From 9ada554508bbaba431c9cf6745268ac9b87561d5 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期一, 24 十一月 2025 15:55:10 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 2788 ++++++++++++++++++++++++++++++++++++----------------------
1 files changed, 1,719 insertions(+), 1,069 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 45fc16e..a1935c4 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -4,15 +4,13 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
-import com.core.common.Cools;
-import com.core.common.DateUtils;
+import com.core.common.*;
import com.core.exception.CoolException;
+import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
-import com.zy.asrs.utils.RouteUtils;
-import com.zy.asrs.utils.Utils;
-import com.zy.asrs.utils.VersionUtils;
+import com.zy.asrs.utils.*;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
@@ -23,21 +21,18 @@
import com.zy.common.utils.News;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
-import com.zy.core.cache.MessageQueue;
-import com.zy.core.cache.SlaveConnection;
+import com.zy.core.cache.*;
import com.zy.core.enums.*;
import com.zy.core.model.*;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
-import com.zy.core.model.command.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.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.LedThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
+import com.zy.system.entity.license.LicenseVerify;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -45,10 +40,8 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
-import java.util.ArrayList;
-import java.util.Date;
-import java.util.List;
-import java.util.Set;
+import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
/**
@@ -71,8 +64,6 @@
@Autowired
private WrkDetlService wrkDetlService;
@Autowired
- private WaitPakinMapper waitPakinMapper;
- @Autowired
private LocMastService locMastService;
@Autowired
private StaDescService staDescService;
@@ -87,31 +78,65 @@
@Autowired
private BasCrnErrorMapper basCrnErrorMapper;
@Autowired
- private WrkMastStaMapper wrkMastStaMapper;
+ private WrkMastService wrkMastService;
@Autowired
- private BasRgvService basRgvService;
+ private BasDevpPositionService basDevpPositionService;
@Autowired
- private BasRgvMapMapper basRgvMapMapper;
+ private TaskWrkService taskWrkService;
@Value("${wms.url}")
private String wmsUrl;
+ @Value("${inventory.number}")
+ private Integer inventoryNumber;
+
+ public Integer wrkNo = 10002;
+
+ @Value("${wms.rgvOpen}")
+ private boolean rgvOpen;
+
+ @Value("${constant-parameters.trackEntireLength}")
+ private Long trackEntireLength;
+
+ @Value("${constant-parameters.trackBenchmark}")
+ private Long trackBenchmark;
+
+ @Value("${constant-parameters.trackProportion}")
+ private Long trackProportion;
+
+ @Value("${constant-parameters.avoidDistance}")
+ private Long avoidDistance;
+ @Autowired
+ private TaskWrkLogServiceImpl taskWrkLogService;
+ public Long currentTimeMilliConnectCrnAuto= 0L;
+
+ /*
+ * 楠岃瘉璁稿彲璇佹槸鍚︽湁鏁�
+ * */
+ public synchronized boolean licenseVerify() {
+ try{
+// if (true) {
+// return true;
+// }
+ return new LicenseVerify().verify();
+ } catch (Exception e){
+ log.info("璁稿彲璇侀獙璇佸け璐ワ紒锛佸紓甯革細{}",e.getMessage());
+ }
+ return false;
+ }
/**
* 缁勬墭
* 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 2
*/
public synchronized void generateStoreWrkFile(Integer mark) {
+ String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
// 鏍规嵁杈撻�佺嚎plc閬嶅巻
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鍏ュ簱鍙�
for (DevpSlave.Sta inSta : devp.getInSta()) {
// 鑾峰彇鏉＄爜鎵弿浠俊鎭�
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
- if (barcodeThread == null) {
- continue;
- }
-
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
if (staProtocol == null) {
@@ -119,103 +144,161 @@
} else {
staProtocol = staProtocol.clone();
}
-
- //LED
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
- // 鍏ュ嚭搴撴ā寮忓垽鏂�
-// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
-// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
-// continue;
-// }
-
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (!staProtocol.isLoading()){
+ if(!staProtocol.isLoading()){
continue;
}
- String barcode11 = barcodeThread.getBarcode();
- if (Cools.isEmpty(barcode11)){
- if (staProtocol.isAutoing()&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 9999 && staProtocol.isPakMk() && staProtocol.getStamp()==2){
- staProtocol.setStamp(3);
- News.info(""+mark+" - 7"+" - 鎵爜澶辫触2 ===>> {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{},绔欑偣:{}", inSta.getBarcode(), barcode11, inSta.getStaNo());
- staProtocol.setWorkNo((short) 9989);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ if (barcodeThread == null) {
+ continue;
+ }
+
+
+ String barcode = barcodeThread.getBarcode();
+
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "";
+ if (staProtocol.isFrontErr()) {
+ errMsg = "鍓嶈秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isBackErr()) {
+ errMsg = "鍚庤秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isHighErr()) {
+ errMsg = "楂樿秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isLeftErr()) {
+ errMsg = "宸﹁秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isRightErr()) {
+ errMsg = "鍙宠秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isWeightErr()) {
+ errMsg = "瓒呴噸";
+ back = true;
+ }
+ if (!back && staProtocol.isBarcodeErr()) {
+ errMsg = "鎵爜澶辫触";
+ log.error("鐗╂枡鐮佹壂鐮佸け璐�");
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+ News.warn("鎵爜鍏ュ簱澶辫触锛寋}鍏ュ簱绔欏洜{}寮傚父锛屾墭鐩樺凡琚��鍥�", inSta.getStaNo(), errMsg);
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
+
+ if (!staProtocol.isLoading()){
+ continue;
+ }
+ if (!staProtocol.isPakMk()) {
+ continue;
+ }
+ // led 寮傚父鏄剧ず
+ if (ledThread != null) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
+ }
+ staProtocol.setWorkNo(wrkNo);
+ News.info("寮傚父鍒ゆ柇{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
+ wrkNo++;
+ staProtocol.setStaNo(inSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ staProtocol.setBarcode(barcode);
+ staProtocol.setPakMk(false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ System.out.println(staProtocol);
+ log.error("杈撻�佺嚎涓嬪彂1锛�"+wrkNo+","+inSta.getBackSta());
+ }
+
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && !staProtocol.isEmptyMk()
+ && staProtocol.isPakMk()
+ && staProtocol.getWorkNo() == 0
+ ) {
+ if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+// News.error(JSON.toJSONString(staProtocol));
+ News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
// led 寮傚父鏄剧ず
if (ledThread != null) {
String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
}
+ staProtocol.setWorkNo(wrkNo);
+ News.info("鏉＄爜鍒ゆ柇{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
+ wrkNo++;
+ staProtocol.setStaNo(inSta.getBackSta().shortValue());
+ staProtocol.setBarcode(barcode);
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ log.error("杈撻�佺嚎涓嬪彂1锛�"+wrkNo+","+inSta.getBackSta());
continue;
}
- }
- if (staProtocol.isAutoing() && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
- && staProtocol.isPakMk() && staProtocol.getStamp()>=2 && staProtocol.getStamp()!=3) {// && !Cools.isEmpty(barcode)) {
- News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛�");
-// try {
-// Thread.sleep(300);
-// }catch (Exception e){}
-
- String barcode = barcodeThread.getBarcode();
- if(!Cools.isEmpty(barcode)) {
- News.info(""+mark+" - 1"+" - {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
- if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
- staProtocol.setWorkNo((short) 9999);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
+// if (staProtocol.getSiteId()!= 159){
+// if( Cools.isEmpty(barcodeMat) || "NG".endsWith(barcodeMat) || "NoRead".equals(barcodeMat) || "00000000".equals(barcodeMat)) {
+// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcodeMat(), barcodeMat);
+//
+// staProtocol.setWorkNo(wrkNo);
+// News.info("{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
+// wrkNo++;
+// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// log.error("杈撻�佺嚎涓嬪彂1锛�"+wrkNo+","+inSta.getBackSta());
+// continue;
+// }
+// }
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
+ if (wrkMast != null) {
+ int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
+ if (wrkNo1 != 0){
+ News.error(barcode + "鏉＄爜宸插瓨鍦ㄧ姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,璇锋煡鐪媁CS杈撻�佺嚎鐣岄潰,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
+ StaProtocol staProtocolNew = new StaProtocol();
+ staProtocolNew.setWorkNo(wrkMast.getWrkNo());
+ staProtocolNew.setStaNo(RouteUtils.SouStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
+ staProtocolNew.setSiteId(staProtocol.getSiteId());
devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- News.info(""+mark+" - 2"+" - 鎵爜澶辫触1 ===>> {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{},绔欑偣:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
- // led 寮傚父鏄剧ず
+ staProtocolNew.setBarcode(barcode);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolNew));
if (ledThread != null) {
- String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
+ News.error(methodName + ":鎵爜澶辫触锛岃閲嶈瘯");
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "鏉＄爜宸插瓨鍦ㄧ姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑浠诲姟,宸ヤ綔鍙�="+ wrkMast.getWrkNo()));
