From ab18ecb1c25613535c2047467cf8c14d3b41b047 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期二, 07 五月 2024 15:46:58 +0800
Subject: [PATCH] #空桶入库完成
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 683 ++++++++++++++++++++++++++++++++------------------------
1 files changed, 385 insertions(+), 298 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 8e7cadd..8263c0a 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -24,6 +24,7 @@
import com.zy.common.utils.News;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
+import com.zy.core.RgvThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
@@ -46,6 +47,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
+import java.io.IOException;
import java.util.*;
import java.util.stream.Collectors;
@@ -86,9 +88,13 @@
private BasErrLogService basErrLogService;
@Autowired
private BasCrnErrorMapper basCrnErrorMapper;
+ @Autowired
+ private EmptyBarrelInService emptyBarrelInService;
@Value("${wms.url}")
private String wmsUrl;
+
+ public int workNo = 9900;
/**
* 缁勬墭
@@ -491,6 +497,9 @@
*/
public synchronized void crnStnToOutStn() {
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+ if (crnSlave.getId() ==5){
+ continue;
+ }
// 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
// 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
@@ -524,13 +533,15 @@
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
// 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());
- if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
- continue;
+ if (crnProtocol.getCrnNo() !=5){
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ continue;
+ }
}
+
if (crnStn.getStaNo() == 1016 || crnStn.getStaNo() == 1019) {
// 鏇存柊宸ヤ綔妗ｇ姸鎬佷负13.RGV鎼繍涓�
@@ -559,6 +570,9 @@
*/
public synchronized void crnIoExecute() {
for (CrnSlave crn : slaveProperties.getCrn()) {
+ if (crn.getId() == 5){
+ continue;
+ }
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
@@ -582,6 +596,9 @@
// 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
if (crnProtocol.getLastIo().equals("I")) {
if (basCrnp.getInEnable().equals("Y")) {
+ if (crn.getId() == 5){
+ continue;
+ }
this.crnStnToLoc(crn, crnProtocol); // 鍏ュ簱
crnProtocol.setLastIo("O");
} else if (basCrnp.getOutEnable().equals("Y")) {
@@ -595,6 +612,10 @@
this.locToCrnStn(crn, crnProtocol); // 鍑哄簱
crnProtocol.setLastIo("I");
} else if (basCrnp.getInEnable().equals("Y")) {
+ if (crn.getId() == 5){
+ continue;
+ }
+
this.crnStnToLoc(crn, crnProtocol); // 鍏ュ簱
crnProtocol.setLastIo("O");
}
@@ -2012,261 +2033,11 @@
}
- //RGV鎼繍
- public synchronized void rgvIoExecute() {
- for (RgvSlave slave : slaveProperties.getRgv()) {
- ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getId());
- if (rgvThread == null) {
- return;
- }
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- return;
- }
- // 鍒ゆ柇RGV鏄惁绌洪棽
- if (rgvProtocol.getModeType() == RgvModeType.COMPUTER
- && rgvProtocol.getStatusType() == RgvStatusType.IDLE) {
- // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡锛屽垯浼樺厛鎵弿鍑哄簱绔欑偣
- if (rgvProtocol.getLastIo().equals("I")) {
- this.rgvOutExecute(rgvThread, rgvProtocol);//鍑哄簱
- rgvProtocol.setLastIo("O");
- }else {
- this.rgvInExecute(rgvThread, rgvProtocol);//鍏ュ簱
- rgvProtocol.setLastIo("I");
- }
- //妫�鏌ユ槸鍚﹀瓨鍦ㄥ伐浣�1浠诲姟瓒呮椂娌′笅鍙�
- if (rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() == 0) {
- if (System.currentTimeMillis() - rgvProtocol.getTask1SendTime() > (1000*60)) {
- //宸ヤ綅1涓嬪彂鏃堕棿瓒呰繃60s
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvProtocol.getRgvNo());//RGV缂栧彿
- rgvCommand.setCommand((short) 1);//宸ヤ綅1纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvCommand.getRgvNo(), new Task(4, rgvCommand))) {
- log.error("RGV纭鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
