From 9743ac76a94b26c142e4a56c450fc88f55cae377 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期四, 10 四月 2025 08:31:50 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 2064 ++++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 1,547 insertions(+), 517 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 db2aad0..6972a29 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -5,13 +5,17 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
+import com.zy.asrs.controller.CrnController;
import com.zy.asrs.domain.enums.TaskStatusType;
+import com.zy.asrs.domain.enums.WorkNoType;
+import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.entity.*;
-import com.zy.asrs.entity.param.TaskOverToWms;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.CommandUtils;
+import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.Utils;
+import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
@@ -20,16 +24,17 @@
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
+import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
-import com.zy.core.model.command.CommandPackage;
import com.zy.core.model.command.CrnCommand;
+import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.CrnProtocol;
+import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
+import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
-import com.zy.system.entity.Config;
-import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -48,8 +53,6 @@
@Service("mainService")
@Transactional
public class MainServiceImpl {
-
- public static final long COMMAND_TIMEOUT = 5 * 1000;
@Autowired
private SlaveProperties slaveProperties;
@@ -70,19 +73,21 @@
@Autowired
private TaskWrkService taskWrkService;
@Autowired
- private ConfigService configService;
- @Autowired
private StaDescMapper staDescMapper;
- @Autowired
- private CommandInfoService commandInfoService;
- @Autowired
- private OpenServiceImpl openServiceImpl;
@Autowired
private StaDescService staDescService;
@Autowired
private ApiLogService apiLogService;
+ @Autowired
+ private CommonService commonService;
+ @Autowired
+ private BasRgvService basRgvService;
+ @Autowired
+ private WrkMastStaMapper wrkMastStaMapper;
+ @Autowired
+ private BasRgvMapMapper basRgvMapMapper;
@Value("${wms.url}")
private String wmsUrl;
@@ -90,7 +95,13 @@
private String inboundTaskApplyPath;
@Value("${wms.movePath}")
private String movePath;
+ @Value("${wms.taskStatusFeedbackPath}")
+ private String taskStatusFeedbackPath;
+ @Autowired
+ private CrnController crnController;
+ @Value("${wms.rgvOpen}")
+ private boolean rgvOpen;
public void generateStoreWrkFile() throws IOException, InterruptedException {
try {
@@ -108,10 +119,8 @@
} else {
staProtocol = staProtocol.clone();
}
- Short workNo = staProtocol.getWorkNo();
- Short stano = staProtocol.getStaNo();
-
-
+ Integer workNo = staProtocol.getWorkNo();
+ Integer stano = staProtocol.getStaNo();
// 灏哄妫�娴嬪紓甯�
boolean back = false;
@@ -157,12 +166,13 @@
}
// News.warn("鎵爜鍏ュ簱澶辫触锛寋}鍏ュ簱绔欏洜{}寮傚父锛屾墭鐩樺凡琚��鍥�", inSta.getStaNo(), errMsg);
staProtocol.setWorkNo(workNo);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
+ staProtocol.setStaNo(inSta.getStaNo());
devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
if (taskWrk != null) {
taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
+ taskWrk.setModiTime(new Date());
taskWrkMapper.updateById(taskWrk);
}
continue;
@@ -170,7 +180,7 @@
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading()
&& staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (workNo >= 0)
+ && !staProtocol.isEmptyMk() && (workNo == 9991 )
&& staProtocol.isPakMk()) {
// 鑾峰彇鏉＄爜鎵弿浠俊鎭�
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
@@ -178,17 +188,63 @@
continue;
}
String barcode = barcodeThread.getBarcode();
- if(!Cools.isEmpty(barcode)) {
+ if(!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
// 璇锋眰wms鎺ュ彛锛岃幏鍙栧伐浣滃彿鍜岀洰鏍囧簱浣�
- ToWmsDTO toWmsDTO = new ToWmsDTO(barcode,staProtocol.getSiteId());
+ ToWmsDTO toWmsDTO = new ToWmsDTO(barcode,staProtocol.getSiteId(),staProtocol.isHigh() ? 2 : 1);
+ TaskWrk taskWrk1=taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode",barcode));
+ if(!Cools.isEmpty(taskWrk1)){
+ log.info("鎵樼洏鐮侊細"+barcode+"浠诲姟妗ｅ瓨鍦�");
+ if (taskWrk1.getIoType()==1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())){
+ StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
+ .eq("crn_no", taskWrk1.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
+ if (Cools.isEmpty(staDesc)){
+ log.info("鎵樼洏鐮侊細"+barcode+"浠诲姟妗ｅ瓨鍦�");
+ return;
+ }else {
+ staProtocol.setWorkNo(taskWrk1.getWrkNo());
+ staProtocol.setStaNo(staDesc.getCrnStn());
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ }
+ }
+ return;
+ }
+ HashMap<String, Object> headParam = new HashMap<>();
+ headParam.put("Content-Type","application/json");
String response;
- response = new HttpHandler.Builder()
- .setHeaders(null)
- .setUri(wmsUrl)
- .setPath(inboundTaskApplyPath)
- .setJson(JSON.toJSONString(toWmsDTO))
- .build()
- .doPost();
+ try{
+ response = new HttpHandler.Builder()
+ // .setHeaders(headParam)
+ .setUri(wmsUrl)
+ .setPath(inboundTaskApplyPath)
+ .setJson(JSON.toJSONString(toWmsDTO))
+ .build()
+ .doPost();
+ }catch (Exception e){
+ log.error("璇锋眰鍏ュ簱璋冪敤鎺ュ彛澶辫触");
+ log.error("寮傚父淇℃伅鎵撳嵃锛�"+e);
+ try{
+ BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
+ if (Cools.isEmpty(basDevp)){
+ log.error("绔欑偣鍙峰紓甯�"+inSta.getStaNo());
+ } else if (basDevp.getStaErr()!=0){
+ basDevp.setStaErr(2);
+ basDevpService.updateById(basDevp);
+ }
+ }catch (Exception e1){
+ // 閫�鍥�
+ log.error("鎵爜妫�娴嬬▼搴忓紓甯�"+inSta.getStaNo()+"寮傚父淇℃伅"+e1);
+ }
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getStaNo());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
+// if (taskWrk != null) {
+// taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
+// taskWrkMapper.updateById(taskWrk);
+// }
+ continue;
+ }
JSONObject jsonObject = JSON.parseObject(response);
apiLogService.save("wms璇锋眰鍏ュ簱璐т綅鎺ュ彛"
@@ -199,20 +255,96 @@
,response
,true
);
+ log.info("鍏ュ簱璇锋眰鍙傛暟{}" + JSON.toJSONString(toWmsDTO));
+ log.info("鍏ュ簱璇锋眰杩斿洖鍙傛暟{}" + JSON.toJSONString(response));
if (jsonObject.getInteger("code").equals(200) && !Cools.isEmpty(jsonObject.get("data").toString())) {
GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
+ try{
+ BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
+ if (Cools.isEmpty(basDevp)){
+ log.error("绔欑偣鍙峰紓甯�1"+inSta.getStaNo());
+ throw new CoolException("绔欑偣鍙峰紓甯�1,鏈煡璇㈠埌绔欑偣淇℃伅"+inSta.getStaNo());
+ }
+ Integer staNoCrnNo = Utils.StaNoCrnNo(inSta.getStaNo());
+ if (staNoCrnNo==0){
+ basDevp.setStaErr(1);
+ basDevpService.updateById(basDevp);
+ log.error("绔欑偣鍙峰紓甯�2"+inSta.getStaNo());
+ throw new CoolException("绔欑偣鍙峰紓甯�2,绔欑偣鍙蜂笉瀛樺湪"+inSta.getStaNo());
+ }else {
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
+ .eq("crn_no", staNoCrnNo.longValue())
+ .eq("loc_no", getWmsDto.getLocNo()));
+ if (Cools.isEmpty(locMast)){
+ basDevp.setStaErr(1);
+ basDevpService.updateById(basDevp);
+ log.error("绔欑偣鍙峰紓甯�3"+inSta.getStaNo());
+ throw new CoolException("绔欑偣鍙峰紓甯�3锛氭宸烽亾涓嶅瓨鍦ㄧ洰鏍囧簱浣�"+inSta.getStaNo());
+ }
+ }
+ } catch (Exception e){
+// log.error("鎵爜妫�娴嬬▼搴忓紓甯�"+inSta.getStaNo()+"寮傚父淇℃伅"+e);
+ // 閫�鍥�
+ log.error("鎵爜妫�娴嬬▼搴忓紓甯�"+inSta.getStaNo()+errMsg);
+ log.error("鎵爜妫�娴嬬▼搴忓紓甯�,寮傚父淇℃伅"+e);
+
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getStaNo());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
+// if (taskWrk != null) {
+// taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
+// taskWrkMapper.updateById(taskWrk);
+// }
+ continue;
+ }
+ //鏌ョ湅璇ュ簱浣嶆槸鍚︿负绌哄簱浣�
+ LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
+ .eq("loc_sts","O")
+ .eq("loc_no",getWmsDto.getLocNo()));
+ if(Cools.isEmpty(locMast)){
+ try{