}
continue;
}
- } else {
- staProtocol.setWorkNo((short) 9999);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ barcodeThread.setBarcode("");
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
+ staProtocol.setBarcode(barcode);
- News.info(""+mark+" - 3"+" - 鎵爜澶辫触2 ===>> {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{},绔欑偣:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
- }
- continue;
- }
-
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
- //杩囨护鍒ゆ柇锛岄槻姝㈡嫞鏂欏啀鍏ュ簱璐х墿锛岀粡杩囧叆搴撶珯鍐嶅叆搴撴椂锛岃閫�鍥炲埌閫�搴撶珯
- WrkMast wrkMast1 = wrkMastMapper.selectPakInStepBarcode(barcode);
- if (wrkMast1 !=null){
- if (wrkMast1.getIoType()==103 || wrkMast1.getIoType()==107 || wrkMast1.getIoType()==104){
- continue;
- }
- }
- if (wrkMast != null) {
- News.error(""+mark+" - 4"+" - 宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
- staProtocol.setWorkNo((short)9999);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
+ log.info("杈撻�佺嚎涓嬪彂(瀛樺湪璁惧涓婅蛋鐨勫伐浣滄。锛岀洿鎺ヤ笅鍙戯紒))锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- String errorMsg = "宸ヤ綔妗ｅ凡瀛樺湪璇ユ潯鐮佸彿===>>" + barcode;
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
+ ledThread.errorReset();
+ log.info("缁勬墭璇锋眰鍚嶭ED閿欒娓呴櫎");
+
+ if (!result) {
+ News.error(methodName + ":鏇存柊plc绔欑偣淇℃伅澶辫触");
+ log.error("杈撻�佺嚎涓嬪彂(瀛樺湪璁惧涓婅蛋鐨勫伐浣滄。锛岀洿鎺ヤ笅鍙戯紒)==>鏇存柊plc绔欑偣淇℃伅澶辫触");
+ continue;
}
continue;
- }
+ }
+ WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
+ .eq("barcode", barcode)
+ .in("io_type", 107,103,57));
+ if (!Cools.isEmpty(checkPick)) {
+ continue;
+ }
try {
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -233,62 +316,50 @@
JSONObject jsonObject = JSON.parseObject(response);
if (jsonObject.getInteger("code").equals(200)) {
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
-
barcodeThread.setBarcode("");
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
+ staProtocol.setWorkNo(dto.getWorkNo());
+ staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
+ log.error("杈撻�佺嚎涓嬪彂2锛�"+dto.getWorkNo()+","+dto.getStaNo());
- // led 鍏ュ簱淇℃伅鏄剧ず
- if (ledThread != null) {
- // 鍛戒护闆嗗悎
- List<LedCommand> commands = new ArrayList<>();
- // 缁勮鍛戒护
- LedCommand ledCommand = new LedCommand();
- ledCommand.setWorkNo(dto.getWorkNo());
- ledCommand.setIoType(1);
- ledCommand.setTitle("鍏ㄦ澘鍏ュ簱");
- ledCommand.setLocNo(dto.getLocNo());
- ledCommand.setStaNo(dto.getStaNo());
- commands.add(ledCommand);
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, commands));
-// ledThread.errorReset();
+ ledThread.errorReset();
+ log.error("缁勬墭璇锋眰鍚嶭ED閿欒娓呴櫎");
+
+ if (!result) {
+ News.error(methodName + ":鏇存柊plc绔欑偣淇℃伅澶辫触");
+
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
}
} else {
- News.error(""+mark+" - 5"+" - 璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
- staProtocol.setWorkNo((short)9999);
+ News.error(JSON.toJSONString(staProtocol));
+ staProtocol.setWorkNo(wrkNo);
staProtocol.setStaNo(inSta.getBackSta().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
-
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ News.info("浠诲姟涓嬪彂鍒ゆ柇{}鍏ュ簱鍥為��锛歿}锛岄敊璇紪鍙穥},浠诲姟鍙凤細{}", inSta.getStaNo(), errMsg,jsonObject.getInteger("code"),wrkNo);
+ wrkNo++;
+// if (ledThread != null) {
String errorMsg = jsonObject.getString("msg");
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
- }
+ if (!Cools.isEmpty(errorMsg)) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+ }
+// }
+// News.error(methodName + ":璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
}
+
} catch (Exception e) {
e.printStackTrace();
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
- }else {
- News.errorNoLog(""+mark+" - 6"+" - 绔欑偣淇℃伅涓嶇鍚堝叆搴撴潯浠讹紒锛侊紒"+" 鑷姩淇″彿锛�"+staProtocol.isAutoing()+"銆佸彲鍏ヤ俊鍙凤細" + staProtocol.isInEnable()
- +"銆佺┖鏉夸俊鍙凤細"+ staProtocol.isEmptyMk()+"銆佸伐浣滃彿锛�" + staProtocol.getWorkNo()
- +"銆侀攣瀹氭爣璁�"+ staProtocol.isPakMk()+"銆佸叆搴撳嵃璁帮細" + staProtocol.getStamp());
}
+
}
}
- News.infoNoLog(""+mark+" - 0"+" - 缁勬墭 ===銆嬫墽琛屽畬鎴�");
+// News.infoNoLog(""+mark+" - 0"+" - 缁勬墭 ===銆嬫墽琛屽畬鎴�");
}
@@ -332,10 +403,11 @@
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ log.error("杈撻�佺嚎涓嬪彂3锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
if (result) {
// 鏇存柊宸ヤ綔涓绘。
wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
@@ -354,7 +426,7 @@
}
}
}
- News.infoNoLog(""+mark+" - 0"+" - wms鍏ュ簱 ===銆嬫墽琛屽畬鎴�");
+// News.infoNoLog(""+mark+" - 0"+" - wms鍏ュ簱 ===銆嬫墽琛屽畬鎴�");
}
@@ -372,7 +444,7 @@
}
String barcode = barcodeThread.getBarcode();
if(!Cools.isEmpty(barcode)) {
- News.info(""+mark+" - 1"+" - {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
+// News.info(""+mark+" - 1"+" - {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
continue;
}
@@ -422,8 +494,8 @@
StaDesc staDesc = staDescService.selectOne(wrapper);
if (Cools.isEmpty(staDesc)) {
News.error(""+mark+" - 2"+" - 鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
- staProtocol.setWorkNo((short) 9989);
- staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
+ staProtocol.setWorkNo(wrkNo++);
+ staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()));
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//LED
@@ -431,7 +503,7 @@
// led 寮傚父鏄剧ず
if (ledThread != null) {
String errorMsg = "姝や负鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱.璇锋斁鍦�"+pickSta.getBackSta().shortValue()+"绔欑偣";
- MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errorMsg));
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
}
continue;
}
@@ -449,6 +521,14 @@
Date now = new Date();
// 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
Integer staNo = staDesc.getCrnStn();
+ if(wrkMast.getSourceStaNo() > 2000){
+ switch (wrkMast.getCrnNo()){
+ case 1: staNo = 2004;break;
+ case 2: staNo = 2010;break;
+ case 4: staNo = 2022;break;
+ case 5: staNo = 2028;break;
+ }
+ }
// 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
wrkMast.setIoTime(now);
wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
@@ -477,10 +557,11 @@
}
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ log.error("杈撻�佺嚎涓嬪彂5锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
if (!result) {
News.error(""+mark+" - 3"+" - 鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
}
@@ -493,7 +574,171 @@
}
}
- News.infoNoLog(""+mark+" - 0"+" - 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱 ===銆嬫墽琛屽畬鎴�");
+// News.infoNoLog(""+mark+" - 0"+" - 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱 ===銆嬫墽琛屽畬鎴�");
+ }
+
+
+ //鐩樼偣鍐嶅叆搴�
+ public synchronized void stnToCrnStnPick2(){
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta pickSta : devp.getPickSta()) {
+ // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && !staProtocol.isEmptyMk()
+// && staProtocol.getWorkNo() > 0
+ && staProtocol.isPakMk()){
+
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
+ if (barcodeThread == null) {
+ continue;
+ }
+ String barcode = barcodeThread.getBarcode();
+ if(!Cools.isEmpty(barcode)) {
+// log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
+ if("00000000".equals(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
+ staProtocol.setWorkNo(wrkNo++);
+ staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+ if (ledThread != null) {
+ String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+ }
+ continue;
+ }
+ } else {
+ staProtocol.setWorkNo(wrkNo++);
+ staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+ if (ledThread != null) {
+ String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+ }
+ continue;
+ }
+
+ WrkMast wrkMast = wrkMastMapper.selectPickStep2(barcode);
+ if (wrkMast == null) {
+ // 鏃犵洏鐐规暟鎹�
+ continue;
+ }
+
+ // 鍑哄簱纭淇″彿浣�
+// if ((Cools.isEmpty(wrkMast.getInvWh()) || wrkMast.getInvWh().equals("N")) && wrkMast.getIoType() != 107) {
+// continue;
+// }
+// if ( wrkMast.getIoType() != 107 || Cools.isEmpty(wrkMast.getStaNo())
+// || Cools.isEmpty(wrkMast.getSourceStaNo())) {
+// continue;
+// }
+
+ // 鑾峰彇搴撲綅鍙�
+ try {
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", wrkMast.getSourceLocNo()));
+ LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(barcode);
+ param.setIoType(107);
+ param.setSourceStaNo(pickSta.getStaNo()); //浣滀笟绔欑偣
+ if (!Cools.isEmpty(locMast)){
+ param.setLocType1(locMast.getLocType1());
+ }else {
+ param.setLocType1(locTypeDto.getLocType1());
+ }
+
+ String response = "";
+ log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ try {
+ response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin2/loc/v1")
+ .setJson(JSON.toJSONString(param))
+// .setTimeout(15, TimeUnit.SECONDS)
+ .build()
+ .doPost();
+ } catch(Exception e){
+ log.error("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ log.error("stnToCrnStnPick2===>>鐩樼偣鏌ュ簱浣嶅叆搴撴帴鍙ｅけ璐�", e);
+ e.printStackTrace();
+ continue;
+ }
+ log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ log.info("鍏ュ簱浣滀笟绔�"+pickSta.getStaNo()+"涓嬪彂鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS杩斿洖缁撴灉===>>" + response);
+ if(response.equals("")) {
+ continue;
+ }
+ JSONObject jsonObject = JSON.parseObject(response);
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+ Integer code = jsonObject.getInteger("code");
+ if (code == 200) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+ if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
+ log.error("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶅け璐�===>>" + jsonObject.toJSONString());
