触");
- }
-// rgvThread.setPakOut(false);//鍑哄簱涓嶅厑璁�
- boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
- if (!signMap){
- log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
- }
- } else {
- log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
}
}
/**
@@ -3476,7 +3669,7 @@
if(wrkMastSta3 != null ){
List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
- if(wrkMastStaPaking.size() < 1){//宸叉湁鏍囪涓嶅啀鏍囪
+ if(wrkMastStaPaking.size() < 1 ){//宸叉湁鏍囪涓嶅啀鏍囪
wrkMastSta3.setMk(1);
basRgv.setPakAll("0");
basRgvService.updateById(basRgv);
@@ -3580,6 +3773,9 @@
continue;
}
WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
+ if(basRgv.getPakToCrn().equals("0")){
+ wrkMastSta = wrkMastStaMapper.selectNoInterfereCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));//澶勭悊鎺ラ┏浠诲姟鏃讹紝杩炵画鍙彇鎺ラ┏浠诲姟
+ }
boolean result = false;
if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
@@ -3588,7 +3784,6 @@
basRgv.setPakRgv("0");
basRgvService.updateById(basRgv);
-// rgvThread.setPakRgv(false);
continue;
}
wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//鑻�1鍙峰伐浣嶆湁浠诲姟缁�2鍙峰伐浣�
@@ -3599,8 +3794,11 @@
if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
basRgv.setPakToCrn("0");
basRgvService.updateById(basRgv);
-
-// rgvThread.setPakToCrn(false); //閿佸畾灏忚溅鍙兘鎺ユ帴椹充换鍔�
+ if(wrkMastSta3 != null){
+ if(!LEFT_POSITION.contains(wrkMastSta3.getStaEnd())){
+ wrkMastSta3 = null;//鑻ユ帴椹崇浜屼綅涓嶆帴椹虫椂鍙栨秷杩炵画鍙栬揣
+ }
+ }
}
if(wrkMastSta3 != null ){
@@ -3640,94 +3838,137 @@
/**
* 灏忚溅鍑哄簱鎺ラ┏浠诲姟鍙栬揣涓嬪彂
*/
-// public synchronized void rgvRunWrkToCrn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
-// for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv鍑哄簱鍙栬揣绔欑偣
-// boolean flag = false;
-// //閬嶅巻rgv鍏ュ簱鍙栬揣绔欑偣
-// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
-// StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
-// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
-// StaProtocol staProtocol2 = null;
-// if(rgvStn.getStaNo2()!= null ){
-// staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
-// if (staProtocol2 == null) {
-// News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍏ュ簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
-// continue;
-// } else {
-// staProtocol2 = staProtocol2.clone();
-// }
-// BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
-// if (staDetl2 == null) {
-// News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
-// continue;
-// }
-// }
-// if (staProtocol == null) {
-// News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍑哄簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
-// continue;
-// } else {
-// staProtocol = staProtocol.clone();
-// }
-//
-// // 鏌ヨ绔欑偣璇︾粏淇℃伅
-// BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
-// if (staDetl == null) {
-// News.error("" + mark + " - 1" + " - 2" + " - 鍑哄簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
-// continue;
-// }
-//
-// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
-// && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
-// flag = true;
-// }
-// if (!flag) {
-// News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv鍑哄簱鍙栬揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
-// + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
-// + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isOutEnable()
-// + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanouting());
-// continue;
-// }
-// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-// List<Integer> route = new ArrayList<>();
-// switch (rgvProtocol.getRgvNo()){
-// case 1: route = RouteUtils.getRouteOne();break;
-// case 2: route = RouteUtils.getRouteTwo();break;
-// }
-// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
-// WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfereToCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
-// if( null == wrkMastSta ) {
-// News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
-// continue;
-// }
-// WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