- return;
- }
- log.error("RGV纭鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
- }
- }
- }
- }
- }
- //rgv鍏ュ簱
- public synchronized void rgvInExecute(ZyRgvThread rgvThread, RgvProtocol rgvProtocol) {
- for (RgvSlave.Sta sta : rgvThread.getSlave().getInStn()) {
- if (rgvProtocol.getTaskNo1() > 0) {
- //妫�娴媟gv宸ヤ綅1鏄惁涓哄叆搴撲换鍔�
- WrkMast wrkMast1 = wrkMastMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
- if (wrkMast1.getWrkSts() > 100) {
- continue;//鍑哄簱浠诲姟璺宠繃
- }
- }
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, sta.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(sta.getSourceStaNo());
- //鍒ゆ柇杈撻�佺嚎鏄惁鑷姩銆佹湁鐗┿�佸彲鍏ャ�佹湁宸ヤ綔鍙�
- if (!(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isOutEnable() && (staProtocol.getWorkNo() > 0))) {
- continue;
- }
-
- //鎼滅储宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getWorkNo().intValue());
- if (wrkMast == null) {
- continue;//宸ヤ綔妗ｄ笉瀛樺湪
- }
-
- //鑾峰彇RGV鏀捐揣绔欑偣
- Integer staNo = Utils.getRgvStaNo(rgvProtocol.getRgvNo(), sta.getSourceStaNo(), staProtocol.getStaNo().intValue(), true);
- if (staNo == null) {
- continue;//RGV鏀捐揣绔欑偣涓嶅瓨鍦�
- }
-
- //鍒ゆ柇鐩爣绔欐槸鍚﹁嚜鍔ㄣ�佸彲鍏ャ�佹棤鐗┿�佹棤宸ヤ綔鍙�
- StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
- if (!(staProtocol1.isAutoing() && staProtocol1.isInEnable() && !staProtocol1.isLoading() && (staProtocol1.getWorkNo() == 0))) {
- continue;
- }
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvProtocol.getRgvNo());//RGV缂栧彿
- rgvCommand.setAckFinish((short) 0);
-
- //鍒ゆ柇rgv宸ヤ綅1鏄惁鍙敤
- if (rgvProtocol.getTaskNo1() == 0) {
- rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());//宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.PICK_RELEASE);//宸ヤ綔妯″紡 鍙栨斁璐�
- rgvCommand.setSourceStaNo1(staProtocol.getStaNo());//婧愮珯
- rgvCommand.setDestinationStaNo1(staNo.shortValue());//鐩爣绔�
- rgvCommand.setCommand((short) 0);//宸ヤ綅1鏆備笉纭
- } else if (rgvProtocol.getTaskNo2() == 0) {//鍒ゆ柇rgv宸ヤ綅2鏄惁鍙敤
- rgvCommand.setTaskNo2(wrkMast.getWrkNo().shortValue());//宸ヤ綔鍙�
- rgvCommand.setTaskMode2(RgvTaskModeType.PICK_RELEASE);//宸ヤ綔妯″紡 鍙栨斁璐�
- rgvCommand.setSourceStaNo2(staProtocol.getStaNo());//婧愮珯
- rgvCommand.setDestinationStaNo2(staNo.shortValue());//鐩爣绔�
- rgvCommand.setCommand((short) 1);//宸ヤ綅2纭
- }else {
- continue;//娌℃湁鍙敤RGV宸ヤ綅
- }
-
- if (!MessageQueue.offer(SlaveType.Rgv, rgvCommand.getRgvNo(), new Task(2, rgvCommand))) {
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
- continue;
- }
-
- log.error("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
- }
- }
-
- //rgv鍑哄簱
- public synchronized void rgvOutExecute(ZyRgvThread rgvThread, RgvProtocol rgvProtocol) {
- for (RgvSlave.Sta sta : rgvThread.getSlave().getOutStn()) {
- if (rgvProtocol.getTaskNo1() > 0) {
- //妫�娴媟gv宸ヤ綅1鏄惁涓哄嚭搴撲换鍔�
- WrkMast wrkMast1 = wrkMastMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
- if (wrkMast1.getWrkSts() < 100) {
- continue;//鍏ュ簱浠诲姟璺宠繃
- }
- }
-
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, sta.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(sta.getSourceStaNo());
- //鍒ゆ柇杈撻�佺嚎鏄惁鑷姩銆佹湁鐗┿�佸彲鍑恒�佹湁宸ヤ綔鍙�
- if (!(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isOutEnable() && (staProtocol.getWorkNo() > 0))) {
- continue;
- }
-
- //鎼滅储宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getWorkNo().intValue());
- if (wrkMast == null) {
- continue;//宸ヤ綔妗ｄ笉瀛樺湪
- }
-
- //鑾峰彇RGV鏀捐揣绔欑偣
- Integer staNo = Utils.getRgvStaNo(rgvProtocol.getRgvNo(), sta.getSourceStaNo(), staProtocol.getStaNo().intValue(), false);
- if (staNo == null) {
- continue;//RGV鏀捐揣绔欑偣涓嶅瓨鍦�
- }
-
- //鍒ゆ柇鐩爣绔欐槸鍚﹁嚜鍔ㄣ�佸彲鍑恒�佹棤鐗┿�佹棤宸ヤ綔鍙�
- StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
- if (!(staProtocol1.isAutoing() && staProtocol1.isOutEnable() && !staProtocol1.isLoading() && (staProtocol1.getWorkNo() == 0))) {