+ } else {
+ log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶆垚鍔�===>>" + jsonObject.toJSONString());
+ try {
+ // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ staProtocol.setWorkNo(dto.getWorkNo());
+ staProtocol.setStaNo((short)161);
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ if (!result) {
+ log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+ }
+ log.info("浠诲姟鍙�"+wrkMast.getWrkNo()+"鐩樼偣鍐嶅叆搴撲换鍔′笅鍙戞垚鍔�===>>" + staProtocol);
+
+ ledThread.errorReset();
+ log.error("鐩樼偣鍚巐ed閿欒鍒犻櫎");
+
+ } catch (Exception e) {
+ log.error("鐩樼偣鍐嶅叆搴撳け璐�===>>" + e);
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ } else {
+ staProtocol.setWorkNo(wrkNo++);
+ staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+ if (!Cools.isEmpty(errorMsg)) {
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+ }
+ }
+ 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 + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
+ }
+ } catch (Exception e) {
+ log.error("stnToCrnStnPick2===>>fail", e);
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+
+ }
+
+ }
+
+ }
}
/**
@@ -513,15 +758,111 @@
staProtocol = staProtocol.clone();
}
if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
+ WrkMast wrkMast9997 = wrkMastMapper.selectPakOutStep9997(staProtocol.getSiteId());
+ WrkMast wrkMast9996 = wrkMastMapper.selectPakOutStep9996(staProtocol.getSiteId());
+
+ if(crnSlave.getId() == 3 && wrkMast9997 != null){
+ WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9997.getBarcode());
+ // 鍒ゆ柇鍚婅溅鏄惁瀹為檯宸插畬鎴愶紝涓旂數鑴戠姸鎬佸湪move涓紝浠ュ鐢佃剳杩涜鏇存柊宸ヤ綔妗�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn,3);
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
+ // 绉诲姩涓�
+ continue;
+ }
+ // 鍒ゆ柇鍫嗗灈鏈虹姸鎬佺瓑寰呯‘璁�
+ if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo()== 9997
+ && crnProtocol.statusType == CrnStatusType.WAITING
+ && crnProtocol.forkPosType == CrnForkPosType.HOME) {
+ log.info("鍫嗗灈鏈哄嚭搴撳畬鎴� - 寮�濮嬫墽琛�");
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast107.getWrkNo());
+ staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast107.getStaNo(),wrkMast107.getSourceStaNo()));
+ if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂澶辫触");
+ continue;
+ }else {
+ log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂鎴愬姛");
+ }
+
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
+ wrkMast9997.setWrkSts(14L);
+ wrkMast9997.setCrnEndTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast9997) != 0) {
+ // 澶嶄綅鍫嗗灈鏈�
+ log.error("鍑哄簱浠诲姟瀹屾垚涓嬪彂鍫嗗灈鏈哄浣�,{}", wrkMast9997.getWrkNo());
+ crnThread.setResetFlag(true);
+ } else {
+ News.error(""+mark+" - 1"+" - 鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast9997.getWrkNo());
+ }
+
+ }else {
+ News.errorNoLog(""+mark+" - 6"+" - 鍫嗗灈鏈轰俊鎭笉绗﹀悎鍏ュ簱鏉′欢锛侊紒锛�"
+ +" 鍫嗗灈鏈虹姸鎬侊細"+crnProtocol.modeType+"==鑷姩AUTO锛�" + CrnModeType.AUTO
+ +"銆佸爢鍨涙満浠诲姟鍙凤細"+crnProtocol.getTaskNo()+"==宸ヤ綔妗ｄ换鍔″彿锛�" + wrkMast9997.getWrkNo().shortValue()
+ +"銆佺姸鎬佹灇涓撅細"+crnProtocol.statusType+"==WAITING锛�90 //浠诲姟瀹屾垚绛夊緟WCS纭)锛�" + CrnStatusType.WAITING
+ +"銆佽揣鍙変綅缃細"+crnProtocol.forkPosType+"==HOME锛�0 // 璐у弶鍘熶綅锛�" + CrnForkPosType.HOME);
+ }
+ }
+ if(crnSlave.getId() == 3 && wrkMast9996 != null){
+ WrkMast wrkMast107 = wrkMastMapper.selectPakOutStep107(wrkMast9996.getBarcode());
+ // 鍒ゆ柇鍚婅溅鏄惁瀹為檯宸插畬鎴愶紝涓旂數鑴戠姸鎬佸湪move涓紝浠ュ鐢佃剳杩涜鏇存柊宸ヤ綔妗�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, 3);
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
+ // 绉诲姩涓�
+ continue;
+ }
+ // 鍒ゆ柇鍫嗗灈鏈虹姸鎬佺瓑寰呯‘璁�
+ if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo() == 9996
+ && crnProtocol.statusType == CrnStatusType.WAITING
+ && crnProtocol.forkPosType == CrnForkPosType.HOME) {
+ log.info("鍫嗗灈鏈哄嚭搴撳畬鎴� - 寮�濮嬫墽琛�");
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast107.getWrkNo());
+ staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast107.getStaNo(),wrkMast107.getSourceStaNo()));
+ if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂澶辫触");
+ continue;
+ }else {
+ log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂鎴愬姛");
+ }
+
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
+ wrkMast9996.setWrkSts(14L);
+ wrkMast9996.setCrnEndTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast9996) != 0) {
+ // 澶嶄綅鍫嗗灈鏈�
+ log.error("鍑哄簱浠诲姟瀹屾垚涓嬪彂鍫嗗灈鏈哄浣�,{}", wrkMast9996.getWrkNo());
+ crnThread.setResetFlag(true);
+ } else {
+ News.error(""+mark+" - 1"+" - 鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast9996.getWrkNo());
+ }
+
+ }else {
+ News.errorNoLog(""+mark+" - 6"+" - 鍫嗗灈鏈轰俊鎭笉绗﹀悎鍏ュ簱鏉′欢锛侊紒锛�"
+ +" 鍫嗗灈鏈虹姸鎬侊細"+crnProtocol.modeType+"==鑷姩AUTO锛�" + CrnModeType.AUTO
+ +"銆佸爢鍨涙満浠诲姟鍙凤細"+crnProtocol.getTaskNo()+"==宸ヤ綔妗ｄ换鍔″彿锛�" + wrkMast9996.getWrkNo().shortValue()
+ +"銆佺姸鎬佹灇涓撅細"+crnProtocol.statusType+"==WAITING锛�90 //浠诲姟瀹屾垚绛夊緟WCS纭)锛�" + CrnStatusType.WAITING
+ +"銆佽揣鍙変綅缃細"+crnProtocol.forkPosType+"==HOME锛�0 // 璐у弶鍘熶綅锛�" + CrnForkPosType.HOME);
+ }
+ }
// 鏌ヨ宸ヤ綔妗�
WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
if (wrkMast == null) {
continue;
}
// 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
- if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
+ if ((wrkMast.getIoType() != 12 && wrkMast.getIoType() < 100) || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
continue;
}
+
// 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, wrkMast.getCrnNo());
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
@@ -533,15 +874,18 @@
if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
&& crnProtocol.statusType == CrnStatusType.WAITING
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
- News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛�");
+ log.info("鍫嗗灈鏈哄嚭搴撳畬鎴� - 寮�濮嬫墽琛�");
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
// 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂澶辫触");
continue;
+ }else {
+ log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂鎴愬姛");
}
// 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
@@ -549,6 +893,7 @@
wrkMast.setCrnEndTime(new Date());
if (wrkMastMapper.updateById(wrkMast) != 0) {
// 澶嶄綅鍫嗗灈鏈�
+ log.error("鍑哄簱浠诲姟瀹屾垚涓嬪彂鍫嗗灈鏈哄浣�,{}", wrkMast.getWrkNo());
crnThread.setResetFlag(true);
} else {
News.error(""+mark+" - 1"+" - 鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
@@ -565,12 +910,125 @@
}
}
}
- News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯 ===銆嬫墽琛屽畬鎴�");
+// News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯 ===銆嬫墽琛屽畬鎴�");
}
/**
- * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
+ * 鍫嗗灈鏈轰换鍔¤鎺ヤ换鍔＄敓鎴�
*/
+ public synchronized void connectWrk(Integer mark) {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocolIn = devpThread.getStation().get(4001);
+ if (staProtocolIn == null) {
+ continue;
+ } else {
+ staProtocolIn = staProtocolIn.clone();
+ }
+ int[] outStaNos = {1015, 2016}; //琛旀帴鍏ュ簱鐐�
+ for (int outStaNo : outStaNos) {
+ StaProtocol staProtocolOut = devpThread.getStation().get(outStaNo);// 鐩樼偣鍑哄簱琛旀帴绔欑偣锛堝彲鑳芥槸 1015锛屼篃鍙兘鏄� 2016锛�
+ if (staProtocolOut == null) {
+ continue;
+ } else {
+ staProtocolOut = staProtocolOut.clone();
+ }
+
+ WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
+ if(wrkMastOut == null ){
+ continue;
+ }
+ if (staProtocolOut.getWorkNo() != null && wrkMastOut.getStaNo() == 4006) {
+ WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9997);
+ if (wrkMastOut == null) {
+ continue;
+ }
+ if (wrkMast != null) {
+// News.info("宸插瓨鍦ㄦ枩琛椾换鍔★紝绛夊緟浠诲姟瀹屾垚");
+ continue;
+ }
+ try {
+ TransplantWork param = new TransplantWork();
+ param.setWorkNo(wrkMastOut.getWrkNo());
+ param.setBarcode(wrkMastOut.getBarcode());
+ param.setSourceStaNo(outStaNo);
+ param.setStaNo(wrkMastOut.getStaNo());
+
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/auto/TransplantingOut/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ staProtocolOut.setWorkNo(9997);
+ devpThread.setPakMk(staProtocolOut.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolOut));
+
+ if (!result) {
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ }
+ if(staProtocolIn.getWorkNo() != null && staProtocolIn.getStaNo() != 4001){
+ WrkMast wrkMastCrn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
+ if(wrkMastCrn!=null){
+ if(wrkMastCrn.getCrnNo() == 3 ){
+ continue;
+ }
+ }
+ WrkMast wrkMastIn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
+ WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9996);
+ if(wrkMastIn == null){
+ continue;
+ }
+ if(wrkMast != null){
+ News.info("宸插瓨鍦ㄦ枩琛椾换鍔★紝绛夊緟浠诲姟瀹屾垚");
+ continue;
+ }
+ try {
+ TransplantWork param = new TransplantWork();
+ param.setWorkNo(wrkMastIn.getWrkNo());
+ param.setBarcode(wrkMastIn.getBarcode());
+ param.setSourceStaNo(4001);
+ param.setStaNo(wrkMastIn.getStaNo());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/auto/TransplantingIn/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ staProtocolIn.setWorkNo(9996);
+ devpThread.setPakMk(staProtocolIn.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolIn));
+
+ if (!result) {
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ }
+ }
+
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ }
+
+ }
+
+
+ /**
+ * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
+ */
public synchronized void crnIoExecute(Integer mark) {
for (CrnSlave crn : slaveProperties.getCrn()) {
@@ -621,33 +1079,33 @@
// 搴撲綅绉昏浆
//mark - 3 - ....
