From 8fb65b05c4e7abf048ef9b2f615d647226b06f1a Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@63.com>
Date: 星期二, 01 十一月 2022 14:04:50 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 539 ++++++++++++++++++++++++++++-------------------------------
1 files changed, 260 insertions(+), 279 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 e1bfc3f..2994db2 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3,7 +3,6 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
-import com.core.annotations.ManagerAuth;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
@@ -44,7 +43,10 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
-import java.util.*;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.List;
+import java.util.Set;
import java.util.stream.Collectors;
/**
@@ -641,8 +643,6 @@
}
// 搴撲綅绉昏浆
this.locToLoc(crn, crnProtocol);
- // 婕旂ず浠诲姟
- this.steMoveDemo(crn, crnProtocol);
}
}
}
@@ -1399,7 +1399,7 @@
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue())); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
+ steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
steCommand.setBay(steProtocol.getBay());
steCommand.setLev(steProtocol.getLev());
@@ -1444,40 +1444,6 @@
wrkMast.setModiTime(new Date());
if (wrkMastMapper.updateById(wrkMast) == 0) {
log.error("淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
-
- /**
- * 璁╁皬杞︿粠 杩滅偣 ====>> 绉诲姩鍒拌繎鐐�
- * 绛夊緟鍫嗗灈鏈烘惉杩�
- */
- public void letCarBeReady(WrkCharge wrkCharge, Integer steNo) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { return; }
- if (steProtocol.isIdle()) {
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
-
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- log.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞�
- wrkCharge.setSteNo(steNo);
- wrkCharge.setModiTime(new Date());
- if (!wrkChargeService.updateById(wrkCharge)) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
}
}
}
@@ -1670,6 +1636,20 @@
if (!steThread.confirmPos()) {
log.error("{}鍙风┛姊溅閲嶆柊瀹氫綅澶辫触锛佷綔涓氬厖鐢典换鍔″彿锛歿}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
}
+ }
+ } else if (wrkCharge.getWrkSts() == 27) {
+ // 鍫嗗灈鏈哄浣�
+ crnThread.setResetFlag(true);
+ // 绌挎杞﹂噸鏂板畾浣嶆帓鍒楀眰
+ SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
+ if (steThread.confirmPos()) {
+ // 27.鏀捐嚦鍏呯數浣� ===>> 28.鍏呯數灏辩华
+ wrkCharge.setWrkSts(28L);
+ if (!wrkChargeService.updateById(wrkCharge)) {
+ log.error("淇敼鍏呯數浠诲姟鐘舵�� 27.鏀捐嚦鍏呯數浣� ===>> 28.鍏呯數灏辩华 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
+ }
+ } else {
+ log.error("{}鍙风┛姊溅閲嶆柊瀹氫綅澶辫触锛佷綔涓氬厖鐢典换鍔″彿锛歿}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
}
} else if (wrkCharge.getWrkSts() == 34) {
// 34.鍚婅溅鎼繍 ===>> 35.灏忚溅灏辩华
@@ -1898,18 +1878,26 @@
steThread.setResetFlag(true);
}
} else if (wrkCharge.getWrkSts() == 25) {
- // 25.灏忚溅鍘诲厖鐢� ===>> 26.绛夊緟鍏呯數
+ // 25.灏忚溅璧拌 ===>> 26.绛夊緟鍏呯數
wrkCharge.setWrkSts(26L);
if (!wrkChargeService.updateById(wrkCharge)) {
- log.error("淇敼鍏呯數浠诲姟鐘舵�� 25.灏忚溅鍘诲厖鐢� ===>> 26.绛夊緟鍏呯數 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
+ log.error("淇敼鍏呯數浠诲姟鐘舵�� 25.灏忚溅璧拌 ===>> 26.绛夊緟鍏呯數 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)) {
+ log.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)) {
- log.error("淇敼婕旂ず浠诲姟鐘舵�� 25.灏忚溅鍘诲厖鐢� ===>> 26.绛夊緟鍏呯數 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
+ log.error("淇敼婕旂ず浠诲姟鐘舵�� 32.灏忚溅璧拌 ===>> 33.灏忚溅寰呮惉 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
} else {
steThread.setResetFlag(true);
}
@@ -2461,6 +2449,7 @@
/**
* 灏忚溅鐢甸噺妫�娴� ===>> 鍙戣捣鍏呯數
*/
+ @SuppressWarnings("serial")
public synchronized void loopSteCharge() {
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