+ HashMap<String, Object> headParam1 = new HashMap<>();
+ headParam1.put("taskNo",getWmsDto.getTaskNo());
+ headParam1.put("status",6);
+ headParam1.put("ioType",1);
+ headParam1.put("barcode",barcode);
+ String response2;
+ response2 = new HttpHandler.Builder()
+ // .setHeaders(headParam)
+ .setUri(wmsUrl)
+ .setPath(taskStatusFeedbackPath)
+ .setJson(JSON.toJSONString(headParam1))
+ .build()
+ .doPost();
+ JSONObject jsonObject1 = JSON.parseObject(response2);
+ apiLogService.save("wcs娲惧彂搴撲綅==銆嬩笉涓虹┖銆�==涓婃姤wms"
+ ,wmsUrl+taskStatusFeedbackPath
+ ,null
+ ,"127.0.0.1"
+ ,JSON.toJSONString(headParam1)
+ ,response
+ ,true
+ );
+ }catch (Exception e){
+ log.error("wcs娲惧彂搴撲綅==銆嬩笉涓虹┖銆�==涓婃姤wms", getWmsDto.getWrkNo());
+ throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触,娲惧彂搴撲綅==銆嬩笉涓虹┖銆�==锛屽紓甯镐俊鎭細"+e);
+ }
+ }
+
// 鍒涙柊涓�涓叆搴撳伐浣滄。
- TaskWrk taskWrk = taskWrkService.selectByTaskNo(getWmsDto.getTaskNo());
+ TaskWrk taskWrk = taskWrkService.selectByTaskNo(getWmsDto.getWrkNo());
if(Cools.isEmpty(taskWrk)) {
- taskWrk = createTask(getWmsDto,staProtocol.getStaNo().intValue());
+ taskWrk = createTask(getWmsDto,barcode);
if (Cools.isEmpty(taskWrk)){
log.error("搴撲綅寮傚父锛屽簱浣嶅彿锛歿}", getWmsDto.getTargetLocationCode());
}else {
taskWrkService.insert(taskWrk);
StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
- .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getStaNo().intValue()));
- staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
- staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
+ .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
+ staProtocol.setWorkNo(taskWrk.getWrkNo());
+ staProtocol.setStaNo(staDesc.getCrnStn());
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
}
@@ -221,79 +353,20 @@
continue;
}
-// StaDescService staDescService = SpringUtils.getBean(StaDescService.class);
-//
-// ToWmsDTO toWmsDTO = new ToWmsDTO();
-// Map<String, Object> map = new HashMap<>();
-// map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
-// List<Integer> list = openServiceImpl.getInEnableRoadway();
-// TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
-//
-// if (Cools.isEmpty(taskWrk)){
-// continue;
-// }
-// //StaDesc staDesc1 = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_no",inSta.getBackSta()));
-// if (taskWrk.getTargetPoint() != null && taskWrk.getStartPoint() != null){
-// if ( taskWrk.getWrkNo() != null && taskWrk.getWrkNo().shortValue() == workNo ){
-// continue;
-// }
-// //鑾峰彇鍫嗗灈鏈虹珯鐐�
-// StaDesc staDesc = new StaDesc();
-// if (devp.getId() <= 1){
-// staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
-// .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 200));
-// }else {
-// staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
-// .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 400).ge("stn_no", 250));
-// }
-// staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
-// staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
-// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
-// Thread.sleep(500);
-// }else {
-// //TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
-// toWmsDTO.setWarehouseId("1688469798893297665");
-// toWmsDTO.setContainerCode(barcode);
-// toWmsDTO.setApplyType("TUNNEL_LOCATION");
-// toWmsDTO.setTaskTunnel(taskWrk.getCrnNo());
-// toWmsDTO.setCanInboundTunnels(list);
-// String response = null;
-// try {
-// response = new HttpHandler.Builder()
-// .setHeaders(map)
-// .setUri(wmsUrl)
-// .setPath(inboundTaskApplyPath)
-// .setJson(JSON.toJSONString(toWmsDTO))
-// .build()
-// .doPost();
-// }catch (Exception e){
-// log.error("wms閫氳澶辫触,"+e.getMessage());
-// continue;
-// }
-// apiLogService.save("wms璇锋眰鍏ュ簱璐т綅鎺ュ彛"
-// ,wmsUrl+"wcsManager/wcsInterface/inboundTaskApply"
-// ,null
-// ,"127.0.0.1"
-// ,JSON.toJSONString(toWmsDTO)
-// ,response
-// ,true
-// );
-// JSONObject jsonObject = JSON.parseObject(response);
-// if (jsonObject.getInteger("code").equals(200)) {
-// GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
-// taskWrk.setOriginTargetPoint(getWmsDto.getTargetLocationCode());
-// taskWrk.setTargetPoint(Utils.getWcsLocNo(getWmsDto.getTargetLocationCode()));
-// taskWrk.setStartPoint(String.valueOf(inSta.getBackSta()));
-// if (!taskWrkService.updateById(taskWrk)){
-// log.error("淇濆瓨wms搴撲綅鍙峰け璐�");
-// }
-//
-// }else {
-// log.error("wms閫氳澶辫触,"+jsonObject.get("msg"));
-//
-// }
-// }
+ } else {
+ // 閫�鍥�
+ log.error("鎵爜鍏ュ簱澶辫触锛寋}鍏ュ簱绔欏洜{}寮傚父锛屾墭鐩樺凡琚��鍥�", inSta.getStaNo(), errMsg);
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getStaNo());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
+ if (taskWrk != null) {
+ taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
+ taskWrk.setModiTime(new Date());
+ taskWrkMapper.updateById(taskWrk);
+ }
}
}
@@ -316,58 +389,48 @@
for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo()));
for (StaDesc staDesc : staDescs){
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
- // 鏌ヨ宸ヤ綔妗�
- TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
- if (taskWrk == null) {
+ try{
+ // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ if (staProtocol == null) {
continue;
+ } else {
+ staProtocol = staProtocol.clone();
}
- // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
- if (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2) {
- // 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, taskWrk.getCrnNo());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
- // 绉诲姩涓�
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
+ // 鏌ヨ宸ヤ綔妗�
+ TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
+ if (taskWrk == null) {
continue;
}
- // 鍒ゆ柇鍫嗗灈鏈虹姸鎬佺瓑寰呯‘璁�
- if (crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue())
- && crnProtocol.getTaskFinish() == 0
- && crnProtocol.forkPosType == CrnForkPosType.HOME) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- //鍙栧嚭杈撻�佺嚎鍛戒护
- List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
- if (commandInfos.isEmpty()) {
- continue;//鍛戒护绌�
- }
-
-// CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//鍙栧嚭鍛戒护鎶ユ枃
-// CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
- Integer commandStep = taskWrk.getCommandStep();
- CommandInfo commandInfo = commandInfos.get(commandStep);
- CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//鍙栧嚭鍛戒护鎶ユ枃
- //StaProtocol staProtocol1 = JSON.parseObject(commandInfo.getCommand(), StaProtocol.class);
- StaProtocol staProtocol1 = JSON.parseObject(commandPackage.getCommand().toString(), StaProtocol.class);
- if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) {
- log.error("杈撻�佺嚎鍛戒护涓嬫柟澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", taskWrk.getWrkNo());
- continue;//鍛戒护涓嬪彂澶辫触
- }
-
- // 澶嶄綅鍫嗗灈鏈�
- crnThread.setResetFlag(true);
-
+ log.info("涓嬪彂杈撻�佺嚎浠诲姟锛歵askWrk:"+JSON.toJSONString(taskWrk));
+// R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
+ staProtocol.setWorkNo(taskWrk.getWrkNo());
+ staProtocol.setStaNo(staDesc.getCrnStn());
+ boolean offer = false;
+ try{
+ offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
+ }catch (Exception e){
+ log.error("涓嬪彂杈撻�佺嚎浠诲姟澶辫触锛氬紓甯�:"+e);
+ log.error("涓嬪彂杈撻�佺嚎浠诲姟澶辫触锛氬紓甯�:offer:"+offer);
+ }
+// JSONObject jsonObject = JSON.parseObject(JSON.toJSONString(r));
+ if (offer){
+ log.info("涓嬪彂杈撻�佺嚎浠诲姟鎴愬姛锛歵askWrk:"+JSON.toJSONString(taskWrk));
+ Date now = new Date();
+ taskWrk.setStatus(5);
+ taskWrk.setWrkSts(14);
+ taskWrk.setModiTime(now);
+ taskWrk.setCompleteTime(now);
+ taskWrkService.updateById(taskWrk);
+ }else {
+ log.error("涓嬪彂杈撻�佺嚎浠诲姟澶辫触锛歵askWrk:"+JSON.toJSONString(taskWrk));
+// log.error("涓嬪彂杈撻�佺嚎浠诲姟澶辫触锛氬紓甯镐俊鎭�:"+JSON.toJSONString(r));
}
}
+ }catch (Exception e){
+ log.error("鍑哄簱鍒板嚭搴撶珯寮傚父:寮傚父淇℃伅锛�"+e);
}
}
@@ -389,6 +452,9 @@
log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
continue;
}
+
+ // 搴撲綅绉昏浆