-// boolean result = false;
-// if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
-// result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
-// }
-// if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
-// rgvThread.setPakRgv(false);
-// continue;
-// }
-// wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//鑻�1鍙峰伐浣嶆湁浠诲姟缁�2鍙峰伐浣�
-// wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
-// boolean sign = false;
-// sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
-// if (sign){
+ public synchronized void rgvRunWrkToCrn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv鍑哄簱鍙栬揣绔欑偣
+ boolean flag = false;
+ //閬嶅巻rgv鍏ュ簱鍙栬揣绔欑偣
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
+ BasRgv basRgv = basRgvService.selectById(slave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", slave.getId());
+ continue;
+ }
+ StaProtocol staProtocol2 = null;
+ WrkMastSta wrkMastSta3 = null;
+
+ if(rgvStn.getStaNo2()!= null ){
+ staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
+ if (staProtocol2 == null) {
+ News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍏ュ簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocol2 = staProtocol2.clone();
+ }
+ BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
+ if (staDetl2 == null) {
+ News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+ wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
+
+ }
+ if (staProtocol == null) {
+ News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍑哄簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
+ if (staDetl == null) {
+ News.error("" + mark + " - 1" + " - 2" + " - 鍑哄簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
+ && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv鍑哄簱鍙栬揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
+ + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
+ + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isOutEnable()
+ + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanouting());
+ continue;
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ List<Integer> route = new ArrayList<>();
+ switch (rgvProtocol.getRgvNo()){
+ case 1: route = RouteUtils.getRouteOne();break;
+ case 2: route = RouteUtils.getRouteTwo();break;
+ }
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ basRgvMapService.updateById(basRgvMap);
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
+ if( null == wrkMastSta ) {
+ News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ continue;
+ }
+ WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
+ if(basRgv.getPakToCrn().equals("0")){
+ wrkMastSta = wrkMastStaMapper.selectNoInterfereCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));
+ }
+ boolean result = false;
+ if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
+ result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
+ }
+ if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
+ basRgv.setPakRgv("0");
+ basRgvService.updateById(basRgv);
+
+ continue;
+ }
+ wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//鑻�1鍙峰伐浣嶆湁浠诲姟缁�2鍙峰伐浣�
+ wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
+ boolean sign = false;
+ sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+ if (sign){
+ if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
+ basRgv.setPakToCrn("0");
+ basRgvService.updateById(basRgv);
+ if(wrkMastSta3 != null){
+ if(!LEFT_POSITION.contains(wrkMastSta3.getStaEnd())){
+ wrkMastSta3 = null;//鑻ユ帴椹崇浜屼綅涓嶆帴椹虫椂鍙栨秷杩炵画鍙栬揣
+ }
+ }
+ }
+
+ if(wrkMastSta3 != null ){
+ List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
+ if(wrkMastStaPaking.size() < 1){
+ wrkMastSta3.setMk(1);
+ basRgv.setPakAll("0");
+ basRgvService.updateById(basRgv);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta3);
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
+ }catch (Exception e){
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
+ }
+ }
+ }
+ basRgv.setPakIn("0");
+ basRgvService.updateById(basRgv);
+
+ rgvThread.setPaking(false);
// rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
-// try{
-// wrkMastSta.setWrkSts(1);
-// wrkMastStaMapper.updateById(wrkMastSta);
-// log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
-// }catch (Exception e){
-// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
-// }
-// } else {
-// log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
-// }
-//
-//
-// }
-// }
+ try{
+ wrkMastSta.setWrkSts(1);
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+
+
+ }
+ }
/**
* 鎵ц灏忚溅鎼繍浠诲姟
*
@@ -4257,9 +4498,20 @@
.eq("status", 2)
.eq("binding_tags", basArmMast.getBindingTags())
);
+
if (binding_tags<2){
- armTaskAssignmentCallApiLogSave(staProtocol, "鏉＄爜鏁版嵁宸插瓨鍦紒锛侊紒", staProtocol.getSiteId()+"鐮佸灈浣嶇疆锛屾潯鐮佹暟鎹鍦ㄨ嚜鍔ㄧ粍鎵�===>>" + barcode, false);
- continue;
+ BasArmMast basArmMastOne = basArmMastService.selectOne(
+ new EntityWrapper<BasArmMast>()
+ .eq("status", 2)
+ .eq("binding_tags", basArmMast.getBindingTags())
+ );
+ Double anfmeSignOne = basArmMastService.selectBasArmMastSignValue(basArmMastOne.getOrderNo(), basArmMastOne.getSku(),basArmMastOne.getBindingTags());
+
+ if (anfmeSignOne>1D){
+ armTaskAssignmentCallApiLogSave(staProtocol, "鏉＄爜鏁版嵁宸插瓨鍦紒锛侊紒", staProtocol.getSiteId()+"鐮佸灈浣嶇疆锛屾潯鐮佹暟鎹鍦ㄨ嚜鍔ㄧ粍鎵�===>>" + barcode, false);
+ continue;
+ }
+
}
}
OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getSku());
@@ -4310,13 +4562,374 @@
}
}
- public void armTaskAssignmentCallApiLogSave(StaProtocol staProtocol ,String tableName, String response, Boolean bool) {
- ApiLog apiLog = apiLogService.selectOne(new EntityWrapper<ApiLog>()
+ public void armTaskAssignmentCallApiLogSave(StaProtocol staProtocol, String tableName, String response, Boolean bool) {
+ // 鏌ヨ绗﹀悎鏉′欢鐨勬墍鏈� ApiLog
+ List<ApiLog> apiLogs = apiLogService.selectList(new EntityWrapper<ApiLog>()
.eq("namespace", "鏈烘鑷備换鍔＄浉鍏�")
.eq("request", "绔欑偣鍙�:" + staProtocol.getSiteId())
.eq("response", response)
.eq("url", tableName)
.eq("client_ip", staProtocol.getBarcode())
+ .eq("result", 0)
+ .orderBy("create_time", false)
+ );
+
+ // 閬嶅巻缁撴灉闆嗭紝妫�鏌ユ椂闂存埑宸�兼槸鍚﹀皬浜� 5 鍒嗛挓
+ for (ApiLog apiLog : apiLogs) {
+ long parseLong = Long.parseLong(apiLog.getTimestamp());
+ if (new Date().getTime() - parseLong < 5 * 1000 * 60) {
+ // 濡傛灉鎵惧埌绗﹀悎鏉′欢鐨勮褰曚笖鏃堕棿宸皬浜� 5 鍒嗛挓锛屽垯涓嶄繚瀛樻柊璁板綍锛岀洿鎺ヨ繑鍥�
+ return;
+ }
+ }
+
+ // 濡傛灉娌℃湁绗﹀悎鏉′欢鐨勮褰曪紝鎴栬�呮墍鏈夎褰曟椂闂村樊澶т簬 5 鍒嗛挓锛屼繚瀛樻柊鐨勬棩蹇�
+ apiLogService.save("鏈烘鑷備换鍔＄浉鍏�", tableName, "null", staProtocol.getBarcode(),
+ "绔欑偣鍙�:" + staProtocol.getSiteId(),
+ response, bool);
+ }
+
+ /*
+ * agv浠诲姟鐢熸垚 Full
+ * */
+ public synchronized void agvTaskCreateFull() {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鍑哄簱鍙�
+ for (DevpSlave.Sta outStaAgv : devp.getOutStaAgvFull()) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(outStaAgv.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (!staProtocol.isLoading()){
+ continue;
+ }
+ if (staProtocol.isAutoing() ) {
+ WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
+ if (Cools.isEmpty(wrkMast) || Cools.isEmpty(wrkMast.getTakeNone()) || !wrkMast.getTakeNone().equals("1")){
+ continue;
+ }
+
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("task_no", staProtocol.getWorkNo()));
+ if (!basAgvMastList.isEmpty()) {
+ wrkMast.setTakeNone("2");
+ wrkMastMapper.updateById(wrkMast);
+ continue;
+ }
+
+ // 浠诲姟鐢熸垚鍖� --------------------------------------------------------------------------
+
+ BasAgvMast basAgvMast = new BasAgvMast();
+
+
+ try {
+ LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(wrkMast.getBarcode());
+ param.setIoType(1);
+ param.setSourceStaNo(outStaAgv.getStaNo());
+ param.setLocType1(locTypeDto.getLocType1());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/agv/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+
+ basAgvMast.setTaskNo(wrkMast.getWrkNo());
+ basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
+ basAgvMast.setLocNo(dto.getLocNo());
+ basAgvMast.setSourceLocNo(wrkMast.getSourceLocNo());
+ basAgvMast.setDevpId(devp.getId());