this.locToLoc(crn, crnProtocol,mark);
+ //棰勮皟搴�
// this.crnRebackHp(crnProtocol, crnThread);
}
- News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂鎵ц瀹屾垚");
+// News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂鎵ц瀹屾垚");
}
/**
* 鍥炲師鐐癸紝鍫嗗灈鏈烘病鏈夋墽琛屼腑浠诲姟锛岃澶囧瓨鍦ㄥ叆搴撲换鍔℃椂鍙洖鍘熺偣
*/
public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
-// 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;
-// }
-// BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
-// if (basCrnp == null) {
-// 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;
-// }
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
+ if (crnProtocol.getBay() == 1) {
return;
}
+ int x=1;
+ switch (crnProtocol.getCrnNo()){
+ case 1: x =2; break;
+ case 2: x =6; break;
+ case 3: x =11; break;
+ case 4: x =14; break;
+ case 5: x =18; break;
+ }
+ if(crnProtocol.getCrnNo() != 5){
+ return;
+ }
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�3,12
if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
return;
@@ -659,7 +1117,7 @@
}
//杈撻�佺嚎娌℃湁鍏ュ簱浠诲姟锛岃繃婊�2
- if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
+ if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) != null) {
return;
}
News.info("鍫嗗灈鏈哄彫鍥炲師鐐�==>>" + crnProtocol.getCrnNo() + "鍙峰爢鍨涙満鏈夊叆搴撲换鍔�,鍙洖鍘熺偣");
@@ -668,10 +1126,10 @@
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo((short) 9999); // 宸ヤ綔鍙�
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡: 鍥炲師鐐�
- crnCommand.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
+ crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 浠诲姟妯″紡: 鍥炲師鐐�
+ crnCommand.setSourcePosX((short) x); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 52); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
crnCommand.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
@@ -680,6 +1138,7 @@
}
crnThread.setBackHpFlag(true);
}
+
// }
}
@@ -705,7 +1164,7 @@
News.error(""+mark+" - 1"+" - 2"+" - 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
continue;
}
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
flag = true;
}
@@ -803,21 +1262,10 @@
crnCommand.setDestinationPosX(locMast.getRow1().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�
+ crnCommand.setTraySize(locMast.getLocType1() == 2);
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
News.error(""+mark+" - 1"+" - 16"+" - 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�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
} else {
-
-// long startTime = System.currentTimeMillis();
-// while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
-//
-// if (true) {
-// break;
-// }
-//
-// try{
-// Thread.sleep(500);
-// }catch(Exception ignore){}
-// }
// 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();
@@ -842,9 +1290,214 @@
// 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑鍑哄簱宸ヤ綔妗�
// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
+ WrkMast wrkMast9997 = wrkMastMapper.selectByWrkNo9997(9997);
+ WrkMast wrkMast9996 = wrkMastMapper.selectByWrkNo9997(9996);
+
+
+ if (slave.getId() == 3 && wrkMast9997 != null) {
+ SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol2 = devpThread1.getStation().get(1015);
+ if (staProtocol2 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
+ break;
+ } else {
+ staProtocol2 = staProtocol2.clone();
+ }
+ SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+ StaProtocol staProtocol4004 = devpThread2.getStation().get(4004);
+ if (staProtocol4004 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol4004);
+ break;
+ } else {
+ staProtocol4004 = staProtocol4004.clone();
+ }
+ StaProtocol staProtocol3 = devpThread2.getStation().get(2016);
+ if (staProtocol3 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
+ break;
+ } else {
+ staProtocol3 = staProtocol3.clone();
+ }
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ News.error(""+mark+" - 2"+" - 5"+" - 鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
+ break;
+// continue;
+ }
+ if(staProtocol2.isLoading() && staProtocol2.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+// continue;
+ break;
+ }
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (wrkMastMapper.selectWorking(slave.getId()) != null) {
+ break;
+// return;
+ }
+ if(staProtocol4004.isLoading()){
+ continue;
+ }
+ // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo((short) 9997); // 宸ヤ綔鍙�
+// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+ crnCommand.setSourcePosX((short) 9); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 52); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX((short) 11); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 3); // 鐩爣搴撲綅灞�
+// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) {
+ News.error("" + mark + " - 2" + " - 13" + " - 鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast9997.getCrnNo(), JSON.toJSON(crnCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
+ Date now = new Date();
+ wrkMast9997.setWrkSts(12L);
+ wrkMast9997.setCrnStrTime(now);
+ wrkMast9997.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast9997) == 0) {
+ News.error("" + mark + " - 2" + " - 14" + " - 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast9997.getWrkNo());
+ }
+ break;
+ }
+ }
+ if(staProtocol3.isLoading() && staProtocol3.isAutoing()){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+// continue;
+ break;
+ }
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (wrkMastMapper.selectWorking(slave.getId()) != null) {
+ break;
+// return;
+ }
+ if(staProtocol4004.isLoading()){
+ continue;
+ }
+ // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo((short) 9997); // 宸ヤ綔鍙�
+// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+ crnCommand.setSourcePosX((short) 11); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 52); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 2); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX((short) 11); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 3); // 鐩爣搴撲綅灞�
+// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast9997.getCrnNo(), new Task(2, crnCommand))) {
+ News.error("" + mark + " - 2" + " - 13" + " - 鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast9997.getCrnNo(), JSON.toJSON(crnCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
+ Date now = new Date();
+ wrkMast9997.setWrkSts(12L);
+ wrkMast9997.setCrnStrTime(now);
+ wrkMast9997.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast9997) == 0) {
+ News.error("" + mark + " - 2" + " - 14" + " - 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast9997.getWrkNo());
+ }
+ break;
+ }
+ }
+ }
+ if (slave.getId() == 3 && wrkMast9996 != null) {
+ SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+
+ SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+ StaProtocol staProtocol4001 = devpThread2.getStation().get(4001);
+ if (staProtocol4001 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol4001);
+ break;
+ } else {
+ staProtocol4001 = staProtocol4001.clone();
+ }
+ StaProtocol staProtocol2013 = devpThread2.getStation().get(2013);
+ if (staProtocol2013 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2013);
+ break;
+ } else {
+ staProtocol2013 = staProtocol2013.clone();
+ }
+ StaProtocol staProtocol1019 = devpThread1.getStation().get(1019);
+ if (staProtocol1019 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol1019);
+ break;
+ } else {
+ staProtocol1019 = staProtocol1019.clone();
+ }
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ News.error(""+mark+" - 2"+" - 5"+" - 鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
+ break;
+// continue;
+ }
+ if(staProtocol4001.isLoading() && staProtocol4001.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+// continue;
+ break;
+ }
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (wrkMastMapper.selectWorking(slave.getId()) != null) {
+ break;
+// return;
+ }
+ if(staProtocol1019.isLoading() && wrkMast9996.getStaNo() < 2000){
+ continue;
+ }
+ if(staProtocol2013.isLoading() && wrkMast9996.getStaNo() > 2000){
+ continue;
+ }
+ // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo((short) 9996); // 宸ヤ綔鍙�
+// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+ crnCommand.setSourcePosX((short) 9); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 52); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 3); // 婧愬簱浣嶅眰
+ if(wrkMast9996.getStaNo()>2000){
+ crnCommand.setDestinationPosX((short) 9); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 2); // 鐩爣搴撲綅灞�
+ }else{
+ crnCommand.setDestinationPosX((short) 11); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 52); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+ }
+// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast9996.getCrnNo(), new Task(2, crnCommand))) {
+ News.error("" + mark + " - 2" + " - 13" + " - 鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast9996.getCrnNo(), JSON.toJSON(crnCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
+ Date now = new Date();
+ wrkMast9996.setWrkSts(12L);
+ wrkMast9996.setCrnStrTime(now);
+ wrkMast9996.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast9996) == 0) {
+ News.error("" + mark + " - 2" + " - 14" + " - 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast9996.getWrkNo());
+ }
+ break;
+ }
+ }
+ }
for (WrkMast wrkMast : wrkMasts) {
if (wrkMast == null) {
continue;
+ }
+ if (wrkMast.getIoType() == 107){
+ int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("io_type", wrkMast.getIoType()).eq("wrk_sts", 14));
+ if (count >= inventoryNumber) {
+ continue;
+ }
}
// 宸ヤ綔妗ｇ姸鎬佸垽鏂�
if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
@@ -883,8 +1536,16 @@
// continue;
}
// 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
- if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
- && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
+// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
+// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
+
+ if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && !staProtocol.isLoading()
+ ) {
+// if (slave.getId() == 1 || slave.getId() == 2){
+// if (staProtocol.isLoading() || staProtocol.getWorkNo() != 0 || !staProtocol.isOutEnable()){
+// continue;
+// }
+// }
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
// 鍫嗗灈鏈烘帶鍒惰繃婊�
@@ -964,6 +1625,7 @@
crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
+ crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
News.error(""+mark+" - 2"+" - 13"+" - 鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
} else {
@@ -1015,90 +1677,6 @@
//
//// // 鍏ュ嚭搴撴ā寮忓垽鏂�
//// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
-//
-//
-// // 鏌ヨ绔欑偣璇︾粏淇℃伅
-// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
-// if (staDetl == null) {
-// log.error("鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
-// continue;
-// }
-// // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
-// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
-// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-//
-// // 鍫嗗灈鏈烘帶鍒惰繃婊�
-// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
-// continue;
-// }
-//
-// // 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, wrkMast.getSourceLocNo())) {
-// String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
-// LocMast shallowLoc = locMastService.selectById(shallowLocNo);