+ this.locToLoc(crn, crnProtocol);
// 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
@@ -414,8 +480,6 @@
}
}
}
- // 搴撲綅绉昏浆
- this.locToLoc(crn, crnProtocol);
}
}
@@ -449,6 +513,7 @@
if (!flag) {
continue;
}
+
// 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級鐨勫叆搴撳伐浣滄。
TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
if(null == taskWrk) {
@@ -464,6 +529,17 @@
if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
continue;
}
+
+// int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//鑾峰彇鍏ュ簱宸ヤ綔鍙�
+// taskWrk.setWrkNo(workNo);//宸ヤ綔鍙�
+ Date now = new Date();
+ taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//娲惧彂鐘舵��
+// taskWrk.setAssignTime(now);//娲惧彂鏃堕棿
+ taskWrk.setExecuteTime(now);
+ taskWrk.setWrkSts(3);//宸ヤ綔鐘舵�� 3.鍚婅溅鍏ュ簱
+ taskWrk.setCrnNo(staDesc.getCrnNo());//鍫嗗灈鏈哄彿
+ taskWrk.setModiTime(now);
+ taskWrk.setModiUser(9988L);
// //鍙栧嚭鍛戒护
// List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
@@ -498,27 +574,55 @@
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setCrnNo(staDesc.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosY(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setSourcePosZ(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
- crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
+ crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
+ crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
crnCommand.setCommand((short)1);
- if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
- Date now = new Date();
- taskWrk.setWrkSts(3);
- taskWrk.setModiTime(now);
- if (taskWrkMapper.updateById(taskWrk) == 0) {
+ if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
+ log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
+ throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
+ }else{
+ try{
+ taskWrkService.updateById(taskWrk);
+ }catch (Exception e){
log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽紓甯革細"+e);
}
+ try{
+ HashMap<String, Object> headParam = new HashMap<>();
+ headParam.put("taskNo",taskWrk.getTaskNo());
+ headParam.put("status",taskWrk.getStatus());
+ headParam.put("ioType",taskWrk.getIoType());
+ headParam.put("barcode",taskWrk.getBarcode());
+ String response;
+ response = new HttpHandler.Builder()
+ // .setHeaders(headParam)
+ .setUri(wmsUrl)
+ .setPath(taskStatusFeedbackPath)
+ .setJson(JSON.toJSONString(headParam))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ apiLogService.save("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms"
+ ,wmsUrl+taskStatusFeedbackPath
+ ,null
+ ,"127.0.0.1"
+ ,JSON.toJSONString(headParam)
+ ,response
+ ,true
+ );
+ } catch (Exception e){
+ log.error("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触", JSON.toJSONString(taskWrk));
+// throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
+ }
+
}
}
@@ -580,79 +684,64 @@
break;
}
- // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
- if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
-
- taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
-
- List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
- if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
- continue;
- }
- String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
- TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
- if (!Cools.isEmpty(hallowLocNoTask)){
-// if (!Cools.isEmpty(hallowLocNoTask.getTargetPoint())){
-// continue;
-// }
-//// new PostMesDataUtils().postMesData("绉诲簱浠诲姟鍒嗛厤搴撲綅",wmsUrl,movePath,hallowLocNoTask);
-// try {
-// String response = new HttpHandler.Builder()
-// .setUri(wmsUrl)
-// .setPath(movePath)
-// .setJson(JSON.toJSONString(hallowLocNoTask))
-// .build()
-// .doPost();
-// System.out.println("response:"+response);
-// JSONObject jsonObject = JSON.parseObject(response);
-// if (jsonObject.getInteger("code").equals(200)) {
-// //瑙ｆ瀽
-// }
-// }catch (Exception e){
-// log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl+"/"+movePath, JSON.toJSONString(hallowLocNoTask), "璇锋眰绉诲簱浠诲姟鍒嗛厤搴撲綅");
-// }
- continue;
- }
- }
-
- //鍙栧嚭鍛戒护
- List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
- Integer commandStep = taskWrk.getCommandStep();
- if (commandInfos.isEmpty()) {
- continue;//鍛戒护绌�
- }
-
- //鍒ゆ柇鏈鍛戒护鏄惁鎵ц
- CommandInfo commandInfo2 = commandInfos.get(commandInfos.size() - 1);
- if (commandInfo2.getCommandStatus() != CommandStatusType.CREATE.id) {
- continue;//鎸囦护宸叉墽琛�
- }
-
- CommandInfo commandInfo = commandInfos.get(commandStep);
- CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//鍙栧嚭鍛戒护鎶ユ枃
- CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
-
- if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
- Date now = new Date();
- taskWrk.setWrkSts(12);
- taskWrk.setModiTime(now);
- if (taskWrkMapper.updateById(taskWrk) == 0) {
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(taskWrk.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+ command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
+ command.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 婧愬簱浣嶆帓
+ command.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅垪
+ command.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅眰
+ command.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
+ command.setCommand((short)1);
+ if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command),false)) {
+ log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(command));
+ throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
+ }else{
+ try{
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
+ Date now = new Date();
+ taskWrk.setWrkSts(12);
+ taskWrk.setStatus(2);
+ taskWrk.setModiTime(now);
+ taskWrk.setExecuteTime(now);
+ if (taskWrkMapper.updateById(taskWrk) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+ }
+ }catch (Exception e){
log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽紓甯革細"+e);
}
- //寮�濮嬭繍琛�
- String response = CrnStartRunning(taskWrk);
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
-
- }else {
- log.error("鍑哄簱寮�濮嬭繍琛岄�氳澶辫触,"+jsonObject.get("msg"));
-
+ try{
+ HashMap<String, Object> headParam = new HashMap<>();
+ headParam.put("taskNo",taskWrk.getTaskNo());
+ headParam.put("status",taskWrk.getStatus());
+ headParam.put("ioType",taskWrk.getIoType());
+ headParam.put("barcode",taskWrk.getBarcode());
+ String response;
+ response = new HttpHandler.Builder()
+ // .setHeaders(headParam)
+ .setUri(wmsUrl)
+ .setPath(taskStatusFeedbackPath)
+ .setJson(JSON.toJSONString(headParam))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ apiLogService.save("wcs娲惧彂鍑哄簱浠诲姟涓婃姤wms"
+ ,wmsUrl+taskStatusFeedbackPath
+ ,null
+ ,"127.0.0.1"
+ ,JSON.toJSONString(headParam)
+ ,response
+ ,true
+ );
+ }catch (Exception e){
+ log.error("wcs娲惧彂鍑哄簱浠诲姟涓婃姤wms澶辫触", JSON.toJSONString(taskWrk));
+// throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
}
}
-
}
}
}
@@ -665,20 +754,22 @@
public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
// 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑绉诲簱宸ヤ綔妗�
- List<TaskWrk> taskWrks = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>()
- .eq("crn_no",slave.getId())
- .eq("wrk_sts",11)
- .eq("io_type",3));
+ List<TaskWrk> taskWrks = taskWrkMapper.selectList(
+ new EntityWrapper<TaskWrk>()
+ .eq("CRN_NO",slave.getId())
+ .eq("WRK_STS",11)
+ .eq("IO_TYPE",3)
+ .orderBy("IO_PRI",false));
for (TaskWrk taskWrk : taskWrks){
// 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
- if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
- String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
- TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
- if (!Cools.isEmpty(hallowLocNoTask)){
- continue;
- }
- }
+// if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
+// String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
+// TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
+// if (!Cools.isEmpty(hallowLocNoTask)){
+// continue;
+// }
+// }
// 鍫嗗灈鏈烘帶鍒惰繃婊�
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
continue;
@@ -688,44 +779,7 @@
if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
continue;
}
- if (Cools.isEmpty(taskWrk.getTargetPoint())){
- List<Integer> list = openServiceImpl.getInEnableRoadway();
- Map<String, Object> map = new HashMap<>();
- map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
- ToWmsDTO toWmsDTO = new ToWmsDTO();
- toWmsDTO.setWarehouseId("1688469798893297665");
- toWmsDTO.setContainerCode(taskWrk.getBarcode());
- toWmsDTO.setApplyType("TUNNEL_LOCATION");
- toWmsDTO.setTaskTunnel(taskWrk.getCrnNo());
- toWmsDTO.setCanInboundTunnels(list);
- String response = null;
- try {
- response = new HttpHandler.Builder()
- .setHeaders(map)
- .setUri(wmsUrl)
- .setPath("wcsManager/wcsInterface/inboundTaskApply")
- .setJson(JSON.toJSONString(toWmsDTO))
- .build()
- .doPost();
- }catch (Exception e){
- log.error("wms閫氳澶辫触,"+e.getMessage());
- continue;
- }
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
- taskWrk.setOriginTargetPoint(getWmsDto.getTargetLocationCode());
- taskWrk.setTargetPoint(Utils.getWcsLocNo(getWmsDto.getTargetLocationCode()));
- if (!taskWrkService.updateById(taskWrk)){
- log.error("淇濆瓨wms搴撲綅鍙峰け璐�");
- }
- continue;
- }else {
- log.error("wms閫氳澶辫触,"+jsonObject.get("msg"));
- continue;
- }
- }
if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("") || taskWrk.getWrkNo() == null) {
continue;
}
@@ -746,12 +800,12 @@
crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosZ(Utils.getRowShort(taskWrk.getStartPoint())); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosX(Utils.getBayShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosY(Utils.getLevShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
+ crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
crnCommand.setCommand((short) 1);
if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
@@ -759,20 +813,40 @@
// 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
Date now = new Date();
taskWrk.setWrkSts(12);
+ taskWrk.setStatus(2);
taskWrk.setModiTime(now);
+ taskWrk.setExecuteTime(now);
if (taskWrkMapper.updateById(taskWrk) == 0) {
log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
}
- //寮�濮嬭繍琛�
- String response = CrnStartRunning(taskWrk);
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
-
- }else {
- log.error("绉诲簱浠诲姟寮�濮嬭繍琛岄�氳澶辫触,"+jsonObject.get("msg"));
- continue;
+ try{
+ HashMap<String, Object> headParam = new HashMap<>();
+ headParam.put("taskNo",taskWrk.getTaskNo());
+ headParam.put("status",taskWrk.getStatus());
+ headParam.put("ioType",taskWrk.getIoType());
+ headParam.put("barcode",taskWrk.getBarcode());
+ String response;
+ response = new HttpHandler.Builder()
+ // .setHeaders(headParam)
+ .setUri(wmsUrl)
+ .setPath(taskStatusFeedbackPath)
+ .setJson(JSON.toJSONString(headParam))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ apiLogService.save("wcs娲惧彂绉诲簱浠诲姟涓婃姤wms"
+ ,wmsUrl+taskStatusFeedbackPath
+ ,null
+ ,"127.0.0.1"
+ ,JSON.toJSONString(headParam)
+ ,response
+ ,true
+ );
+ }catch (Exception e){
+ log.error("wcs娲惧彂绉诲簱搴撲换鍔′笂鎶ms澶辫触", taskWrk);
+// throw new CoolException("wcs娲惧彂绉诲簱搴撲换鍔′笂鎶ms澶辫触");
}
- break;
+
}
return;
}
@@ -783,90 +857,108 @@
/**
* 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
*/
-// public void storeFinished() {
-// for (CrnSlave crn : slaveProperties.getCrn()) {
-// // 鑾峰彇鍫嗗灈鏈轰俊鎭�
-// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
-// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
-// if (crnProtocol == null) { continue; }
-//
-// // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
-// if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
-// //鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
-// TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
-// if (Cools.isEmpty(taskWrk)) {
-//// log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
-// continue;
-// }
-//
-// //鑾峰彇鎸囦护ID
-// Integer commandId = crnProtocol.getCommandId();
-// CommandInfo commandInfo = new CommandInfo();
-// if (Cools.isEmpty(commandId)){
-// commandInfo = commandInfoService.selectOne(new EntityWrapper<CommandInfo>()
-// .eq("wrk_no",crnProtocol.getTaskNo())
-// .eq("device","Crn"));
-// }else {
-// commandInfo = commandInfoService.selectById(commandId);
-// }
-//
-//
-// if (commandInfo == null) {
-// //鎸囦护涓嶅瓨鍦�
-// continue;
-// }
-// if (commandInfo.getCommandStatus() == 3){
-// continue;
-// }
-// commandInfo.setCommandStatus(CommandStatusType.COMPLETE.id);//鎸囦护瀹屾垚
-// commandInfo.setCompleteTime(new Date());//鎸囦护瀹屾垚鏃堕棿
-// if (commandInfoService.updateById(commandInfo)) {//淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
-// // 鍫嗗灈鏈哄浣�
-// crnThread.setResetFlag(true);
-// }
-// }
-// }
-// }
-
- /**
- * 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
- */
- public void storeFinished() {
+ public void storeFinished() throws InterruptedException {
for (CrnSlave crn : slaveProperties.getCrn()) {
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
if (crnProtocol == null) { continue; }
+
// 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
- if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
- // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
+ if (!Cools.isEmpty(crnProtocol.getTaskFinish()) && crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
+ //鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
- if (Cools.isEmpty(taskWrk)) {
+ if (Cools.isEmpty(taskWrk)&&crnProtocol.getTaskNo() !=999) {
log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
continue;
}
- // 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
- if ((taskWrk.getWrkSts() == 3 && taskWrk.getIoType() == 1) || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) {
- taskWrk.setWrkSts(4);
- } else {
- continue;
- }
+ Thread.sleep(300);
+ //纭瀹屾垚淇″彿
+ CrnOperatorParam crnOperatorParam=new CrnOperatorParam();
+ crnOperatorParam.setCrnNo(crn.getId());
Date now = new Date();
- taskWrk.setModiTime(now);
- Integer integerTaskWrk = taskWrkMapper.updateById(taskWrk);
- // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- if (integerTaskWrk > 0) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- //鏇存柊搴撲綅鐘舵��
- LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
- locMast.setLocSts("F");//F.鍦ㄥ簱
- locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
- locMast.setModiTime(now);
- locMast.setModiUser(9999L);
- locMastService.updateById(locMast);
+ crnController.crnTaskComplete(crnOperatorParam);
+ if(!Cools.isEmpty(taskWrk)){
+ if(taskWrk.getIoType()==1 && taskWrk.getWrkSts()==3){
+ taskWrk.setWrkSts(4);//鍏ュ簱瀹屾垚
+ taskWrk.setStatus(5);//瀹岀粨
+ //鏇存柊搴撲綅鐘舵��
+ LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
+ locMast.setLocSts("F");//F.鍦ㄥ簱
+ locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
+ locMast.setModiTime(now);
+ locMast.setModiUser(9999L);
+ locMastService.updateById(locMast);
+ }else if(taskWrk.getIoType()==2&&taskWrk.getWrkSts()==12){
+ taskWrk.setWrkSts(13);//鍑哄簱瀹屾垚
+ taskWrk.setStatus(5);//瀹岀粨
+ //鏇存柊搴撲綅鐘舵��
+ LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
+ locMast.setLocSts("O");//O.绌哄簱浣�
+ locMast.setBarcode("");//鎵樼洏鐮�
+ locMast.setModiTime(now);
+ locMast.setModiUser(9999L);
+ locMastService.updateById(locMast);
+ }else if(taskWrk.getIoType()==3&&taskWrk.getWrkSts()==12){
+ taskWrk.setWrkSts(4);//鍏ュ簱瀹屾垚
+ taskWrk.setStatus(5);//瀹岀粨
+ //鏇存柊搴撲綅鐘舵��
+ LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
+ locMast.setLocSts("F");//F.鍦ㄥ簱
+ locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
+ locMast.setModiTime(now);
+ locMast.setModiUser(9999L);
+ locMastService.updateById(locMast);
+
+ LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
+ locMast1.setLocSts("O");//O.绌哄簱浣�
+ locMast1.setBarcode("");//鎵樼洏鐮�
+ locMast1.setModiTime(now);
+ locMast1.setModiUser(9999L);
+ locMastService.updateById(locMast1);
+ }
+ taskWrk.setModiTime(now);
+ taskWrk.setCompleteTime(now);
+ taskWrkService.updateById(taskWrk);
+
+
+ try{
+ HashMap<String, Object> headParam = new HashMap<>();
+ headParam.put("taskNo",taskWrk.getTaskNo());
+ headParam.put("status",taskWrk.getStatus());
+ headParam.put("ioType",taskWrk.getIoType());
+ headParam.put("barcode",taskWrk.getBarcode());
+ String response;
+ log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", headParam);
+
+ response = new HttpHandler.Builder()
+ // .setHeaders(headParam)
+ .setUri(wmsUrl)
+ .setPath(taskStatusFeedbackPath)
+ .setJson(JSON.toJSONString(headParam))
+ .build()
+ .doPost();
+ log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", response);
+
+// JSONObject jsonObject = JSON.parseObject(response);
+// log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", jsonObject);
+
+ apiLogService.save("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms"
+ ,wmsUrl+taskStatusFeedbackPath
+ ,null
+ ,"127.0.0.1"
+ ,JSON.toJSONString(headParam)
+ ,response
+ ,true
+ );
+ }catch (Exception e){
+ log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触", taskWrk);
+ log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触,鎶ラ敊淇℃伅锛�", e);
+// throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
+ }
}
+
}
}
}
@@ -911,7 +1003,7 @@
wrkMast.getSourceStaNo(), // 婧愮珯
wrkMast.getSourceLocNo(), // 婧愬簱浣�
wrkMast.getBarcode(), // 鏉＄爜
- (int) crnProtocol.getAlarm1(), // 寮傚父鐮�
+ (int) crnProtocol.getAlarm(), // 寮傚父鐮�
errName, // 寮傚父
1, // 寮傚父鎯呭喌
now, // 娣诲姞鏃堕棿
@@ -926,7 +1018,7 @@
}
} else {
// 寮傚父淇
- if (crnProtocol.getAlarm1() == null || crnProtocol.getAlarm1() == 0) {
+ if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
latest.setEndTime(now);
latest.setUpdateTime(now);
latest.setStatus(2);
@@ -939,7 +1031,7 @@
} else {
BasErrLog latest = basErrLogService.findLatest(crn.getId());
// 鏈夊紓甯�
- if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm() > 0) {
+ if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
// 璁板綍鏂板紓甯�
if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
@@ -958,7 +1050,7 @@
null, // 婧愮珯
null, // 婧愬簱浣�
null, // 鏉＄爜
- (int)crnProtocol.getAlarm1(), // 寮傚父鐮�
+ (int)crnProtocol.getAlarm(), // 寮傚父鐮�
errName, // 寮傚父
1, // 寮傚父鎯呭喌
now, // 娣诲姞鏃堕棿
@@ -989,162 +1081,31 @@
}
}
- //鑷姩娲惧彂浠诲姟
- public void autoDistribute() {
- Config config = configService.selectByCode("autoDistribute");
- if (config == null) {
- return;
- }
-
- if (config.getValue().equals("false")) {//鍒ゆ柇鏄惁寮�鍚嚜鍔ㄦ淳鍙戜换鍔�
- return;
- }
-
- for (TaskWrk taskWrk : taskWrkService.selectReceive()) {
- try {
- taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
- } catch (CoolException e) {
- log.info(e.getMessage());
- }
- }
- }
-
- //鑷姩瀹屾垚浠诲姟
- public synchronized void autoCompleteTask() {
- List<TaskWrk> taskWrks = taskWrkMapper.selectWorkingTask();
- for (TaskWrk taskWrk : taskWrks) {
- //鑾峰彇鍛戒护闆嗗悎
- List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
- if (taskWrk.getCommandStep() < commandInfos.size()) {
- continue;//褰撳墠姝ュ簭娌℃湁鍒拌揪鏈�鍚庝竴鏉″懡浠�
- }
-
- //鍒ゆ柇鏈鍛戒护鏄惁鎵ц瀹屾垚
- CommandInfo commandInfo = commandInfos.get(commandInfos.size() - 1);
- if (commandInfo.getCommandStatus() != CommandStatusType.COMPLETE.id) {
- continue;//鎸囦护鏈畬鎴�
- }
-
- Date now = new Date();
- //鎸囦护宸插畬鎴愶紝鏇存柊浠诲姟
- if (taskWrk.getIoType() == 1) {
- //鍏ュ簱浠诲姟
- taskWrk.setWrkSts(4);//3.鍚婅溅鍏ュ簱涓� => 4.鍏ュ簱瀹屾垚
- //taskWrk.setStatus(TaskStatusType.COMPLETE.id);
- taskWrk.setModiTime(now);
- taskWrkService.updateById(taskWrk);
-
- //鏇存柊搴撲綅鐘舵��
- LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
- locMast.setLocSts("F");//F.鍦ㄥ簱
- locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
- locMast.setModiTime(now);
- locMast.setModiUser(9999L);
- locMastService.updateById(locMast);
- } else if (taskWrk.getIoType() == 2) {
- //鍑哄簱浠诲姟
- taskWrk.setWrkSts(14);//12.鍚婅溅鍑哄簱涓� => 14.鍑哄簱瀹屾垚
-// taskWrk.setStatus(TaskStatusType.COMPLETE.id);
- taskWrk.setModiTime(now);
- taskWrkService.updateById(taskWrk);
-
- //鏇存柊搴撲綅鐘舵��
- LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
- locMast.setLocSts("O");//O.绌哄簱浣�
- locMast.setBarcode("");//鎵樼洏鐮�
- locMast.setModiTime(now);
- locMast.setModiUser(9999L);
- locMastService.updateById(locMast);
- }
- }
- }
-
-
- public synchronized String CrnStartRunning(TaskWrk taskWrk){
- String tasktype = null;
- switch (taskWrk.getIoType()){
- case 1:
- tasktype= "RK";
- break;
- case 2:
- tasktype= "CK";
- break;
- case 3:
- tasktype= "YK";
- break;
- default:
- tasktype= "鏈煡";
- }
- Map<String, Object> map = new HashMap<>();
- map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
- TaskOverToWms taskOverToWms = new TaskOverToWms();
- taskOverToWms.setFeedbackFrom("WCS"); //鏉ユ簮
- taskOverToWms.setWarehouseId("1688469798893297665"); //浠撳簱鏍囪瘑
- taskOverToWms.setTaskNo(taskWrk.getTaskNo()); //浠诲姟鍙�
- taskOverToWms.setTaskType(tasktype); // 浠诲姟绫诲瀷
- taskOverToWms.setContainerCode(taskWrk.getBarcode()); // 瀹瑰櫒缂栫爜
- if (taskWrk.getIoType() ==1 || taskWrk.getIoType() == 3){
- taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //璁惧缂栫爜
- taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //鐩爣搴撲綅
- }else if (taskWrk.getIoType() ==2){
- Map<Integer,String> map1 = new HashMap<>();
- map1.put(102,"J-1101");
- map1.put(106,"J-1103");
- map1.put(110,"J-1105");
- map1.put(114,"J-1107");
- map1.put(118,"J-1109");
- map1.put(122,"J-1111");
- map1.put(305,"H-1101");
- map1.put(405,"G-1101");
- taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //璁惧缂栫爜
- taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //婧愬簱浣�
- }
-
- taskOverToWms.setTaskStatus("executing"); //浠诲姟鐘舵��
- String response = null;
- try {
- response = new HttpHandler.Builder()
- .setHeaders(map)
- .setUri(wmsUrl)
- .setPath("wcsManager/wcsInterface/taskStatusFeedback")
- .setJson(JSON.toJSONString(taskOverToWms))
- .build()
- .doPost();
- }catch (Exception e){
- log.error("鍫嗗灈鏈轰换鍔″畬鎴愶紝璇锋眰wms浠诲姟瀹屾垚鎺ュ彛澶辫触");
- }
- apiLogService.save("鍫嗗灈鏈哄紑濮嬭繍琛�"
- ,wmsUrl+"wcsManager/wcsInterface/taskStatusFeedback"
- ,null
- ,"127.0.0.1"
- ,JSON.toJSONString(taskOverToWms)
- ,response
- ,true
- );
- return response;
- }
-
- private TaskWrk createTask(GetWmsDto dto, Integer staNo){
- String wcsLocNo = Utils.getWcsLocNo(dto.getTargetLocationCode());
+ private TaskWrk createTask(GetWmsDto dto, String barcode){
+ String wcsLocNo = dto.getLocNo();
if(Cools.isEmpty(wcsLocNo)){
return null;
}
Date now = new Date();
TaskWrk taskWrk = new TaskWrk();
- taskWrk.setTaskNo(dto.getTaskNo());//浠诲姟鍙�
+ int workNo1 = commonService.getWorkNo(WorkNoType.PAKIN.type);//鑾峰彇鍏ュ簱宸ヤ綔鍙�
+ taskWrk.setTaskNo(dto.getWrkNo());//浠诲姟鍙�
+ taskWrk.setWrkNo(workNo1);
taskWrk.setStatus(TaskStatusType.RECEIVE.id);//浠诲姟鐘舵�侊細鎺ユ敹
taskWrk.setCreateTime(now);
+ taskWrk.setAssignTime(now);
+ taskWrk.setModiTime(now);
+ taskWrk.setModiUser(5555L);
taskWrk.setIoType(1);//浠诲姟绫诲瀷
taskWrk.setIoPri(Cools.isEmpty(dto.getTaskPriority()) ? 300 : Integer.parseInt(dto.getTaskPriority()));//浼樺厛绾�
- taskWrk.setBarcode(dto.getContainerCode());//鏉＄爜
+ taskWrk.setBarcode(barcode);//鏉＄爜
LocMast locMast = locMastService.selectByLocNo(wcsLocNo);
taskWrk.setCrnNo(locMast.getCrnNo());
- taskWrk.setTargetPoint(dto.getTargetLocationCode());
- taskWrk.setStartPoint(staNo.toString());
+ taskWrk.setTargetPoint(wcsLocNo);
+ taskWrk.setStartPoint(dto.getStaNo().toString());
if(taskWrk.getIoType() == 1){
taskWrk.setWrkSts(2);
if (!Cools.isEmpty(taskWrk.getTargetPoint())) {
- taskWrk.setTargetPoint(wcsLocNo);//缁堢偣
taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint());
}
@@ -1164,6 +1125,1075 @@
}