+ basAgvMast.setIoType(2);
+
+ basAgvMastService.insert(basAgvMast);
+
+
+ wrkMast.setTakeNone("2");
+ wrkMastMapper.updateById(wrkMast);
+ } else {
+ News.error(JSON.toJSONString(staProtocol));
+ }
+ } catch (Exception e) {
+ News.error(JSON.toJSONString(e.getMessage()));
+ }
+ }
+ }
+ }
+ }
+
+ /*
+ * agv浠诲姟鐢熸垚 Empty
+ * */
+ public synchronized void agvTaskCreateEmpty() {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鍑哄簱鍙�
+ for (DevpSlave.Sta outStaAgv : devp.getOutStaAgvEmpty()) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(outStaAgv.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (!staProtocol.isLoading()){
+ continue;
+ }
+
+ String barcode = staProtocol.getBarcode();
+ if(!Cools.isEmpty(barcode)) {
+ if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+ News.info("{}鍙风珯鐐规壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", outStaAgv.getStaNo(), barcode);
+ continue;
+ }
+ } else {
+ News.info("{}鍙风珯鐐规壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", outStaAgv.getStaNo(), barcode);
+ continue;
+ }
+ if (staProtocol.isAutoing()) {
+
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()));
+ if (!basAgvMastList.isEmpty()) {
+ News.info("{}鍙风珯鐐瑰瓨鍦ㄤ换鍔℃墽琛屼腑锛岃绛夊緟浠诲姟鎵ц瀹屾瘯锛歿}", outStaAgv.getStaNo(), barcode);
+ continue;
+ }
+
+ List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>().eq("barcode", barcode));
+ if (!locMastList.isEmpty()) {
+ News.info("{}鍙风珯鐐规潯鐮佷俊鎭噸澶嶏細{}", outStaAgv.getStaNo(), barcode);
+ continue;
+ }
+ // 浠诲姟鐢熸垚鍖� --------------------------------------------------------------------------
+
+ BasAgvMast basAgvMast = new BasAgvMast();
+
+
+ try {
+ LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(barcode);
+ param.setIoType(1);
+ param.setSourceStaNo(outStaAgv.getStaNo());
+ param.setLocType1(locTypeDto.getLocType1());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/agv/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+
+ basAgvMast.setTaskNo(outStaAgv.getStaNo());
+ basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
+ basAgvMast.setLocNo(dto.getLocNo());
+ basAgvMast.setDevpId(devp.getId());
+ basAgvMast.setIoType(2);
+
+ basAgvMastService.insert(basAgvMast);
+ } else {
+ News.error(JSON.toJSONString(staProtocol));
+ }
+ } catch (Exception e) {
+ News.error(JSON.toJSONString(e.getMessage()));
+ }
+ }
+ }
+ }
+ }
+
+
+ /*
+ * agv浠诲姟涓嬪彂:AGV搴撲綅==銆嬭緭閫佺嚎绔欑偣
+ * */
+ public synchronized void agvTaskAssignment0() {
+ try{
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("status", 0));
+ for (BasAgvMast basAgvMast : basAgvMastList) {
+ if (basAgvMast.getStatus()!=0 || basAgvMast.getIoType()!=0){//0==銆婣GV搴撲綅==銆嬭緭閫佺嚎绔欑偣
+ continue;
+ }
+ try{
+ // 鑾峰彇绔欑偣淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getDevpId());
+ StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ if (staProtocol.isAutoing()){
+
+ AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
+
+ //浠诲姟涓嬪彂
+ ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
+ if (result.getCode()==200){
+ basAgvMast.setStatus(1);
+ basAgvMastService.updateById(basAgvMast);
+ } else {
+ agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV浠诲姟涓嬪彂澶辫触", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
+ }
+ }
+ } catch (Exception e){
+ log.error("浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"====銆婣GV浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+ }catch (Exception e){
+ log.error("AGV浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+
+ /*
+ * agv浠诲姟涓嬪彂:AGV搴撲綅==銆婣GV搴撲綅
+ * */
+ public synchronized void agvTaskAssignment1() {
+ try{
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("status", 0));
+ for (BasAgvMast basAgvMast : basAgvMastList) {
+ if (basAgvMast.getStatus()!=0 || basAgvMast.getIoType()!=1){//1==銆婣GV搴撲綅==銆婣GV搴撲綅
+ continue;
+ }
+ try{
+ AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
+
+ //浠诲姟涓嬪彂
+ ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
+ if (result.getCode()==200){
+ basAgvMast.setStatus(1);