-// // O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
-// if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
-// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
-// if (null == waitWrkMast) {
-// log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
-// } else {
-// if(waitWrkMast.getWrkSts() == 11) {
-// waitWrkMast.setIoPri(15D);
-// waitWrkMast.setModiTime(new Date());
-// if (wrkMastMapper.updateById(waitWrkMast) == 0) {
-// log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
-// }
-// continue;
-// } else {
-//
-// }
-// }
-// } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
-// // 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
-// if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
-// wrkMast.setUpdMk("Y");
-// wrkMastMapper.updateById(wrkMast);
-// // 鐢熸垚宸ヤ綔妗ｃ�佹敼鍙樻祬搴撲綅鐨勬簮搴�/鐩爣搴� 搴撲綅鐘舵�併�佷笅鍙戝爢鍨涙満鍛戒护锛堢珛椹墽琛�)
-// moveLocForDeepLoc(slave, shallowLoc);
-// }
-// log.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛�", wrkMast.getWrkNo());
-// continue;
-// }
-// }
-//
-// // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
-// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
-// return;
-// }
-//
-// // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
-// CrnCommand crnCommand = new CrnCommand();
-// crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
-// crnCommand.setTaskNo(wrkMast.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(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
-// crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
-// crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
-// crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
-// crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
-// crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
-// if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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�={}", wrkMast.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();
-// wrkMast.setWrkSts(12L);
-// wrkMast.setCrnStrTime(now);
-// wrkMast.setModiTime(now);
-// if (wrkMastMapper.updateById(wrkMast) == 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={}", wrkMast.getWrkNo());
-// }
-// }
-// }
-// }
-// }
/**
* 搴撲綅绉昏浆
@@ -1124,6 +1702,10 @@
LocMast sta = locMastService.selectById(wrkMast.getLocNo());
if (null == sta) {
News.error(""+mark+" - 3"+" - 2"+" - 宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈢洰鏍囧簱浣嶅け璐ワ紒宸ヤ綔鍙�={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
+ return;
+ }
+ if(sta.getLocType1() != sourceSta.getLocType1()){
+ News.error("绉诲簱鐩爣搴撲綅绫诲瀷涓庢簮搴撲綅绫诲瀷涓嶇");
return;
}
// 鑾峰彇鍫嗗灈鏈轰俊鎭� 骞� 鍒ゆ柇鏄惁鍙叆鍑�
@@ -1158,6 +1740,7 @@
crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 鐩爣搴撲綅灞�
+ crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
News.error(""+mark+" - 3"+" - 4"+" - 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�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
} else {
@@ -1186,17 +1769,52 @@
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.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
- News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔");
- if (crnProtocol.getTaskNo() == 9999) {
+ if(crnProtocol.getTaskNo() == 9999){
+ // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
+ if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
+ News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
+
+
+
// 鍫嗗灈鏈哄浣�
+ News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}", crnThread.getCrnProtocol().getCrnNo());
crnThread.setResetFlag(true);
- } else {
+ }
+ }
+// else if (crnProtocol.getTaskNo() == 9996) {//鐩樼偣鍏ュ簱琛旀帴
+// // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
+// if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
+// News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
+//
+// // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
+// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
+// // 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
+// if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
+// wrkMast.setWrkSts(4L);
+// } else {
+// continue;
+// }
+// Date now = new Date();
+// wrkMast.setCrnEndTime(now);
+// wrkMast.setModiTime(now);
+// // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
+// if (wrkMastMapper.updateById(wrkMast) > 0) {
+// // 鍫嗗灈鏈哄浣�
+// log.error(wrkMast.getWrkNo() + "浠诲姟淇敼鐘舵��4鎴愬姛锛屽浣嶅爢鍨涙満={}", crnThread.getCrnProtocol().getCrnNo());
+// News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}", crnThread.getCrnProtocol().getCrnNo());
+// crnThread.setResetFlag(true);
+// }
+// }
+// }
+ else{
+ // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
+ if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
+ News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
+
// 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
- if (wrkMast == null) {
- News.error(""+mark+" - 1"+" - 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());
+ if (wrkMast == null ) {
+ News.error("" + mark + " - 1" + " - 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
@@ -1211,15 +1829,19 @@
// 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
if (wrkMastMapper.updateById(wrkMast) > 0) {
// 鍫嗗灈鏈哄浣�
- News.warnNoLog(""+mark+" - 2"+" - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}",crnThread.getCrnProtocol().getCrnNo());
+ log.error(wrkMast.getWrkNo() + "浠诲姟淇敼鐘舵��4鎴愬姛锛屽浣嶅爢鍨涙満={}", crnThread.getCrnProtocol().getCrnNo());
+ News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}", crnThread.getCrnProtocol().getCrnNo());
crnThread.setResetFlag(true);
}
}
-
}
+
+
+
}
- News.infoNoLog(""+mark+" - 0"+" - 瀵瑰伐浣滄。鐨勫畬鎴愭搷浣滄墽琛屽畬鎴�");
+// News.infoNoLog(""+mark+" - 0"+" - 瀵瑰伐浣滄。鐨勫畬鎴愭搷浣滄墽琛屽畬鎴�");
}
+
/**
* 鍫嗗灈鏈哄紓甯镐俊鎭褰�
@@ -1340,7 +1962,7 @@
}
}
- News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈哄紓甯镐俊鎭褰曟墽琛屽畬鎴�");
+// News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈哄紓甯镐俊鎭褰曟墽琛屽畬鎴�");
}
@@ -1374,10 +1996,12 @@
// 绔欑偣鏉′欢鍒ゆ柇
if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
&& staProtocol.isInEnable()
&& staProtocol.isEmptyMk()
- && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
- && staProtocol.isPakMk()&& staProtocol.getStamp()>=2) {
+ && staProtocol.isPakMk()
+ && (staProtocol.getWorkNo() !=0 && staProtocol.getWorkNo() > 9700)
+ ) {
News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛岋細绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�");
try {
@@ -1398,10 +2022,11 @@
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
+ staProtocol.setWorkNo(dto.getWorkNo());
+ staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ log.error("杈撻�佺嚎涓嬪彂6锛�"+dto.getWorkNo()+","+staProtocol.getSiteId());
if (!result) {
News.errorNoLog(""+mark+" - 1"+" - 鏇存柊plc绔欑偣淇℃伅澶辫触");
throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
@@ -1418,26 +2043,26 @@
ledCommand.setLocNo(dto.getLocNo());
ledCommand.setStaNo(dto.getStaNo());
commands.add(ledCommand);
- MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, commands));
+ MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(1, commands));
// ledThread.errorReset();
}
} else {
- staProtocol.setWorkNo((short)9999);
- staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- News.errorNoLog(""+mark+" - 2"+" - 鏇存柊plc绔欑偣淇℃伅澶辫触");
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
-
+// staProtocol.setWorkNo(wrkNo++);
+// staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// if (!result) {
+// News.errorNoLog(""+mark+" - 2"+" - 鏇存柊plc绔欑偣淇℃伅澶辫触");
+// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+// }
+//
if (ledThread != null) {
String errorMsg = jsonObject.getString("msg");
if (!Cools.isEmpty(errorMsg)) {
- MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(5, errorMsg));
+ MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
}
}
- News.error(""+mark+" - 3"+" - 璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+// News.error(""+mark+" - 3"+" - 璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
}
} catch (Exception e) {
e.printStackTrace();
@@ -1451,14 +2076,13 @@
}
}
}
- News.infoNoLog(""+mark+" - 0"+" - 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐ф墽琛屽畬鎴�");
+// News.infoNoLog(""+mark+" - 0"+" - 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐ф墽琛屽畬鎴�");
}
/**
* 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
*/
public synchronized void ledExecute(Integer mark) {
-
for (LedSlave led : slaveProperties.getLed()) {
// 鑾峰彇杈撻�佺嚎plc绾跨▼
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
@@ -1476,11 +2100,12 @@
}
// 鑾峰彇宸ヤ綔妗ｆ暟鎹�
WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
-// if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
if (null == wrkMast) {
+ if(staProtocol.getWorkNo() > 9999){ //寮傚父閫�鍑�
+ MessageQueue.offer(SlaveType.Led, 2, new Task(3, "寮傚父閫�鍑�"));
+ }
continue;
}
- News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛�:鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�");
wrkMasts.add(wrkMast);
// 缁勮鍛戒护
LedCommand ledCommand = new LedCommand();
@@ -1493,6 +2118,12 @@
break;
case 10:
ledCommand.setTitle("绌烘澘鍏ュ簱");
+ break;
+ case 12:
+ ledCommand.setTitle("鐗╂枡琛旀帴");
+ break;
+ case 57:
+ ledCommand.setTitle("鐩樼偣鍐嶅叆搴�");
break;
case 101:
ledCommand.setTitle("鍏ㄦ澘鍑哄簱");
@@ -1511,16 +2142,48 @@
ledCommand.setEmptyMk(true);
break;
default:
- News.error(""+mark+" - 1"+" - 浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
+ News.error("浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
break;
}
ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
- ledCommand.setLocNo(wrkMast.getLocNo());
ledCommand.setStaNo(wrkMast.getStaNo());
-// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
+ ledCommand.setBarcode(wrkMast.getBarcode());
+ if(wrkMast.getIoType() == 12){
+ List<WrkDetl> wrkDetls = wrkDetlService.findByBarcode(wrkMast.getBarcode());
+ wrkDetls.forEach(wrkDetl -> {
+ Double total = 0.0;
+ EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
+ LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
+ if (Cools.isEmpty(locDetl)) {
+ total = wrkDetl.getAnfme();
+ } else {
+ total = locDetl.getAnfme();
+ }
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
+ });
+ }
if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
- wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
+
+ wrkDetls.forEach(wrkDetl -> {
+ Double total = 0.0;
+ EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
+ LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
+ if (Cools.isEmpty(locDetl)) {
+ total = wrkDetl.getAnfme();
+ } else {
+ total = locDetl.getAnfme();
+ }
+ if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
+ }
+ if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
+ }
+ if (wrkMast.getIoType() == 107) {
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
+ }
+ });
}
commands.add(ledCommand);
}
@@ -1531,32 +2194,11 @@
if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
continue;
}
-// 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
-// if (!commands.isEmpty()) {
-// if (led.getId() < 7) {
-// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
-// News.error(""+mark+" - 2"+" - {}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
-// continue;
-// } else {
-// ledThread.setLedMk(false);
-// }
-// } else {
-// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
-// News.error(""+mark+" - 3"+" - {}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