for (SteSlave ste : slaveProperties.getSte()) {
@@ -2473,6 +2462,7 @@
if (steProtocol.getMode() == 0
|| !steProtocol.statusType.equals(SteStatusType.IDLE)
|| basSte.getPakMk().equals("Y")
+ || basSte.getAutoCharge().equals("N")
// || steProtocol.getChargeStatus() == 1
) {
continue;
@@ -2483,13 +2473,37 @@
if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) {
continue;
}
-// WrkCharge wrkCharge = wrkChargeService.selectWorking(steProtocol.getSteNo().intValue());
WrkCharge wrkCharge = wrkChargeService.selectWorking(null);
if (wrkCharge == null && steProtocol.getChargeStatus() == 0) {
-// String idleLoc = basSte.getIdleLoc();
// 瀵绘壘绌洪棽鍏呯數妗�
- SteChargeType steCharge = devpThread.getIdleChargeLocNo();
+ SteChargeType steCharge = null;
+ do {
+ String locNo;
+ if (!devpThread.charge0) {
+ locNo = SteChargeType.FIRST.locNo;
+ if (basSteService.hasCarOfLocNo(locNo) == null) {
+ steCharge = SteChargeType.FIRST;
+ break;
+ }
+ }
+ if (!devpThread.charge1) {
+ locNo = SteChargeType.SECOND.locNo;
+ if (basSteService.hasCarOfLocNo(locNo) == null) {
+ steCharge = SteChargeType.SECOND;
+ break;
+ }
+ }
+ if (!devpThread.charge2) {
+ locNo = SteChargeType.THIRD.locNo;
+ if (basSteService.hasCarOfLocNo(locNo) == null) {
+ steCharge = SteChargeType.THIRD;
+ break;
+ }
+ }
+ break;
+ } while (false);
+
if (steCharge == null) {
log.warn("{}鍙峰皬杞︺�愮數閲忥細{}銆戝厖鐢靛け璐ワ紝鍘熷洜锛氭病鏈夌┖闂插厖鐢垫々銆�", ste.getId(), steProtocol.getCharge());
continue;
@@ -2499,7 +2513,7 @@
wrkCharge.setSteNo(ste.getId());
wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
wrkCharge.setWrkSts(21L); // 21.鍑嗗鍏呯數
-// wrkCharge.setCrnNo(basSte.getCrnNo());
+ wrkCharge.setCrnNo(2); // 鍥哄畾2鍙峰爢鍨涙満
wrkCharge.setIoPri((double) 10);
wrkCharge.setLocNo(chargeLocNo);
wrkCharge.setMemo("charge");
@@ -2512,11 +2526,11 @@
if (steProtocol.getRow().intValue() == Utils.getRow(chargeLocNo)
&& 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 => 24.灏忚溅鍒拌揪
- wrkCharge.setWrkSts(24L);
+ // 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);
wrkCharge.setModiTime(new Date());
if (!wrkChargeService.updateById(wrkCharge)) {
- log.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());
+ log.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());
}
} else {
this.letCarBeWaiting(wrkCharge, ste.getId());
@@ -2524,81 +2538,137 @@
} else {
// filter
- if (wrkCharge == null || (wrkCharge.getWrkSts() < 26 && steProtocol.getChargeStatus() == 1)) {
+ if (wrkCharge == null || (wrkCharge.getWrkSts() < 28 && steProtocol.getChargeStatus() == 1)) {
continue;
}
// 22.灏忚溅寰呮惉
if (wrkCharge.getWrkSts() == 22) {
- // 鎼皬杞﹁嚦鍏呯數搴撲綅
- LocMast locMast = locMastService.selectById(basSte.getIdleLoc());
- // 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()).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()).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))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
- steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), 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)) {
- log.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());
+ // 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) {
+ log.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);
+ } 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))) {
+ log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", 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)) {
+ log.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;
+ }
+
}
}
} else if (wrkCharge.getWrkSts() == 24L) {
- // 灏忚溅琛岄┒鑷冲厖鐢典綅
+ // 灏忚溅琛岄┒閫氶亾
if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
if (steProtocol.getChargeStatus() == 1) { continue; }