+ basAgvMastService.updateById(basAgvMast);
+ } else {
+ agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV浠诲姟涓嬪彂澶辫触", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
+ }
+
+ } catch (Exception e){
+ log.error("浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"====銆婣GV浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+ }catch (Exception e){
+ log.error("AGV浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+
+ /*
+ * agv浠诲姟涓嬪彂:杈撻�佺嚎绔欑偣==銆婣GV搴撲綅
+ * */
+ public synchronized void agvTaskAssignment2() {
+ try{
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("status", 0));
+ for (BasAgvMast basAgvMast : basAgvMastList) {
+ if (basAgvMast.getStatus()!=0 || basAgvMast.getIoType()!=2){//2==銆嬭緭閫佺嚎绔欑偣==銆婣GV搴撲綅
+ continue;
+ }
+ try{
+ // 鑾峰彇绔欑偣淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getDevpId());
+ StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getSourceStaNo());
+ if (staProtocol == null || !staProtocol.isLoading()) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo()))
+ ||
+ (basAgvMast.getSourceStaNo().equals(2033))){
+
+ AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
+
+ //浠诲姟涓嬪彂
+ ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
+ if (result.getCode()==200){
+ basAgvMast.setStatus(1);
+ basAgvMastService.updateById(basAgvMast);
+ } else {
+ agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV浠诲姟涓嬪彂澶辫触", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
+ }
+ }
+ } catch (Exception e){
+ log.error("浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"====銆婣GV浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+ }catch (Exception e){
+ log.error("AGV浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+
+ /*
+ * agv浠诲姟涓嬪彂:杈撻�佺嚎绔欑偣==銆嬭緭閫佺嚎绔欑偣
+ * */
+ public synchronized void agvTaskAssignment3() {
+ try{
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("status", 0));
+ for (BasAgvMast basAgvMast : basAgvMastList) {
+ if (basAgvMast.getStatus()!=0 || basAgvMast.getIoType()!=3){//3==銆嬭緭閫佺嚎绔欑偣==銆嬭緭閫佺嚎绔欑偣
+ continue;
+ }
+ try{
+ // 鑾峰彇绔欑偣淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getDevpId());
+ StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getSourceStaNo());
+ if (staProtocol == null || !staProtocol.isLoading()) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 鑾峰彇绔欑偣淇℃伅
+ StaProtocol staProtocolEnd = devpThread.getStation().get(basAgvMast.getStaNo());
+ if (staProtocolEnd == null || !staProtocolEnd.isAutoing()) {
+ continue;
+ } else {
+ staProtocolEnd = staProtocolEnd.clone();
+ }
+
+ if (!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())){
+
+ AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
+
+ //浠诲姟涓嬪彂
+ ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV浠诲姟涓嬪彂", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
+ if (result.getCode()==200){
+ basAgvMast.setStatus(1);
+ basAgvMastService.updateById(basAgvMast);
+ } else {
+ agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV浠诲姟涓嬪彂澶辫触", "浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"浠诲姟淇℃伅涓嬪彂澶辫触锛侊紒锛�", false);
+ }
+ }
+ } catch (Exception e){
+ log.error("浠诲姟鍙凤細"+basAgvMast.getTaskNo()+"====銆婣GV浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+ }catch (Exception e){
+ log.error("AGV浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+
+ public void agvTaskAssignmentCallApiLogSave(BasAgvMast basAgvMast ,String tableName, String response, Boolean bool) {
+ ApiLog apiLog = apiLogService.selectOne(new EntityWrapper<ApiLog>()
+ .eq("namespace", "Agv浠诲姟涓嬪彂")
+ .eq("request", "浠诲姟鍙�:" + basAgvMast.getTaskNo())
+ .eq("response", response)
+ .eq("url", tableName)
.eq("result", 0)
.orderBy("create_time", false)
);
@@ -4327,8 +4940,8 @@
return;
}
}
- apiLogService.save("鏈烘鑷備换鍔＄浉鍏�", tableName, "null", staProtocol.getBarcode(),
- "绔欑偣鍙�:" + staProtocol.getSiteId() ,
+ apiLogService.save("Agv浠诲姟涓嬪彂", tableName, "null", "127.0.0.1",
+ "浠诲姟鍙�:" + basAgvMast.getTaskNo() ,
response, bool);
}
--
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