- continue;
- }
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvProtocol.getRgvNo());//RGV缂栧彿
- rgvCommand.setAckFinish((short) 0);
-
- //鍒ゆ柇rgv宸ヤ綅1鏄惁鍙敤
- if (rgvProtocol.getTaskNo1() == 0) {
- rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());//宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.PICK_RELEASE);//宸ヤ綔妯″紡 鍙栨斁璐�
- rgvCommand.setSourceStaNo1(staProtocol.getStaNo());//婧愮珯
- rgvCommand.setDestinationStaNo1(staNo.shortValue());//鐩爣绔�
- rgvCommand.setCommand((short) 0);//宸ヤ綅1鏆備笉纭
- } else if (rgvProtocol.getTaskNo2() == 0) {//鍒ゆ柇rgv宸ヤ綅2鏄惁鍙敤
- rgvCommand.setTaskNo2(wrkMast.getWrkNo().shortValue());//宸ヤ綔鍙�
- rgvCommand.setTaskMode2(RgvTaskModeType.PICK_RELEASE);//宸ヤ綔妯″紡 鍙栨斁璐�
- rgvCommand.setSourceStaNo2(staProtocol.getStaNo());//婧愮珯
- rgvCommand.setDestinationStaNo2(staNo.shortValue());//鐩爣绔�
- rgvCommand.setCommand((short) 1);//宸ヤ綅2纭
- }else {
- continue;//娌℃湁鍙敤RGV宸ヤ綅
- }
-
- if (!MessageQueue.offer(SlaveType.Rgv, rgvCommand.getRgvNo(), new Task(2, rgvCommand))) {
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
- continue;
- }
-
- log.error("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
- }
- }
-
- //RGV宸ヤ綔瀹屾垚
- public synchronized void rgvFinished() {
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- for (RgvSlave slave : slaveProperties.getRgv()) {
- ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getId());
- if (rgvThread == null) {
- return;
- }
-
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- return;
- }
-
- // 鐘舵�侊細绛夊緟纭
- if (rgvProtocol.getStatusType() == RgvStatusType.WAITING) {
- if (rgvProtocol.getTaskNo1() == 9999) {
- // RGV澶嶄綅
- rgvThread.setResetFlag1(true);
- }else {
- // 鑾峰彇寰呯‘璁ゅ伐浣滄。
- WrkMast wrkMast = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
- if (wrkMast == null) {
- log.error("RGV澶勪簬绛夊緟纭涓斾换鍔″畬鎴愮姸鎬侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�俁GV鍙�={}锛屽伐浣滃彿={}", rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo1());
- continue;
- }
-
- if (rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskFinish1() == 1) {
- //宸ヤ綅1浠诲姟瀹屾垚
- // RGV澶嶄綅
- rgvThread.setResetFlag1(true);
-
- //缁欑洰鏍囩珯杈撻�佺嚎鍐欏叆鏁版嵁
- Short destinationPos1 = rgvProtocol.getDestinationPos1();//鑾峰彇宸ヤ綅1鐩爣绔�
- StaProtocol staProtocol = devpThread.getStation().get(destinationPos1.intValue()).clone();
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());//鍐欏叆宸ヤ綔鍙�
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//鍐欏叆鐩爣绔�
- if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
- log.info("{}浠诲姟锛孯GV鎼繍鎴愬姛锛屽啓鍏ヨ緭閫佹暟鎹け璐}", wrkMast.getWrkNo(), JSON.toJSONString(staProtocol));
- }
-
- //2鍙稲GV鍜�3鍙稲GV宸ヤ綔瀹屾垚鍚庨渶瑕佹洿鏂板伐浣滄。鐘舵��
- if (rgvProtocol.getRgvNo() == 2 || rgvProtocol.getRgvNo() == 3) {
- if (wrkMast.getWrkSts() == 13) {//13.RGV鎼繍涓� => 14.宸插嚭搴�
- wrkMast.setWrkSts(14L);
- wrkMast.setModiTime(new Date());
- wrkMastMapper.updateById(wrkMast);
- }
- }
- }
-
- if (rgvProtocol.getTaskNo2() > 0 && rgvProtocol.getTaskFinish2() == 1) {
- //宸ヤ綅2浠诲姟瀹屾垚
- // RGV澶嶄綅
- rgvThread.setResetFlag2(true);
-
- //缁欑洰鏍囩珯杈撻�佺嚎鍐欏叆鏁版嵁
- Short destinationPos2 = rgvProtocol.getDestinationPos2();//鑾峰彇宸ヤ綅2鐩爣绔�
- StaProtocol staProtocol = devpThread.getStation().get(destinationPos2.intValue()).clone();
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());//鍐欏叆宸ヤ綔鍙�
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//鍐欏叆鐩爣绔�
- if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
- log.info("{}浠诲姟锛孯GV鎼繍鎴愬姛锛屽啓鍏ヨ緭閫佹暟鎹け璐}", wrkMast.getWrkNo(), JSON.toJSONString(staProtocol));
- }
-
- //2鍙稲GV鍜�3鍙稲GV宸ヤ綔瀹屾垚鍚庨渶瑕佹洿鏂板伐浣滄。鐘舵��
- if (rgvProtocol.getRgvNo() == 2 || rgvProtocol.getRgvNo() == 3) {
- if (wrkMast.getWrkSts() == 13) {//13.RGV鎼繍涓� => 14.宸插嚭搴�
- wrkMast.setWrkSts(14L);