return taskWrk;
}
+ /**
+ * 瀹屾垚灏忚溅浠诲姟
+ */
+ public synchronized void rgvCompleteWrkMastSta() {
+ try{
+ for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ continue;
+ }
+ // 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
+ if (rgvProtocol.getStatusType() == RgvStatusType.WORKING
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && ((rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.WAITING ) ||
+ (rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING ))
+ ) {
+ 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 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){
+ if (rgvProtocol.getTaskNo1()==(short)32222){
+ 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.getTaskNo1().longValue());
+ if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1 || wrkMastSta.getWrkSts()!=1){
+ 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;
+ }
+ /* WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
+ if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
+ Thread.sleep(200);
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+ continue;
+ }
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(wrkMast.getStaNo());
+ if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
+ continue;
+ }
+ log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟锛�"+staProtocol);
+// try{
+// Thread.sleep(1000);
+// DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+// StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
+// log.error("灏忚溅浠诲姟瀹屾垚璇诲彇杈撻�佺嚎浠诲姟锛�"+staProtocolEnd);
+// if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
+// staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
+// staProtocolEnd.setStaNo(wrkMast.getStaNo());
+// if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
+// continue;
+// }
+// log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟绗簩娆★細"+staProtocolEnd);
+// }
+// }catch (Exception e){
+//
+// }
+ }*/
+ 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 if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
+ if (rgvProtocol.getTaskNo2()==(short)32222){
+ 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().longValue());
+ 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;
+ }
+ /*WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
+ if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
+ Thread.sleep(200);
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
+ if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+ continue;
+ }
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(wrkMast.getStaNo());
+ if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
+ continue;
+ }
+ log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟锛�"+staProtocol);
+// try{
+// Thread.sleep(1000);
+// DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+// StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
+// log.error("灏忚溅浠诲姟瀹屾垚璇诲彇杈撻�佺嚎浠诲姟锛�"+staProtocolEnd);
+// if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
+// staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
+// staProtocolEnd.setStaNo(wrkMast.getStaNo());
+// if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
+// continue;
+// }
+// log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟绗簩娆★細"+staProtocolEnd);
+// }
+// }catch (Exception e){
+//
+// }
+ }*/
+ 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());
+ }
+ }
+ }
+ }catch (Exception e){
+ log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+ }
+ }
+ /**
+ * 鍏ュ嚭搴� ===>> 灏忚溅浣滀笟涓嬪彂
+ */
+ public synchronized boolean rgvIoExecute(Integer sign) {
+ boolean rgvIoExecuteSign = false;
+ try{
+ for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ // 鑾峰彇灏忚溅淇℃伅
+ boolean signWork = false;
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ continue;
+ }
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1()==0
+ && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
+ ) {
+ switch (sign){
+ //鎵ц灏忚溅璐х墿鎼繍浠诲姟
+ case 1:
+ signWork = rgvRunWrkMastFullSta(rgvSlave);
+ break;
+ //鎵ц灏忚溅绌烘澘鎼繍浠诲姟
+ case 2://鏀�//鎷嗙洏
+ signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
+ break;
+ case 3://婊℃斁
+ signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
+ break;
+ case 4://鍙栧彔鐩�
+ signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
+ break;
+ case 6:////鎻愬崌
+// signWork = qwe();
+ break;
+ default:
+ break;
+ }
+ for (int signCount = 1;!signWork && signCount<7;signCount++){
+ switch (signCount){
+ case 1://鎵ц灏忚溅璐х墿鎼繍浠诲姟
+ signWork = rgvRunWrkMastFullSta(rgvSlave);
+ break;
+ case 2://鏀�//鎷嗙洏
+ signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
+ break;
+ case 3://婊℃斁
+ signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
+ break;
+ case 4://鍙栧彔鐩�
+ signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
+ break;
+ case 6:////鎻愬崌
+// signWork = rgvRunWrkMastEmptyStaPut();
+ break;
+ default:
+ break;
+ }
+ }
+ }else {
+ continue;
+ }
+ if (!rgvIoExecuteSign){
+ rgvIoExecuteSign = signWork;
+ }
+ }
+// if (!rgvIoExecuteSign){
+// if (sign>6){
+//
+// }
+// }
+ }catch (Exception e){
+ log.error("RGV灏忚溅浠诲姟涓嬪彂鎶ラ敊"+e);
+ }
+ return rgvIoExecuteSign;
+ }
+
+ /**
+ * 鎵ц灏忚溅鎼繍浠诲姟
+ */
+ public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
+ try{
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ return false;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ return false;
+ }
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1()==0
+ && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
+ ) {
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
+ if (basRgvMap == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+ return false;
+ }
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+ for (WrkMastSta wrkMastSta : wrkMastStaList){
+ if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:婊＄増 3锛氬彇鏀�
+ continue;
+ }
+ BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
+ if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
+ continue;
+ }
+ Date date = new Date();
+
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
+ if (staProtocol == null) {
+ log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氭湭鏌ヨ鍒扮珯鐐逛俊鎭細"+wrkMastSta);
+ continue;
+ }
+ if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
+ continue;
+ }
+ if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
+ if (staProtocol.isLoadingSuper()){
+ continue;
+ }
+ }
+ if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+ if (!staProtocol.isEmptyMk()){
+ continue;
+ }
+ }
+ BasDevp basDevpS = basDevpService.selectById(wrkMastSta.getStaStart());
+ if (!basDevpS.getAutoing().equals("Y") || !basDevpS.getLoading().equals("Y") || basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){
+ continue;
+ }
+ StaProtocol staProtocols = devpThread.getStation().get(basDevpS.getDevNo());
+ if (staProtocols == null) {
+ log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氭湭鏌ヨ鍒扮珯鐐逛俊鎭細"+wrkMastSta);
+ continue;
+ }
+ if (!staProtocols.isAutoing() || !staProtocols.isLoading() || staProtocols.getWorkNo() != wrkMastSta.getWrkNo().intValue()){
+ continue;
+ }
+
+
+ log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+ log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
+ boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
+ if (sign){
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
+ if (signMap){
+ wrkMastSta.setWrkSts(1);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta);
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ return true;
+ }else {
+ log.error("3864琛岋紝璐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());
+ }
+ break;
+ }
+ }
+// }
+ }catch (Exception e){
+ log.error("3875琛屾墽琛屽皬杞︽惉杩愪换鍔′笅鍙戝け璐�");
+ log.error("3875琛�"+e);
+ }
+ return false;
+ }
+ /**
+ * 鎵ц灏忚溅鎼繍浠诲姟//鎷嗙洏
+ */
+ public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//鎷嗙洏
+ try{