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
SteCommand steCommand = new SteCommand();
steCommand.setSteNo(wrkCharge.getSteNo()); // 绌挎杞︾紪鍙�
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findChargeByLoc(steProtocol.getRow().intValue()));
+ steCommand.setTaskMode(SteTaskModeType.GO_ORIGIN); // 鍘诲彸绔�
+
+ steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
+ steCommand.setBay(steProtocol.getBay());
+ steCommand.setLev(steProtocol.getLev());
if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
log.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));
} else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 24.灏忚溅鍒拌揪 ===> 25.灏忚溅鍘诲厖鐢�
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 24.灏忚溅鍒拌揪 ===> 25.灏忚溅璧拌
wrkCharge.setWrkSts(25L);
Date now = new Date();
wrkCharge.setCrnEndTime(now);
wrkCharge.setModiTime(now);
if (!wrkChargeService.updateById(wrkCharge)) {
- log.error("淇敼鍏呯數浠诲姟鐘舵�� 24.灏忚溅鍒拌揪 ===> 25.灏忚溅鍘诲厖鐢� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
+ log.error("淇敼鍏呯數浠诲姟鐘舵�� 24.灏忚溅鍒拌揪 ===> 25.灏忚溅璧拌 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
}
}
}
} else if (wrkCharge.getWrkSts() == 26) {
- if (steProtocol.getChargeStatus() == 0) { continue; }
- // 缁欒緭閫佺嚎涓嬪彂鍏呯數浠诲姟
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- SteChargeType steChargeType = SteChargeType.get(wrkCharge.getLocNo());
- if (null != steChargeType) {
- if (devpThread.charge(steChargeType.ssbm - 1, true)) {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 26.绛夊緟鍏呯數 ===> 28.瀹屾垚鍏呯數
- wrkCharge.setWrkSts(28L);
+ // 鍥哄畾鍫嗗灈鏈�
+ int crnNo = 1;
+ // 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) { 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(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, 1, new Task(2, crnCommand))) {
+ log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", 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)) {
- log.error("淇敼鍏呯數浠诲姟鐘舵�� 26.绛夊緟鍏呯數 ===> 28.瀹屾垚鍏呯數 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- } else {
- steThread.setResetFlag(true);
+ log.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) {
+ // 绌挎杞︿笅鍙戝厖鐢典换鍔�
+ SteCommand steCommand = new SteCommand();
+ steCommand.setSteNo(wrkCharge.getSteNo()); // 绌挎杞︾紪鍙�
+ steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
+ steCommand.setTaskMode(SteTaskModeType.CHARGE_LEFT); // 浠诲姟妯″紡: 鍏呯數
+ if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
+ log.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));
} else {
- log.error("鑾峰彇鍏呯數妗╁彿澶辫触锛岃В鏋愬簱浣嶏細{}", wrkCharge.getLocNo());
+ // 28.鍏呯數灏辩华 ===>> 29.寮�濮嬪厖鐢�
+ wrkCharge.setWrkSts(29L);
+ if (!wrkChargeService.updateById(wrkCharge)) {
+ log.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());
+ }
}
}
}
@@ -2608,206 +2678,117 @@
}
}
-
- public List<String> crn1DemoLocs = new ArrayList<String>(); public String crn1LastLoc = "";
- public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";
- public List<String> crn3DemoLocs = new ArrayList<String>(); public String crn3LastLoc = "";
- public synchronized void demo() {
- if (Cools.isEmpty(crn1DemoLocs)) {
- crn1DemoLocs = locMastService.getDemoNextLoc(1);
- }
- if (Cools.isEmpty(crn2DemoLocs)) {
- crn2DemoLocs = locMastService.getDemoNextLoc(2);
- }
- if (Cools.isEmpty(crn3DemoLocs)) {
- crn3DemoLocs = locMastService.getDemoNextLoc(3);
- }
- for (CrnSlave crn : slaveProperties.getCrn()) {
- if (!crn.getDemo()) {
- continue;
- } // 蹇呴』涓烘紨绀虹姸鎬�
-
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) {
- continue;
- }
-
- // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
-
- // filter
- if (wrkChargeService.selectCount(new EntityWrapper<WrkCharge>()