- wrkMast.setModiTime(new Date());
- wrkMastMapper.updateById(wrkMast);
- }
- }
- }
- }
- }
- }
- }
/**
* 鎵弿纰熺洏鏈鸿嚜鍔ㄥ叆搴撶┖鎵樼洏
@@ -2430,80 +2201,285 @@
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
- Crn5InTaskSta(crnSlave,crnProtocol);
+// Crn5InTaskSta(crnSlave,crnProtocol);
+
+ // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
+ if (crnProtocol.getLastIo().equals("I")) {
+ if (basCrnp.getInEnable().equals("Y")) {
+ this.Crn5InTaskSta(crnSlave,crnProtocol);
+ crnProtocol.setLastIo("O");
+ } else if (basCrnp.getOutEnable().equals("Y")) {
+ this.locToCrn5Stn(crnSlave, crnProtocol); // 鍑哄簱
+ crnProtocol.setLastIo("I");
+ }
+ }
+ // 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
+ else if (crnProtocol.getLastIo().equals("O")) {
+ if (basCrnp.getOutEnable().equals("Y")) {
+ this.locToCrn5Stn(crnSlave, crnProtocol); // 鍑哄簱
+ crnProtocol.setLastIo("I");
+ } else if (basCrnp.getInEnable().equals("Y")) {
+
+ this.Crn5InTaskSta(crnSlave,crnProtocol);
+ crnProtocol.setLastIo("O");
+ }
+ }
}
}
}
public void Crn5InTaskSta(CrnSlave slave, CrnProtocol crnProtocol){
- // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
+ // 鏌ヨ宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastMapper.selectCrn5Task2();
+ if (wrkMast == null) {
+ return;
}
- if (staProtocol.isAutoing()
- && staProtocol.isLoading()
- && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
- // 鏌ヨ宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectCrn5Task2(staProtocol.getSiteId());
+ // 鑾峰彇搴撲綅淇℃伅
+ LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
+ if (locMast == null) {
+ log.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
+ return;
+ }
+ if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
+ log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
+ return;
+ }
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+ return;
+ }
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ 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(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(locMast.getRow1()==9?(short)4:(short)5); // 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.setLocType1(locMast.getLocType1().shortValue()); // 璐х墿绫诲瀷
+ 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� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
+ Date now = new Date();
+ wrkMast.setWrkSts(3L);
+ wrkMast.setCrnStrTime(now);
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+ }
+ }
+ }
+
+
+
+
+ }
+
+
+ public synchronized void crn5StnToOutStn() {
+ for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+ if (crnSlave.getId() != 5){
+ continue;
+ }
+ // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
+ for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
+ // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
+ // 鏌ヨ宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(crnStn.getStaNo());
+ if (wrkMast == null) {
+ continue;
+ }
+ // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
+ if (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();
+ 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().equals(wrkMast.getWrkNo().shortValue())
+ && crnProtocol.statusType == CrnStatusType.WAITING
+ && crnProtocol.forkPosType == CrnForkPosType.HOME) {
+
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14
+ wrkMast.setWrkSts(14L);
+
+ wrkMast.setCrnEndTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) != 0) {
+ // 澶嶄綅鍫嗗灈鏈�
+ crnThread.setResetFlag(true);
+ } else {
+ log.error("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());
+ }
+
+ }
+
+ }
+ }
+ }
+ }
+
+
+ public synchronized void locToCrn5Stn(CrnSlave slave, CrnProtocol crnProtocol) {
+ for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