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ return false;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ return false;
+ }
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤//鎷嗙洏
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
+ && (rgvProtocol.getLoaded2()==3 || rgvProtocol.getLoaded2()==1 || rgvProtocol.getLoaded2()==4)////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗� 锛堝彧鑳芥媶鍙狅級 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗�() 锛�3 1銆�2灞傞兘鏈夌墿 4锛氾紙锛夊彧鍏佽鎷嗙洏
+ ) {
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ if (basRgvMap == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+ return false;
+ }
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
+ List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//鏌ヨ鍙墽琛屼换鍔�
+ for (WrkMastSta wrkMastSta : wrkMastStaList){
+ if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=2){// 2:绌烘澘 || 宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 5锛氭弧鍙� 6锛氭弧鏀�
+ continue;
+ }
+ boolean sign = false;
+ if ( wrkMastSta.getStaEnd()!=0){//鏀�
+ BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
+ if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
+ continue;
+ }
+ Date date = new Date();
+
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
+ if (staProtocol == null) {
+ log.info(date+"鎷嗙洏浠诲姟涓嬪彂锛氭湭鏌ヨ鍒扮珯鐐逛俊鎭細"+wrkMastSta);
+ continue;
+ }
+ if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
+ continue;
+ }
+ if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
+ if (staProtocol.isLoadingSuper()){
+ continue;
+ }
+ }
+ if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+ if (!staProtocol.isEmptyMk()){
+ continue;
+ }
+ }
+
+ log.info(date+"鎷嗙洏浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+ log.info(date+"鎷嗙洏浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
+ sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//鎷嗙洏
+ }else {
+ continue;
+ }
+ if (sign){
+ boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
+ if (signMap){
+ wrkMastSta.setWrkSts(2);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta);
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ return true;
+ }else {
+ log.error("3857琛岋紝璐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());
+ }
+ break;
+ }
+ }
+// }
+ }catch (Exception e){
+ log.error("3933琛屾墽琛屽皬杞︽斁绌烘澘浠诲姟涓嬪彂澶辫触");
+ log.error("3933琛�"+e);
+ }
+ return false;
+ }
+
+ /**
+ * 鎵ц灏忚溅鎼繍浠诲姟
+ */
+ public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//婊℃斁
+ try{
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ return false;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ return false;
+ }
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
+ && (rgvProtocol.getLoaded2()==2 || rgvProtocol.getLoaded2()==3 ) ////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗� 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3 1銆�2灞傞兘鏈夌墿 4锛氾紙锛夊彧鍏佽鎷嗙洏
+ ) {
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ if (basRgvMap == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+ return false;
+ }
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
+ List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//鏌ヨ鍙墽琛屼换鍔�
+ for (WrkMastSta wrkMastSta : wrkMastStaList){
+ if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=6){// 2:绌烘澘 || 宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 5锛氭弧鍙� 6锛氭弧鏀� 7:鎻愬崌
+ continue;
+ }
+ boolean sign = false;
+ if ( wrkMastSta.getStaEnd()!=0){//婊℃斁
+ BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
+ if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
+ continue;
+ }
+ Date date = new Date();
+
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
+ if (staProtocol == null) {
+ log.info(date+"婊℃斁浠诲姟涓嬪彂锛氭湭鏌ヨ鍒扮珯鐐逛俊鎭細"+wrkMastSta);
+ continue;
+ }
+ if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
+ continue;
+ }
+ if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
+ if (staProtocol.isLoadingSuper()){
+ continue;
+ }
+ }
+ if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+ if (!staProtocol.isEmptyMk()){
+ continue;
+ }
+ }
+
+ log.info(date+"婊℃斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+ log.info(date+"婊℃斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
+ sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
+ }else {
+ continue;
+ }
+ if (sign){
+ boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
+ if (signMap){
+ wrkMastSta.setWrkSts(2);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta);
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ return true;
+ }else {
+ log.error("3857琛岋紝璐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());
+ }
+ break;
+ }
+ }
+// }
+ }catch (Exception e){
+ log.error("3933琛屾墽琛屽皬杞︽斁绌烘澘浠诲姟涓嬪彂澶辫触");
+ log.error("3933琛�"+e);
+ }
+ return false;
+ }
+
+ public synchronized boolean rgvRunWrkMastEmptyStaTake(RgvSlave rgvSlave) {//鍙犵洏
+ try{
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ return false;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ return false;
+ }
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾棤鐗�//rgv鍙敤
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
+ && (rgvProtocol.getLoaded2()==0 || rgvProtocol.getLoaded2()==1 ) //鐜板満淇敼锛氬彔鐩樻満锛�////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗╋紙鍙兘鎷嗗彔锛� 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3 1銆�2灞傞兘鏈夌墿 4锛氾紙锛夊彧鍏佽鎷嗙洏
+ ) {
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ if (basRgvMap == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+ return false;
+ }
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+ for (WrkMastSta wrkMastSta : wrkMastStaList){
+ if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:绌烘澘 || 宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 5锛氭弧鍙� 6锛氭弧鏀�
+ continue;
+ }
+ boolean sign = false;
+ if ( wrkMastSta.getStaStart()!=0){//鍙�
+ BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
+ if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
+ continue;
+ }
+ Date date = new Date();
+
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
+ if (staProtocol == null) {
+ log.info(date+"鍙犵洏浠诲姟涓嬪彂锛氭湭鏌ヨ鍒扮珯鐐逛俊鎭細"+wrkMastSta);
+ continue;
+ }
+ if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+ continue;
+ }
+ if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+ if (!staProtocol.isEmptyMk()){
+ continue;
+ }
+ }
+
+ log.info(date+"鍙犵洏浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+ log.info(date+"鍙犵洏浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
+ sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//鍙犵洏
+ }else {
+ continue;
+ }
+ if (sign){
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
+ if (signMap){
+ wrkMastSta.setWrkSts(1);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta);
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ return true;
+ }else {
+ log.error("3879琛岋紝璐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());
+ }
+ break;
+ }
+ }
+// }
+ }catch (Exception e){
+ log.error("3989琛屾墽琛屽皬杞﹀彇绌烘澘浠诲姟涓嬪彂澶辫触");
+ log.error("3989琛�"+e);
+ }
+ return false;
+ }
+
+ /*
+ * 鏈変换鍔′絾鏈墽琛� 姝ゆ椂闇�瑕佽皟鏁村皬杞︿綅缃�
+ * */
+ public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
+ try{
+// Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
+// if (integer==0){
+// return;
+// }
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
+ if (Cools.isEmpty(wrkMastSta)){
+ return;
+ }
+ boolean signRgv = true;
+ boolean signRgv1 = true;
+ boolean signRgv2 = true;
+ for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ continue;
+ }
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+ && rgvProtocol.getTaskNo1()==0
+ && rgvProtocol.getTaskNo2()==0
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ ) {
+ if (rgvProtocol.getRgvNo()!=1){
+ if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){
+ continue;
+ }
+ rgvAvoidanceXY(rgvProtocol.getRgvNo());