-// continue;
-// } else {
-// ledThread.setLedMk(false);
-// }
-// }
-//
-// }
// 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
if (!commands.isEmpty()) {
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
- News.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+ if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
+ News.error("{}鍙稬ED鏄剧ず鍐呭鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
continue;
- }else {
- ledThread.setLedMk(false);
}
}
@@ -1566,7 +2208,6 @@
wrkMast.setOveMk("Y");
wrkMast.setModiTime(new Date());
if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.errorNoLog(""+mark+" - 4"+" - 鏇存柊宸ヤ綔妗ｅけ璐�");
throw new CoolException("鏇存柊宸ヤ綔妗ｅけ璐�");
}
}
@@ -1580,17 +2221,13 @@
}
}
- News.infoNoLog(""+mark+" - 0"+" - 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣ㄦ墽琛屽畬鎴�");
}
/**
* 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
*/
- public synchronized void ledReset(Integer mark) {
-
- News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛�:鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅");
+ public synchronized void ledReset() {
for (LedSlave led : slaveProperties.getLed()) {
-
// 鑾峰彇杈撻�佺嚎plc绾跨▼
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
// 鍛戒护闆嗗悎
@@ -1598,10 +2235,8 @@
for (Integer staNo : led.getStaArr()) {
// 鑾峰彇鍙夎溅绔欑偣
StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if (staProtocol == null) {
- continue;
- }
- if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
+ if (staProtocol == null) { continue; }
+ if (staProtocol.getWorkNo() != 0 || staProtocol.isErr()) {
reset = false;
break;
}
@@ -1609,16 +2244,18 @@
// 鑾峰彇led绾跨▼
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
// led鏄剧ず榛樿鍐呭
- if (reset && !ledThread.isLedMk()) {
- ledThread.setLedMk(true);
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
- News.error(""+mark+" - 1"+" - {}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
- } else {
-
+ if (reset) {
+ if (ledThread == null) {
+ continue;
}
+ if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
+ News.error("{}鍙稬ED鏄剧ず榛樿鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+ }
+// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
+// News.error("{}鍙稬ED鏄剧ず榛樿鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+// }
}
}
- News.infoNoLog(""+mark+" - 0"+" - 鎵ц瀹屾垚锛氬叾浠� ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅");
}
/**
@@ -1762,7 +2399,7 @@
wrkMast.setCrnNo(crn.getId());
wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 婧愬簱浣�
wrkMast.setLocNo(loc.getLocNo()); // 鐩爣搴撲綅
- wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 婊℃澘
+ wrkMast.setFullPlt(shallowLoc.getLocSts().equals("F") ? "Y" : "N"); // 婊℃澘
wrkMast.setPicking("N"); // 鎷ｆ枡
wrkMast.setExitMk("N"); // 閫�鍑�
wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 绌烘澘
@@ -1820,157 +2457,6 @@
News.error(""+mark+"moveLocForDeepLoc"+" - 8"+" - 鍙屾繁搴撲綅闃诲锛屽娴呭簱浣嶈繘琛岀Щ杞け璐�", e);
e.printStackTrace();
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
- }
-
- /**
- * 鍫嗗灈鏈烘紨绀� ===>> 搴撲綅绉昏浆
- */
- public synchronized void crnDemoOfLocMove1() {
- try {
- 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) {
- // 鑾峰彇绉诲簱宸ヤ綔妗ｄ俊鎭�
- WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
- if (null != wrkMast) {
- continue;
- }
-
- LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
- LocMast loc = locMastService.queryDemoLoc(crn.getId());
- if (null == sourceLoc || null == loc) {
- continue;
- }
-
- String sourceLocNo = sourceLoc.getLocNo();
- String locNo = loc.getLocNo();
-
- // 鑾峰彇宸ヤ綔鍙�
- int workNo = commonService.getWorkNo(0);
- // 淇濆瓨宸ヤ綔妗�
- wrkMast = new WrkMast();
- wrkMast.setWrkNo(workNo);
- wrkMast.setIoTime(new Date());
- wrkMast.setWrkSts(11L); // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
- wrkMast.setIoType(11); // 鍏ュ嚭搴撶姸鎬侊細 11.搴撴牸绉昏浇
- wrkMast.setIoPri(13D);
- wrkMast.setCrnNo(crn.getId());
- wrkMast.setSourceLocNo(sourceLocNo); // 婧愬簱浣�
- wrkMast.setLocNo(locNo); // 鐩爣搴撲綅
- wrkMast.setFullPlt("N"); // 婊℃澘锛歒
- wrkMast.setPicking("N"); // 鎷ｆ枡
- wrkMast.setExitMk("N"); // 閫�鍑�
- wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 绌烘澘
- wrkMast.setBarcode(sourceLoc.getBarcode()); // 鎵樼洏鐮�
- wrkMast.setLinkMis("N");
- wrkMast.setAppeTime(new Date());
- wrkMast.setModiTime(new Date());
- int res = wrkMastMapper.insert(wrkMast);
- if (res == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
- }
- // 宸ヤ綔妗ｆ槑缁嗕繚瀛�
-// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
-// for (LocDetl locDetl : locDetls) {
-// WrkDetl wrkDetl = new WrkDetl();
-// wrkDetl.setWrkNo(workNo);
-// wrkDetl.setIoTime(new Date());
-// wrkDetl.setAnfme(locDetl.getAnfme());
-// VersionUtils.setWrkDetl(wrkDetl, locDetl); // 鐗堟湰鎺у埗
-// wrkDetl.setAppeTime(new Date());
-// wrkDetl.setModiTime(new Date());
-// if (!wrkDetlService.insert(wrkDetl)) {
-// throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
-// }
-// }
- // 淇敼婧愬簱浣嶇姸鎬�
- if (sourceLoc.getLocSts().equals("D")) {
- sourceLoc.setLocSts("R"); // R.鍑哄簱棰勭害
- sourceLoc.setModiTime(new Date());
- if (!locMastService.updateById(sourceLoc)) {
- throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
- }
- } else {
- throw new CoolException("婧愬簱浣嶅嚭搴撳け璐�");
- }
- // 淇敼鐩爣搴撲綅鐘舵��
- if (loc.getLocSts().equals("O")) {
- loc.setLocSts("S"); // S.鍏ュ簱棰勭害
- loc.setModiTime(new Date());
- if (!locMastService.updateById(loc)) {
- throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
- }
- } else {
- throw new CoolException("绉昏浆澶辫触");
- }
-
- }
- }
- } catch (Exception e) {
- News.error("鍫嗗灈鏈烘紨绀� ===>> 搴撲綅绉昏浆澶辫触", e);
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
- }
-
- /**
- * 鍫嗗灈鏈哄懡浠や笅鍙戝悗锛屽紓姝ヤ慨鏀瑰伐浣滄。鐘舵��
- */
- public synchronized void crnIoWrkMast() {
- 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;
- }
- Date now = new Date();
- // 鍫嗗灈鏈烘鍦ㄨ繍琛�
- if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- // 鑾峰彇宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
- if (wrkMast == null) {
- continue;
- }
- // 鍏ュ簱
- if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 2) {
- News.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
- wrkMast.setWrkSts(3L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.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={}", wrkMast.getWrkNo());
- }
- News.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
- }
- // 鍑哄簱銆佺Щ搴�
- if (wrkMast.getWrkSts() == 11) {
- News.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
- // 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�
- wrkMast.setWrkSts(12L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.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={}", wrkMast.getWrkNo());
- }
- News.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
- }
-
-
- }
-
}
}
@@ -2051,634 +2537,798 @@
}
}
}
- News.infoNoLog(""+mark+" - 0"+" - outOfDevp鎵ц瀹屾垚");
}
- public synchronized void autoEmptyOut() {
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- Integer autoOutSite = 12;
- //濡傛灉绔欑偣鍙嚭绂佺敤锛屽垯涓嶇敓鎴愮┖鐩樺嚭搴撲换鍔�
- StaProtocol staProtocol = devpThread.getStation().get(autoOutSite);
- if (staProtocol == null) {
- return;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (staProtocol.isAutoing() //鑷姩
- && !staProtocol.isLoading() //鏃犵墿
- && staProtocol.isOutEnable() //鍙嚭淇″彿
- && staProtocol.getWorkNo() == 0
- ) {
- WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(autoOutSite);
- if (null != pakoutEmpty) {
- return;
- }
+
+ public synchronized void taskStart() {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
try {
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/auto/emptyOut/v1")
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- JSONObject data = (JSONObject) jsonObject.get("data");
- News.info((String) data.get("msg"));
- } else {
- News.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 + "/rpc/auto/emptyOut/v1","", response);
+ if (rgvDetection(rgvSlave)) {
+ String taskNoNow = rgvOtherTaskWrk(rgvSlave);
+ List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
+ boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
+ if (basDevpPositions.isEmpty()) {
+ log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�");
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "鎸囦护鐢熸垚锛氳幏鍙栨墍鏈夌珯鐐逛俊鎭紓甯�");
+ } catch (Exception e2){
+ }
+ continue;
+ }
+ List<TaskWrk> taskWrkList = new ArrayList<>();
+ List<Integer> staList = new ArrayList<>();
+ for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) {
+ TaskWrk taskWrk = deviceDetection(inSta);
+ if (taskWrk != null) {
+ if (taskWrk.getWrkNo().toString().equals(taskNoNow)) continue;
+ taskWrkList.add(taskWrk);
+ staList.add(inSta.getStaNo());
+ }
+ }
+
+ if (taskWrkList.isEmpty() || staList.isEmpty()) continue;
+
+ boolean sign = false;
+
+ if (rgvOtherStatusEnable(rgvSlave)) {
+ //鍒嗘垚涓婁笅涓ら儴鍒嗕换鍔�
+ List<Integer>[] avoidRange = RouteRgvUtils.gradeRange(staList, basDevpPositions, itSmall);
+ List<Integer> rangeListSou = avoidRange[itSmall ? 0 : 1];
+ List<Integer> rangeListSouOther = avoidRange[itSmall ? 1 : 0];
+ //灏辫繎鎺掑簭
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
+ List<Integer> rangeList = RouteRgvUtils.SortNearby(rangeListSou, rgvProtocol.RgvPos, basDevpPositions);
+ List<Integer> rangeListOther = RouteRgvUtils.SortNearby(rangeListSouOther, rgvProtocol.RgvPos, basDevpPositions);
+
+ //鎵�灞為儴鍒嗗氨杩涘彇璐�
+
+ //绛涢�夎寖鍥村唴浠诲姟
+ //灏辫繎鎺掑簭
+ //绛涢�夊湪鑼冨洿浠诲姟
+ Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
+ List<Integer> belongToRange = RouteRgvUtils.SortNearby(RouteRgvUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);
+
+ if (!sign && staList.size()==1){
+ if (rgvOtherIDLEOther(rgvSlave)){
+ if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
+ System.out.println("绌洪棽灏辫繎璺宠繃==="+rgvSlave.getId()+"===");
+ RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"绌洪棽灏辫繎璺宠繃");
+
+ sign=true;
+ }
+ }
+ if (sign){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staList.get(0))) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
+ if (rgvSuper.getStaNo().equals(outStaNo)){
+ System.out.println("绌洪棽灏辫繎璺宠繃鍚庡洜鏈�杩滃啀娆℃墽琛�==="+rgvSlave.getId()+"===");
+
+ sign=false;
+ break;
+ }
+ }
+ } else {
+ return;
+ }
+ break;
+ }
+ }
+ }
+ }
+
+ if(!sign){
+ for (Integer staNoNow : belongToRange) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+ if (RouteRgvUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ System.out.println("鍏ㄨ寖鍥存墽琛�==="+rgvSlave.getId()+"==="+taskWrk);
+ System.out.println("鍏ㄨ寖鍥存墽琛�==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
+
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ }
+ }
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+ }
+ if (!sign) {
+ // 绛涢�夎寖鍥村唴鍙栬揣浠诲姟
+ for (Integer staNoNow : belongToRange) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
+ if (rgvStnOut.getStaNo().equals(outStaNo)) {
+ System.out.println("绛涢�夎寖鍥村唴鍙栬揣浠诲姟==="+rgvSlave.getId()+"==="+taskWrk);
+ System.out.println("绛涢�夎寖鍥村唴鍙栬揣浠诲姟==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
+
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ break;
+ }
+ }
+ }
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+ }
+
+ if (!sign && staList.size()==1){
+ if (rgvOtherIDLEOther2(rgvSlave)){
+ if (!rgvOtherIDLE2(rgvSlave,staList.get(0))){
+ System.out.println("杩愯灏辫繎璺宠繃==="+rgvSlave.getId()+"===");
+ RgvErrCache.updateRgvErr(rgvSlave.getId(),staList.get(0)+"杩愯灏辫繎璺宠繃");