+ // 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑鍑哄簱宸ヤ綔妗�
+// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
+ List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
+ // 鑾峰彇宸ヤ綔鐘舵�佷负14鐨勫伐浣滄。
+ WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep14(slave.getId(), crnStn.getStaNo());
+ if ( wrkMast1 !=null) {
+ continue;
+ }
+ for (WrkMast wrkMast : wrkMasts) {
if (wrkMast == null) {
continue;
}
+ // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
+ if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
+ log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
+ continue;
+ }
+ // 鑾峰彇婧愬簱浣嶄俊鎭�
+ LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
+ if (!locMast.getLocSts().equals("R") && !locMast.getLocSts().equals("P")) {
+ log.error("鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
+ continue;
+ }
+ // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ if (staProtocol == null) {
+ break;
+// continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
// 鏌ヨ绔欑偣璇︾粏淇℃伅
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
if (staDetl == null) {
- log.error("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;
+ 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());
+ break;
+// continue;
}
- // 鑾峰彇搴撲綅淇℃伅
- LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
- if (locMast == null) {
- log.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
- continue;
- }
- if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
- log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
- continue;
- }
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
- continue;
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
- && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
-
+ // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && 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;
+ break;
+ }
+
+
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (wrkMastMapper.selectWorking(slave.getId()) != null) {
+ break;
+// return;
+ }
+
+ // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo(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(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
- 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.setSourcePosX(locMast.getRow1()==9?(short)4:(short)5); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(locMast.getBay1().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(locMast.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�
crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 璐х墿绫诲瀷
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� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
+ // 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(3L);
+ 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� 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());
+ 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());
}
+ break;
+ }
+ }
+ }
+ }
+ }
+
+ public synchronized void crn5TaskCreate() throws IOException {
+ for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+ if (crnSlave.getId() != 5){
+ continue;
+ }
+ for (CrnSlave.CrnStn crnStn : crnSlave.getCrnInStn()) {
+ // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ if (staProtocol == null) {
+ break;
+// continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){
+
+ EmptyBarrelIn emptyBarrelIn = emptyBarrelInService.selectOne(new EntityWrapper<>());
+ if (Cools.isEmpty(emptyBarrelIn)){
+ continue;
}
+ FullStoreParam fullStoreParam = new FullStoreParam();
+ fullStoreParam.setDevpNo(crnStn.getStaNo());
+ FullStoreParam.MatCodeStore matCodeStore = new FullStoreParam.MatCodeStore();
+ matCodeStore.setMatnr(emptyBarrelIn.getMatnr());
+ matCodeStore.setBatch(emptyBarrelIn.getBatch());