- .eq("crn_no", crn.getId()).between("wrk_sts", 31, 36)) > 0) {
- continue;
- }
-
- int steNo = crn.getId();
+ /**
+ * 灏忚溅浠庡厖鐢垫々 鑷� 寰呮満搴撲綅
+ */
+ public synchronized void steFromChargeToIdleLoc() {
+ // 涓庡厖鐢典换鍔′笉鍚屾杩涜
+ if (null != wrkChargeService.selectWorking(null)) { return; }
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ // 妫�绱㈠厖鐢垫々
+ for (SteChargeType value : SteChargeType.values()) {
+ Integer steNo = basSteService.hasCarOfLocNo(value.locNo);
+ if (steNo != null) {
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
SteProtocol steProtocol = steThread.getSteProtocol();
BasSte basSte = basSteService.selectById(steNo);
- if (Cools.isEmpty(steProtocol, basSte)) { continue; }
+ if (Cools.isEmpty(steProtocol, basSte)) {
+ continue;
+ }
+ // 1鍙峰厖鐢垫々
+ if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
+ continue;
+ }
+ // 2鍙峰厖鐢垫々
+ if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
+ continue;
+ }
+ // 3鍙峰厖鐢垫々
+ if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
+ continue;
+ }
+ // 灏忚溅鏄惁澶勪簬鍏呯數鐘舵��
+ if (steProtocol.getChargeStatus() == 1) {
+ continue;
+ }
+ // case 1 : 鑷姩鍏呯數寮� 棣堢數 脳
+ // case 2 : 鑷姩鍏呯數寮� 婊＄數 鉁�
+ // case 3 : 鑷姩鍏呯數鍏� 棣堢數 鉁�
+ // case 4 : 鑷姩鍏呯數鍏� 婊＄數 鉁�
+ if (basSte.getAutoCharge().equals("Y")
+ && steProtocol.getCharge() < Float.parseFloat(basSte.getChargeLine())) {
+ continue;
+ }
+ // 寮�濮嬬┛姊溅澶嶄綅浠诲姟
+ WrkCharge wrkCharge = new WrkCharge();
+ wrkCharge.setSteNo(steNo);
+ wrkCharge.setWrkNo(commonService.getChargeWorkNo(6));
+ wrkCharge.setWrkSts(41L); // 41.灏忚溅鍑嗗澶嶄綅
+ wrkCharge.setCrnNo(2); // 鍥哄畾2鍙峰爢鍨涙満
+ wrkCharge.setIoPri((double) 10);
+ wrkCharge.setSourceLocNo(value.locNo);
+ wrkCharge.setLocNo(basSte.getIdleLoc());
+ wrkCharge.setMemo("reset");
+ if (!wrkChargeService.insert(wrkCharge)) {
+ log.error("淇濆瓨{}鍙风┛姊溅澶嶄綅浠诲姟澶辫触!!!", steNo);
+ continue;
+ }
- // 鍙湁褰撶┛姊溅绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (steProtocol.isIdle()) {
-
- String locNo = null;
- Iterator<String> iterator = crn1DemoLocs.iterator();
- if (crn.getId() == 1) {
- iterator = crn1DemoLocs.iterator();
- } else if (crn.getId() == 2) {
- iterator = crn2DemoLocs.iterator();
- } else if (crn.getId() == 3) {
- iterator = crn3DemoLocs.iterator();
- }
- while (iterator.hasNext()) {
- String next = iterator.next();
- String lastLoc = "";
- if (crn.getId() == 1) {
- lastLoc = crn1LastLoc;
- } else if (crn.getId() == 2) {
- lastLoc = crn2LastLoc;
- } else if (crn.getId() == 3) {
- lastLoc = crn3LastLoc;
- }
- if (!Cools.isEmpty(lastLoc)) {
- if (!lastLoc.substring(2, 7).equals(next.substring(2, 7)) || !Utils.getGroupRow(lastLoc).equals(Utils.getGroupRow(next))) {
- locNo = next;
- iterator.remove();
- break;
- } else {
- iterator.remove();
- }
+ // 1.鎼繍鑷冲浐瀹氶�氶亾
+ if (wrkCharge.getWrkSts() == 41L) {
+ // 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) {
+ log.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);
} else {
- locNo = next;
- iterator.remove();
- break;
- }
+ // 鍥哄畾鍫嗗灈鏈�
+ int crnNo = 1;
+ LocMast channelLoc = locMastService.selectById(channelLocNo);
- }
- if (!Cools.isEmpty(locNo)) {
- if (crn.getId() == 1) {
- crn1LastLoc = locNo;
- } else if (crn.getId() == 2) {
- crn2LastLoc = locNo;
- } else if (crn.getId() == 3) {
- crn3LastLoc = locNo;
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
+ 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(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(), 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(), false).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))) {
+ log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", 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� 41.灏忚溅鍑嗗澶嶄綅 => 42.鍚婅溅鎼繍