+
+ sign=true;
+ }
+ }
+ if (sign){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staList.get(0))) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
+ if (rgvSuper.getStaNo().equals(outStaNo)){
+ System.out.println("杩愯灏辫繎璺宠繃鍚庡洜鏈�杩滃啀娆℃墽琛�==="+rgvSlave.getId()+"===");
+
+ sign=false;
+ break;
+ }
+ }
+ } else {
+ return;
+ }
+ break;
+ }
+ }
+ }
+ }
+
+
+
+ if (!sign && staList.size()>1) {
+ for (Integer staNoNow : rangeList) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+ if (RouteRgvUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ System.out.println("绛涢�夊崐杈硅寖鍥村唴浠诲姟==="+rgvSlave.getId()+"==="+taskWrk);
+ System.out.println("绛涢�夊崐杈硅寖鍥村唴浠诲姟==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
+
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ }
+ }
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+ }else if (!sign && staList.size()==1){
+ BasDevpPosition basDevpPosition1 = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staList.get(0)));
+ if (Math.abs(basDevpPosition1.getPlcPosition()- rgvProtocol.getRgvPos())<rgvProtocol.getCarBodyJiaoMing()+rgvProtocol.getCarBodyKunPeng() + avoidDistance*2){
+ for (Integer staNoNow : rangeList) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+ if (RouteRgvUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ System.out.println("绛涢�夊崐杈硅寖鍥村唴浠诲姟==="+rgvSlave.getId()+"==="+taskWrk);
+ System.out.println("绛涢�夊崐杈硅寖鍥村唴浠诲姟==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
+
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ }
+ }
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+ }
+ }
+
+
+
+ if (!sign && staList.size()>1) {
+ // 鍗婅竟鍖哄煙鍐呭彇璐т换鍔�
+ for (Integer staNoNow : rangeList) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
+ if (rgvStnOut.getStaNo().equals(outStaNo)) {
+ System.out.println("绛涢�夊崐杈硅寖鍥村彇璐т换鍔�==="+rgvSlave.getId()+"==="+taskWrk);
+ System.out.println("绛涢�夊崐杈硅寖鍥村彇璐т换鍔�==="+rgvSlave.getId()+"==="+JSON.toJSONString(belongToRange));
+
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ break;
+ }
+ }
+ }
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+ }
+ if (!sign && staList.size()>1) {
+ for (Integer staNoNow : rangeListOther) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
+ if (rgvSuper.getStaNo().equals(outStaNo)){
+ System.out.println("鍥犳渶杩滄墽琛屽崐杈瑰尯鍩熷唴鏀捐揣浠诲姟==="+rgvSlave.getId()+"===");
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+ if (RouteRgvUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ }
+ break;
+ }
+ }
+ }
+ break;
+ }
+ if (sign) {
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+
+ }else if (!sign && staList.size()==1){
+ for (Integer staNoNow : rangeList) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
+ if (rgvSuper.getStaNo().equals(outStaNo)){
+ System.out.println("鍥犳渶杩滄墽琛屽崐杈瑰尯鍩熷唴鏀捐揣浠诲姟==="+rgvSlave.getId()+"===");
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+ if (RouteRgvUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ }
+ break;
+ }
+ }
+ }
+ break;
+ }
+ if (sign) {
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+
+ }
+ RgvErrCache.updateRgvErr(rgvSlave.getId(),"鏈煡璇㈠埌鍙墽琛屼换鍔�");
+
+ } else {
+ //鍙敤鍖哄煙灏辫繎鍙栬揣
+ //灏辫繎鎺掑簭
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());
+ List<Integer> rangeList = RouteRgvUtils.SortNearby(staList, rgvProtocol.RgvPos, basDevpPositions);
+ // 鍗婅竟鍖哄煙鍐呭彇璐т换鍔�
+ for (Integer staNoNow : rangeList) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
+ if (rgvStnOut.getStaNo().equals(outStaNo)) {
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ break;
+ }
+ }
+ }
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+ }
}
} catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
- }
- }
-
- public synchronized void autoEmptyIn() {
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- Integer autoInSite = 12;
- StaProtocol staProtocol = devpThread.getStation().get(autoInSite);
- if (staProtocol == null) {
- return;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (staProtocol.isAutoing() //鑷姩
- && staProtocol.isLoading() //鏈夌墿
- && staProtocol.isInEnable() //鍙叆淇″彿
- && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) //宸ヤ綔鍙蜂负0鎴栬�呭伐浣滃彿鏄�9991~9999锛堣緭閫佹満鐣欑敤锛�
- ) {
-
- try {
- LocTypeDto locTypeDto = new LocTypeDto((short) 1, (short) 1, (short) 1);
-
-
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/auto/emptyIn/v1")
- .setJson(JSON.toJSONString(locTypeDto))
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- News.info((String) jsonObject.get("msg"));
- } else {
- News.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 + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
+ log.error("浠诲姟鐢熸垚澶辫触===銆嬪紓甯镐俊鎭細{}", e.getMessage());
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "鎸囦护鐢熸垚澶辫触");
+ } catch (Exception e2){
}
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
}
}
- /*
- * 灏忚溅鍦板浘鏇存柊 鏇存柊閿�
- * */
- public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
+ public String rgvOtherTaskWrk(RgvSlave slave) {
-// 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 fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //鑾峰彇鍚堝苟骞叉秹椤�
- basRgvMapCurrent.setLockEndRoute(fallMerge);
- basRgvMapMapper.updateById(basRgvMapCurrent);
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getOtherId());
+ TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+ ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+ if (!allTaskProtocol.isEmpty()) {
+ for (TaskProtocol taskProtocol : allTaskProtocol.values()) {
+ if (taskProtocol.getTaskNo() != 0) {
+ return taskProtocol.getTaskNo().toString();
+ }
+ }
+ }
+ return "鏃�";
- //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�
- basRgvMapOther.setStartRoute(lockEndRoute);
- basRgvMapMapper.updateById(basRgvMapOther);
+ }
+
+ public boolean rgvDetection(RgvSlave slave) {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
+ return false;
+ }
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ return false;
+ }
+ if (rgvProtocol.getLoaded()==1){
+ return false;
+ }
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());
+
+ if (rgvProtocolOther == null) {
+ return false;
+ }
+ if (rgvProtocolOther.statusEnable) {
+ if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
+ return false;
+ }
+ }
+ return true;
+ }
+ public boolean rgvOtherIDLEOther(RgvSlave slave) {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());
+
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
+ return false;
+ }
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ return false;
+ }
+
+ if (rgvProtocol.getLoaded()!=0) {
+ return false;
+ }
+ return true;
+ }
+ public boolean rgvOtherIDLEOther2(RgvSlave slave) {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());
+
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
+ return false;
+ }
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO)
+ || rgvProtocol.getRgvPos().equals(0L)
+ || rgvTaskProtocol.getAvoid() == -1) {
+ return false;
+ }
+
+ if (rgvProtocol.getLoaded()!=0) {
+ return false;
+ }
+ return true;
+ }
+ public boolean rgvOtherIDLE(RgvSlave slave,Integer staNo) {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
+ return false;
+ }
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ return false;
+ }
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+
+ if (rgvProtocolOther == null) {
return true;
- }catch (Exception e){
- log.error("灏忚溅鍦板浘鏇存柊鍑洪敊锛�");
+ }
+ if (rgvProtocolOther.statusEnable) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
+ long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
+ -
+ Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
+ if (abs<100){
+ return true;
+ }
+ if (Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
+ >=
+ Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos())){
+ return false;
+ }
+ }
+ return true;
+ }
+ public boolean rgvOtherIDLE2(RgvSlave slave,Integer staNo) {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
return false;
}
- }
-
- /*
- * 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.getTaskNo1()==9999)
- && (rgvProtocol.getTaskNo2()==0 || rgvProtocol.getTaskNo2()==9999)
- ) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- 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);
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ return false;
}
- }
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
-
- /**
- * 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.WAITING
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- ) {
- 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){
- if (rgvProtocol.getTaskNo1()==9999){
- boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
- if (!rgvComplete){
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
- }
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
- break;
- }
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
- 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;
- }
- 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){
- if (rgvProtocol.getTaskNo2()==9999){
- boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
- if (!rgvComplete){
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
- }
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
- break;
- }
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().intValue());
- if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=2){
- log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�"+wrkMastSta);
- continue;
- }
- boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
- if (!rgvComplete){
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
- break;
- }
- wrkMastSta.setWrkSts(3);
- wrkMastStaMapper.updateById(wrkMastSta);
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
- }else {
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{},绛夊緟wcs纭浣嗘槸娌℃湁宸ヤ綔鍙凤紒",rgvProtocol.getRgvNo());
- }
- }
- }
- }catch (Exception e){
- log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+ if (rgvProtocolOther == null) {
+ return true;
}
+ if (rgvProtocolOther.statusEnable) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
+ long abs = Math.abs(Math.abs(basDevpPosition.getPlcPosition() - rgvProtocol.getRgvPos())
+ -
+ Math.abs(basDevpPosition.getPlcPosition() - rgvProtocolOther.getRgvPos()));
+ if (abs<100){
+ return true;
+ }
+ if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos())
+ >=
+ Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){
+ return false;
+ }
+ }
+ return true;
}
- /**
- * 鎵ц灏忚溅鎼繍浠诲姟
- */
- public synchronized void rgvRunWrkMastFullSta() {
- 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
- ) {
- 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());
- continue;
+ public TaskWrk deviceDetection(RgvSlave.RgvStn inSta) {
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+ if (staProtocol == null) {
+ return null;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
+ if (!staProtocol.isPakMkTask()) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "浠诲姟宸蹭笅鍙戠瓑寰呭皬杞﹀彇");
+ return null;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
+ if (staProtocol.isAutoing()
+// && staProtocol.isLoading()
+// && staProtocol.isStaOk()
+ && staProtocol.getWorkNo() != 0) {
+ TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo());
+ if (taskWrk != null) {
+ Integer stano = staProtocol.getStaNo().intValue();
+ if (staProtocol.getSiteId() == 1004 || staProtocol.getSiteId()==1020){