+ if (staProtocol.isForce()){
+ log.info("绌烘《寮哄埗鍏ュ簱锛�"+staProtocol.getAmount());
+ matCodeStore.setAnfme(Double.valueOf(staProtocol.getAmount()));
+ }else {
+ matCodeStore.setAnfme(8d) ;
+ }
+ ArrayList<FullStoreParam.MatCodeStore> matCodeStores = new ArrayList<>();
+ matCodeStores.add(matCodeStore);
+ fullStoreParam.setList(matCodeStores);
+ try {
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/full/store/put/start")
+ .setJson(JSON.toJSONString(fullStoreParam))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ devpThread.setPakMk(crnStn.getStaNo(),false);
+ }
+ }catch (CoolException e){
+
+ }
}
@@ -2511,4 +2487,115 @@
}
}
+ public synchronized void RGVTaskPut(){
+ for (RgvSlave rgvSlave:slaveProperties.getRgv()){
+ ZyRgvThread rgvThread = (ZyRgvThread)SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol.getModeType() != RgvModeType.AUTO){
+ continue;
+ }
+
+
+ int workNo1 = 0;
+ int workNo2 = 0;
+ short souSta1 = 0;
+ short sta1 = 0;
+ short souSta2 = 0;
+ short sta2 = 0;
+
+ //宸ヤ綅涓�浠诲姟
+ for (RgvSlave.Sta inStn : rgvSlave.getInStn()){
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
+ if (staProtocol == null) {
+ break;
+// continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isLoading() && staProtocol.isLoading() && staProtocol.isInEnable()){
+ if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() <9900){
+ WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
+ if (Cools.isEmpty(wrkMast)){
+ log.error("鏈壘鍒板伐浣滄。");
+ continue;
+ }
+ workNo1 = wrkMast.getWrkNo();
+ souSta1 = inStn.getSourceStaNo().shortValue();
+ sta1 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
+ break;
+ }
+ workNo1 = workNo++;
+ souSta1 = inStn.getSourceStaNo().shortValue();
+ sta1 = inStn.getStaNo().shortValue();
+ break;
+ }
+ }
+
+
+ //宸ヤ綅浜屼换鍔�
+ for (RgvSlave.Sta inStn : rgvSlave.getInStn()){
+ if (souSta1 == inStn.getSourceStaNo()){
+ continue;
+ }
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
+ if (staProtocol == null) {
+ break;
+// continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isLoading() && staProtocol.isLoading() && staProtocol.isInEnable()){
+ if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() <9900){
+ WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
+ if (Cools.isEmpty(wrkMast)){
+ log.error("鏈壘鍒板伐浣滄。");
+ continue;
+ }
+ workNo2 = wrkMast.getWrkNo();
+ souSta2 = inStn.getSourceStaNo().shortValue();
+ sta2 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
+ break;
+ }
+ workNo2 = workNo++;
+ souSta2 = inStn.getSourceStaNo().shortValue();
+ sta2 = inStn.getStaNo().shortValue();
+ break;
+ }
+ }
+
+ //rgv浠诲姟涓嬪彂--------------------------------------------------------------
+ RgvCommand command = new RgvCommand();
+ command.setRgvNo(rgvSlave.getId()); // RGV缂栧彿
+ //宸ヤ綅1
+ command.setTaskNo1(workNo1); // 宸ヤ綔鍙�
+ command.setSourceStaNo1(souSta1); // 婧愮珯
+ command.setDestinationStaNo1(sta1); // 鐩爣绔�
+ command.setAckFinish1(false); // 浠诲姟瀹屾垚纭浣�
+
+ //宸ヤ綅2
+ command.setTaskNo2(workNo2); // 宸ヤ綔鍙�
+ command.setSourceStaNo2(souSta2); // 婧愮珯
+ command.setDestinationStaNo2(sta2); // 鐩爣绔�
+ command.setAckFinish2(false); // 浠诲姟瀹屾垚纭浣�
+
+ if (workNo1 != 0 && workNo2 ==0){
+ command.setTaskMode(RgvTaskModeType.FETCH_PUT2); // 浠诲姟妯″紡: 鍙栨斁璐�
+ } else if (workNo1 == 0 && workNo2 !=0) {
+ command.setTaskMode(RgvTaskModeType.FETCH_PUT1); // 浠诲姟妯″紡: 鍙栨斁璐�
+ }else {
+ command.setTaskMode(RgvTaskModeType.FETCH_PUT_ALL); // 浠诲姟妯″紡: 鍙栨斁璐�
+ }
+ command.setCommand(false);
+ MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(2, command));
+ log.info("rgv浠诲姟涓嬪彂锛�"+JSON.toJSONString(command));
+
+ }
+ }
+
+
+ public synchronized void RGVTaskOver() {
+
+ }
}
--
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