+// return;
+ continue;
+ }
+ if (!rgvProtocol.getRgvPosI().equals(110) && !rgvProtocol.getRgvPosI().equals(108) && !rgvProtocol.getRgvPosI().equals(119)){
+ continue;
+ }
+ Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y();
+ if (count108Y!=0){
+ continue;
+ }
+// Integer count108 = wrkMastStaMapper.selectAllWrkCount108();
+// if (count108!=0){
+// continue;
+// }
+ rgvAvoidanceXY(rgvProtocol.getRgvNo());
+ continue;
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //鑾峰彇鍚堝苟骞叉秹椤�
+// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge);
+// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route ,route);
+// if (!wrkMastStaList.isEmpty()){
+// log.info("灏忚溅瀛樺湪鍙墽琛屼换鍔★紝璺宠繃閬胯锛侊紒4214");
+// return;
+// }
+// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
+//// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
+//// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
+// if (rgvProtocol.getRgvNo()==1){
+// signRgv1 = false;
+// }else {
+// signRgv2 = false;
+// }
+// }
+// if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
+// signRgv1 = false;
+// continue;
+// } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
+// signRgv2 = false;
+// continue;
+// }
+ }else {
+ signRgv = false;
+ break;
+ }
+ }
+// if (signRgv && (signRgv1 || signRgv2)){
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+// if (rgvProtocol == null) {
+// continue;
+// }
+//
+// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// && rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+// && rgvProtocol.getTaskNo1()==0
+// && rgvProtocol.getTaskNo2()==0
+// && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+// && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+// ) {
+// if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
+// continue;
+// } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
+// continue;
+// }
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// rgvAvoidanceXY(rgvProtocol.getRgvNo());
+// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+//
+// }
+// }
+// }
+ }catch (Exception e){
+ log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
+ log.error("4109琛�"+e);
+ }
+ }
+
+ /*
+ * 鍒锋柊鍦板浘鏁版嵁
+ * */
+ public synchronized void refreshRgvMap() {
+ try{
+ for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ continue;
+ }
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+ && rgvProtocol.getTaskNo1()==0
+ && rgvProtocol.getTaskNo2()==0
+ ) {
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+ rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+ }
+ }
+ }catch (Exception e){
+ log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
+ log.error("4109琛�"+e);
+ }
+ }
+
+ /*
+ * 灏忚溅XY绉诲姩 閬胯
+ * */
+ public synchronized boolean rgvAvoidanceXY(Integer rgvId){
+ 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)104);
+ 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 {
+ 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.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2((short)32222); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 宸ヤ綅2浠诲姟妯″紡: 鍥炲師鐐�
+ rgvCommand.setSourceStaNo2((short)114);
+ rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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;
+
+ }
+ }
+ }
+
+
+ /*
+ * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
+ * */
+ public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
+ 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(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅1璧风偣
+ rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+ 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�
+ 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;
+ }
+ }
+
+ /*
+ * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
+ * */
+ public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
+ 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(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栬揣
+ rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅1璧风偣
+ 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�
+ 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;
+ }
+ }
+
+ /*
+ * 灏忚溅鏀捐揣鑷宠緭閫佺嚎浠诲姟
+ * */
+ public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
+ 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(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鏀捐揣
+ rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+ 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�
+ 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;
+ }
+ }
+
+ /*
+ * 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟 鍙犵洏
+ * */
+ public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+ rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栬揣
+ rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅2璧风偣
+ rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+ return false;
+ } else {
+ return true;
+ }
+ }catch (Exception e){
+ return false;
+ }
+ }
+
+ /*
+ * 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟 //鎷嗙洏
+ * */
+ public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+ rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 宸ヤ綅2浠诲姟妯″紡: 鏀捐揣
+ rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+ return false;
+ } else {
+ return true;
+ }
+ }catch (Exception e){
+ return false;
+ }
+ }
+
+ /*
+ * 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟 婊″彇
+ * */
+ public synchronized boolean rgvTakeEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+ rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_5); // 宸ヤ綅2浠诲姟妯″紡: 婊″彇
+ rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅2璧风偣
+ rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+ return false;
+ } else {
+ return true;
+ }
+ }catch (Exception e){
+ return false;
+ }
+ }
+
+ /*
+ * 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟 //婊℃斁
+ * */
+ public synchronized boolean rgvPutEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+ rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskMode2(RgvTaskModeType.PUT_6); // 宸ヤ綅2浠诲姟妯″紡: 婊℃斁
+ rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅2鐩爣绔欑偣
+ rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+ return false;
+ } else {
+ return true;
+ }
+ }catch (Exception e){
+ return false;
+ }
+ }
+
+ /*
+ * 灏忚溅澶嶄綅
+ * */
+ public synchronized boolean rgvComplete(Integer rgvId){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ 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;
+ } else {
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}",rgvId);
+ return true;
+ }
+ }catch (Exception e){
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}銆傚紓甯革細"+e,rgvId);
+ return false;
+ }
+ }
+
+ /*
+ * 灏忚溅鍦板浘鏇存柊 鏇存柊閿�
+ * */
+ public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
+ if (rgvOpen){
+ return true;
+ }
+
+// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
+ //鏇存柊褰撳墠灏忚溅閿�
+ try{
+ Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//鑾峰彇鏈�杩滅珯鐐�
+// Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(staEnd, staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//鑾峰彇鏈�杩滅珯鐐�
+ Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //鑾峰彇鍚堝苟骞叉秹椤�
+ basRgvMapCurrent.setLockEndRoute(fallMerge);
+ basRgvMapMapper.updateById(basRgvMapCurrent);
+
+ //鏇存柊鍙︿竴鍙板皬杞﹀湴鍥�
+ Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther();
+ BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
+ List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
+ Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
+ Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
+ basRgvMapOther.setEndRoute(lockEndRouteL);
+ basRgvMapMapper.updateById(basRgvMapOther);
+ return true;
+ }catch (Exception e){
+ log.error("灏忚溅鍦板浘鏇存柊鍑洪敊锛�");
+ return false;
+ }
+ }
}
--
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