+ Date now = new Date();
+ wrkCharge.setWrkSts(42L);
+ wrkCharge.setCrnStrTime(now);
+ wrkCharge.setModiTime(now);
+ if (!wrkChargeService.updateById(wrkCharge)) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 41.灏忚溅鍑嗗澶嶄綅 => 42.鍚婅溅鎼繍 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
+ }
+ }
+ break;
+ }
+
}
}
- log.info("{}鍙峰爢鍨涙満瀵箋}搴撲綅杩涜婕旂ず", crn.getId(), locNo);
-
- String sourceLocNo = Utils.getLocNo(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev());
-
- WrkCharge wrkCharge = new WrkCharge();
- wrkCharge.setCrnNo(crn.getId());
- wrkCharge.setSteNo(steNo);
- wrkCharge.setWrkNo(commonService.getChargeWorkNo(5));
- wrkCharge.setWrkSts(31L); // 31.鐢熸垚婕旂ずID
- wrkCharge.setIoPri((double) 10);
- wrkCharge.setSourceLocNo(sourceLocNo);
- wrkCharge.setLocNo(locNo);
- wrkCharge.setMemo("demo");
- if (!wrkChargeService.insert(wrkCharge)) {
- log.error("鐢熸垚婕旂ず浠诲姟澶辫触锛屽爢鍨涙満鍙凤細{}锛屽皬杞︼細{}锛屾簮搴撲綅锛歿}锛岀洰鏍囧簱浣嶏細{}", crn.getId(), steNo, sourceLocNo, locNo);
- }
}
}
}
}
- /**
- * 婕旂ず鍙栬揣
- */
- private void steMoveDemo(CrnSlave slave, CrnProtocol crnProtocol) {
- // 鑾峰彇宸ヤ綔妗ｄ俊鎭�
- WrkCharge wrkCharge = wrkChargeService.selectOne(new EntityWrapper<WrkCharge>().eq("crn_no", slave.getId())
- .in("wrk_sts", 31, 33, 35));
- if (null == wrkCharge) {
- return;
- }
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (null == steProtocol) { return; }
- if (steProtocol.isIdle()) {
- // 31.鐢熸垚婕旂ずID
- if (wrkCharge.getWrkSts() == 31L) {
- this.letCarBeReady(wrkCharge, steProtocol.getSteNo().intValue());
- wrkCharge.setWrkSts(32L);
- wrkCharge.setModiTime(new Date());
- if (!wrkChargeService.updateById(wrkCharge)) {
- log.error("淇敼婕旂ず浠诲姟{}宸ヤ綔妗� 31.鐢熸垚婕旂ずID ==>> 32.灏忚溅璧拌 澶辫触!", wrkCharge.getWrkNo());
- }
- // 33.灏忚溅寰呮惉
- } else if (wrkCharge.getWrkSts() == 33L) {
- LocMast locMast = locMastService.selectById(wrkCharge.getLocNo());
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(crnProtocol.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()).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()).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))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
- steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 33.灏忚溅寰呮惉 => 34.鍚婅溅鎼繍
- Date now = new Date();
- wrkCharge.setWrkSts(34L);
- wrkCharge.setCrnStrTime(now);
- wrkCharge.setModiTime(now);
- if (!wrkChargeService.updateById(wrkCharge)) {
- log.error("淇敼婕旂ず浠诲姟{}宸ヤ綔妗� 33.灏忚溅寰呮惉 => 34.鍚婅溅鎼繍 澶辫触!", wrkCharge.getWrkNo());
- }
- }
- // 35.灏忚溅灏辩华
- } else if (wrkCharge.getWrkSts() == 35L) {
-
- int steNo = steProtocol.getSteNo().intValue();
- if (!basSteService.updatePakMk(steNo, "Y")) {
- log.error("淇敼绌挎杞︿綔涓氱姸鎬� 澶辫触锛侊紒锛岀┛姊溅={}", steNo);
- return;
- }
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- SteTaskModeType originByLoc = SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue());
- if (originByLoc.equals(SteTaskModeType.GO_ORIGIN)) {
- originByLoc = SteTaskModeType.BACK_ORIGIN;
- } else if (originByLoc.equals(SteTaskModeType.BACK_ORIGIN)) {
- originByLoc = SteTaskModeType.GO_ORIGIN;
- } else {
- return;
- }
- steCommand.setTaskMode(originByLoc);
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
-
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- log.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 35.灏忚溅灏辩华 => 36.灏忚溅璧拌
- wrkCharge.setWrkSts(36L);
- wrkCharge.setModiTime(new Date());
- if (!wrkChargeService.updateById(wrkCharge)) {
- log.error("淇敼婕旂ず浠诲姟{}宸ヤ綔妗� 35.灏忚溅灏辩华 => 36.灏忚溅璧拌 澶辫触!", wrkCharge.getWrkNo());
- }
- }
- }
- }
-
- }
/**
* 鍥犲弻娣卞簱浣嶉樆濉烇紝瀵规祬搴撲綅杩涜绉昏浆锛堝嚭搴撶増)
--
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