+ if (!staProtocol.isPakMkRun()) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "寮傚父鍥為��鏍囪锛岄渶瑕佸洖閫�");
+ return null;
}
- 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;
- }
- 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;
- }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());
- }
+ if (!staProtocol.isLoading()) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "鏃犵墿");
+ return null;
+ }
+ if (!staProtocol.isInEnable()) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "绛夊緟鍙叆淇″彿");
+ return null;
+ }
+// if (!staProtocol.isStaOk()) {
+// devpThread.setErrorDev(staProtocol.getSiteId(), "绛夊緟閾炬潯灏辩华");
+// return null;
+// }
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "-";
+ if (staProtocol.getGrossWt()>=600){
+ errMsg = "瓒呴噸锛�"+staProtocol.getGrossWt()+"kg";
+ back = true;
+ }
+ if (staProtocol.isFrontErr()) {
+ if (!back){
+ errMsg = "鍓嶈秴闄�";
} else {
- log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ errMsg = errMsg+"---"+"鍓嶈秴闄�";
}
- break;
+ back = true;
}
- }
- }
- }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);
- }
- }
- /**
- * 鎵ц灏忚溅鎼繍浠诲姟
- */
- public synchronized void rgvRunWrkMastEmptyStaPut() {//鏀�
- 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�,宸ヤ綅浜屾湁鐗�//rgv鍙敤
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getLoaded2()==1 //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
- ) {
- 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());
- continue;
- }
- 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 && wrkMastSta.getWrkType()!=4)){// 2:绌烘澘 2:鏀� 4锛氭媶鐩�
- continue;
- }
- boolean sign = false;
- if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//鏀�
- sign = rgvPutEmpty(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;
- }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);
- }
- }
-
- public synchronized void rgvRunWrkMastEmptyStaTake() {//鍙�
- 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�,宸ヤ綅浜屾棤鐗�//rgv鍙敤
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getLoaded2()==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
- ) {
- 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());
- continue;
- }
- 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 1:鍙�
- continue;
- }
- boolean sign = false;
- if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//鍙�
- sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
+ if (staProtocol.isBackErr()) {
+ if (!back){
+ errMsg = "鍚庤秴闄�";
} else {
- continue;
+ errMsg = errMsg+"---"+"鍚庤秴闄�";
}
- 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;
- }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());
+ back = true;
+ }
+ if (staProtocol.isHighErr()) {
+ if (!back){
+ errMsg = "楂樿秴闄�";
+ } else {
+ errMsg = errMsg+"---"+"楂樿秴闄�";
}
- break;
+ back = true;
+ }
+ if (staProtocol.isLeftErr()) {
+ if (!back){
+ errMsg = "宸﹁秴闄�";
+ } else {
+ errMsg = errMsg+"---"+"宸﹁秴闄�";
+ }
+ back = true;
+ }
+ if (staProtocol.isRightErr()) {
+ if (!back){
+ errMsg = "鍙宠秴闄�";
+ } else {
+ errMsg = errMsg+"---"+"鍙宠秴闄�";
+ }
+ back = true;
+ }
+// if (!back && staProtocol.isWeightErr()) {
+// errMsg = "瓒呴噸";
+// back = true;
+// }
+ if (staProtocol.isBarcodeErr()) {
+ if (!back){
+ errMsg = "鎵爜澶辫触";
+ } else {
+ errMsg = errMsg+"---"+"鎵爜澶辫触";
+ }
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+ if (stano.equals(staProtocol.getStaNo() + 1)) {
+ return null;
+ }
+ if (!staProtocol.isPakMk()) {
+ return null;
+ }
+ System.out.println("鎵爜鍏ュ簱澶辫触锛寋"+inSta.getStaNo()+"}鍏ュ簱绔欏洜{"+errMsg+"}寮傚父锛屾墭鐩樺凡琚��鍥�");
+// 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(9999);
+ int staNoInt = staProtocol.getStaNo() + 1;
+ staProtocol.setStaNo((short)staNoInt);
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setPakMkRun(staProtocol.getSiteId(), false);
+ devpThread.setPakMkTask(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
+ MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
+ try{
+ 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());
+ taskWrkService.updateById(taskWrk);
+ } catch (Exception e){
+ devpThread.setErrorDev(staProtocol.getSiteId(), errMsg+"寮傚父淇℃伅淇濆瓨宸ヤ綔妗ｆ澶辫触锛�");
+ }
+ return null;
+ }
+ }
+ return taskWrk;
+ }
+ } else if (staProtocol.isAutoing() && staProtocol.getWorkNo() == 0 && !staProtocol.isLoading()){
+ if (inSta.isDirectionOther()){
+ StaProtocol staProtocolOther = devpThread.getStation().get(inSta.getStaNoOther());
+ if (staProtocolOther == null) {
+ return null;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
+ if (staProtocolOther.isAutoing()
+ && staProtocolOther.getWorkNo() != 0) {
+ TaskWrk taskWrkOther = taskWrkService.selectByWrkNo(staProtocolOther.getWorkNo());
+ if (taskWrkOther != null) {
+ return taskWrkOther;
}
}
}
- }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 null;
}
-
- /*
- * 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() {
+ public boolean deviceDetection(RgvSlave.RgvStn inSta,Integer rgvNo) {
+ ArrayList<Integer> arrayList = new ArrayList<Integer>() {{
+ add(1009);
+ add(1011);
+ add(1012);
+ add(1014);
+ add(1016);
+ }};
try{
- Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
- if (integer==0){
- return;
- }
- 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(rgvProtocol.getRgvNo());
- if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
- continue;
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, inSta.getDevpPlcId());
+ ArrayList<Integer> listW = new ArrayList<Integer>();
+ ArrayList<Integer> listL = new ArrayList<Integer>();
+ for (Integer staNo : arrayList){
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ if (staProtocol == null) {
+ RgvErrCache.updateRgvErr(rgvNo,staNo+"绔欑偣鏁版嵁涓㈠け");
+ return false;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
+ if (staProtocol.getWorkNo() != 0) {
+ if (!listW.contains(staProtocol.getWorkNo())) {
+ listW.add(staProtocol.getWorkNo());
}
- rgvAvoidanceXY(rgvProtocol.getRgvNo());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
+ if (staProtocol.isLoading()) {
+ if (!listL.contains(staProtocol.getStaNo().intValue())) {
+ listL.add(staProtocol.getStaNo().intValue());
+ }
}
}
- }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){
- try{
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1((short)9999); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.GO_ORIGIN); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(9, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+ if (listW.size()>=3){
+ RgvErrCache.updateRgvErr(rgvNo,"绛夊緟1012鎷ｉ�夛紝闃叉鍫靛");
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.Crn, 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));
+ if (listL.size()>=3){
+ RgvErrCache.updateRgvErr(rgvNo,"绛夊緟1012鎷ｉ�夛紝闃叉鍫靛");
return false;
- } else {
- return true;
}
- }catch (Exception e){
+ } catch (Exception e){
+ RgvErrCache.updateRgvErr(rgvNo,"1012妫�娴嬪紓甯革細"+e.getMessage());
return false;
}
+ return true;
}
- /*
- * 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.Crn, 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;
+ public boolean rgvOtherStatusEnable(RgvSlave slave) {
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ if (rgvProtocolOther == null) {
+ return true;
}
- }
-
- /*
- * 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.Crn, 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;
+ if (rgvProtocolOther.statusEnable) {
+// if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
+ return true;
+// }
}
+ return false;
}
- /*
- * 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟
- * */
- 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.Crn, 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));
+
+ public boolean taskGenerate(RgvSlave rgvSlave, RgvSlave.RgvStn rgvStn, Integer sign) {
+ try {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+
+ TaskProtocol issuedTake = new TaskProtocol();
+ TaskProtocol issuedPut = new TaskProtocol();
+ try {
+ ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+ if (allTaskProtocol.size() > 0) {
+ return false;
+ }
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk == null) {
+ return false;
+ }
+// Integer targetPointConvert = taskWrk.getTargetPointConvert();
+ Integer targetPointConvert = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ if (targetPointConvert == null) {
+ return false;
+ }
+ if (targetPointConvert == 1009){
+ if (!deviceDetection(rgvStn, rgvSlave.getId())){
+ return false;
+ }
+ }
+ try{
+ devpThread.setPakMkTask(rgvStn.getStaNo(), false);
+ } catch (Exception e2){
+ RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"灏忚溅浠诲姟涓嬪彂鏍囪鏇存柊澶辫触");
+ }
+
+
+ BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
+ BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
+ //鎵ц
+ issuedTake.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
+ issuedTake.setTaskStatus(2);
+ issuedTake.setTargetPositionStaNo(basDevpPositionSou.getDevNo());
+ issuedTake.setTargetPositionStaNoPlcId(basDevpPositionSou.getPlcId());
+ issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
+ issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
+ issuedTake.setIsRunning(1);
+ issuedTake.setDirection(basDevpPositionSou.getRgvSign()==1);
+
+
+ issuedPut.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
+ issuedPut.setTaskStatus(3);
+ issuedPut.setTargetPositionStaNo(basDevpPositionEnd.getDevNo());
+ issuedPut.setTargetPositionStaNoPlcId(basDevpPositionEnd.getPlcId());
+ issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
+ issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
+ issuedPut.setIsRunning(1);
+ issuedPut.setDirection(basDevpPositionEnd.getRgvSign()==1);
+
+ try{
+ if (taskWrk.getIoType()==2 && basDevpPositionEnd.getRgvSign()==1){
+ Date now = new Date();
+ taskWrk.setStatus(TaskStatusType.OVER.id);
+ taskWrk.setModiTime(now);//鏇存柊鏃堕棿
+ taskWrk.setCompleteTime(now);//瀹岀粨鏃堕棿
+ taskWrkService.updateById(taskWrk);
+ }
+ } catch (Exception e){
+
+ }
+ } catch (Exception e) {
+ log.error("浠诲姟鐢熸垚澶辫触issued1===銆嬪紓甯镐俊鎭細{}", e.getMessage());
+ RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"绔欑偣浠诲姟鐢熸垚澶辫触issued1");
+
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "浠诲姟鐢熸垚澶辫触issued1");
+ } catch (Exception e2){
+ }
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
- * */
- 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.Crn, 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;
+ switch (sign) {
+ case 1:
+ taskProtocolCache.updateTaskProtocol(issuedTake);
+ break;
+ case 2:
+ taskProtocolCache.updateTaskProtocol(issuedPut);
+ break;
+ default:
+ taskProtocolCache.updateTaskProtocol(issuedTake);
+ taskProtocolCache.updateTaskProtocol(issuedPut);
+ break;
}
- }catch (Exception e){
- return false;
- }
- }
+ } catch (Exception e) {
+ log.error("浠诲姟鐢熸垚澶辫触issued2===銆嬪紓甯镐俊鎭細{}", e.getMessage());
+ RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"绔欑偣浠诲姟鐢熸垚澶辫触issued2");
- /*
- * 灏忚溅澶嶄綅
- * */
- public synchronized boolean rgvComplete(Integer rgvId){
- try{
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(3, new RgvCommand()))) {
- //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;
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "绔欑偣浠诲姟鐢熸垚澶辫触issued2");
+ } catch (Exception e2){
}
- }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;
}
+ return true;
}
-
}
--
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