From aeaf3e43e425ef0de84c1819f318f20e90471f90 Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期四, 02 十月 2025 11:49:37 +0800
Subject: [PATCH] #和得服务器
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 109 +++++++++++++++++++++++++++++++++---------------------
1 files changed, 66 insertions(+), 43 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 ff0b065..1b70a6d 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3045,7 +3045,7 @@
// 鑾峰彇RGV淇℃伅
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
+ if (rgvProtocol.getStatusType1() != RgvStatusType.IDLE && rgvProtocol.getModeType() != RgvModeType.AUTO) {
continue;
}
BasRgv basRgv = basRgvService.selectById(rgv.getId());
@@ -3054,10 +3054,16 @@
continue;
}
//灏忚溅鏃犱换鍔℃椂璺宠繃
- if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0){
+ if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0 ){
continue;
}
- //鍏ュ簱鏀捐揣
+ if(!rgvThread.isPaking()){
+ continue;
+ }
+ List<WrkMastSta> wrkMastStaLock = wrkMastStaService.selectLockWrk(rgv.getId());
+ if(wrkMastStaLock.size() == 1){
+ continue;
+ }
if(rgvThread.isPakIn()){
for(RgvSlave.RgvStn rgvStn : rgv.getRgvInPStn()){//鍏ュ簱鏀捐揣绔欑偣
boolean flag = false;
@@ -3101,6 +3107,7 @@
boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
if (sign){
try{
+ rgvThread.setPaking(false);
wrkMast.setSheetNo("2");
wrkMastSta.setWrkSts(2);
wrkMastStaMapper.updateById(wrkMastSta);
@@ -3163,6 +3170,7 @@
boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
if (sign){
try{
+ rgvThread.setPaking(false);
wrkMastSta.setWrkSts(2);
wrkMastStaMapper.updateById(wrkMastSta);
log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
@@ -3214,6 +3222,7 @@
&& !rgvProtocol.isLoaded1ing()
&& !rgvProtocol.isLoaded2ing()){
rgvThread.setPakRgv(true);
+ rgvThread.setPakMk(true);
rgvThread.setPakIn(true);
rgvThread.setPakOut(true);
rgvThread.setPakToCrn(true);
@@ -3239,8 +3248,12 @@
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgv.getId());
continue;
}
+ if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
+// log.error("瑙ｉ攣");
+ rgvThread.setPaking(true);
+ }
// 鍙湁褰揜GV绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk() && rgvThread.isPakToCrn()) {
+ if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk() && rgvThread.isPakToCrn() && rgvThread.isPaking()) {
News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛孯GV鍏ュ嚭搴撲綔涓氫笅鍙�");
// 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
// rgvRunWrkMastInTest();
@@ -3279,11 +3292,12 @@
// rgvPreScheduling();//鑻ユ殏鏃犱笅鍙戜换鍔￠璋冨害鎻愬墠鍒板彇璐х偣
// }
- if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
- //灏忚溅鎵ц鏀捐揣浠诲姟
- rgvOutExecute();
- }
+// if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
+// //灏忚溅鎵ц鏀捐揣浠诲姟
+// rgvOutExecute();
+//
+// }
}
}
public synchronized void rgvRunWrkMastInTest(){
@@ -3335,6 +3349,7 @@
StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
StaProtocol staProtocol2 = null; //杩炵画鍙栬揣浠诲姟绔欑偣
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
+ WrkMastSta wrkMastSta3 = null;//杩炲彇涓や釜
if(rgvStn.getStaNo2()!= null ){
staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
if (staProtocol2 == null) {
@@ -3348,18 +3363,9 @@
News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
continue;
}
- WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
- if(wrkMastSta2 != null){
- wrkMastSta2.setMk(1);
- try{
- wrkMastStaMapper.updateById(wrkMastSta2);
- log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
- }catch (Exception e){
- log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
- }
-
- }
+ wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
}
+
if (staProtocol == null) {
News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍏ュ簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
continue;
@@ -3389,7 +3395,7 @@
case 2: route = RouteUtils.getRouteTwo();break;
}
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
if( null == wrkMastSta ) {
News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
continue;
@@ -3411,7 +3417,17 @@
boolean sign = false;
sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
if (sign){
+ if(wrkMastSta3 != null){
+ wrkMastSta3.setMk(1);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta3);
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
+ }catch (Exception e){
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
+ }
+ }
+ rgvThread.setPaking(false);
rgvThread.setPakOut(false);//鍑哄簱涓嶅厑璁�
try{
wrkMastSta.setWrkSts(1);
@@ -3438,6 +3454,8 @@
StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
StaProtocol staProtocol2 = null;
+ WrkMastSta wrkMastSta3 = null;
+
if(rgvStn.getStaNo2()!= null ){
staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
if (staProtocol2 == null) {
@@ -3451,18 +3469,7 @@
News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
continue;
}
- WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
- if(wrkMastSta2 != null){
- wrkMastSta2.setMk(1);
- try{
- wrkMastStaMapper.updateById(wrkMastSta2);
- log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
- }catch (Exception e){
- log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
- }
-
- }
-
+ wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
}
if (staProtocol == null) {
@@ -3519,6 +3526,17 @@
if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
rgvThread.setPakToCrn(false); //閿佸畾灏忚溅鍙兘鎺ユ帴椹充换鍔�
}
+ if(wrkMastSta3 != null){
+ wrkMastSta3.setMk(1);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta3);
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
+ }catch (Exception e){
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
+ }
+
+ }
+ rgvThread.setPaking(false);
rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
try{
wrkMastSta.setWrkSts(1);
@@ -3754,9 +3772,9 @@
// }
// return wrkEnable;
// }
-// /**
-// * 灏忚溅棰勮皟搴�
-// */
+ /**
+ * 灏忚溅棰勮皟搴�
+ */
// public synchronized void rgvPreScheduling(){
// try{
// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
@@ -3793,7 +3811,7 @@
// // 鏍规嵁杈撻�佺嚎plc閬嶅巻
// for (DevpSlave devp : slaveProperties.getDevp()) {
// // 閬嶅巻鍏ュ簱鍙� 鍏ュ簱棰勮皟搴�
-// List<Integer> staNos = Arrays.asList( 1043, 1104,1037);
+// List<Integer> staNos = Arrays.asList( 1043, 1104, 1029, 1022, 1019, 1008, 1005);
// for (Integer staNo : staNos) {
// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
// StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -3801,9 +3819,8 @@
// RgvCommand rgvCommand = new RgvCommand();
// rgvCommand.setRgvNo((int) rgvProtocol.getRgvNo()); // RGV缂栧彿
// rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1(9999); // 宸ヤ綅1宸ヤ綔鍙�
+// rgvCommand.setTaskNo(9999); // 宸ヤ綅1宸ヤ綔鍙�
// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 绉诲姩
-// rgvCommand.setEndStaNo1(0); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
// switch (staNo){
// case 1043: rgvCommand.setTargetPosition1(1042);break; //宸ヤ綅1鐩爣绔欑偣
// case 1104: rgvCommand.setTargetPosition1(1105);break;
@@ -3858,6 +3875,7 @@
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;
}
@@ -3927,18 +3945,23 @@
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
for (DevpSlave.Sta armSta : devp.getArmSta()) {
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, armSta.getBarcode());
- if (barcodeThread == null) {
+
+ // 鑾峰彇绔欑偣淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(armSta.getStaNo());
+ if (staProtocol == null) {
continue;
+ } else {
+ staProtocol = staProtocol.clone();
}
- String barcode = barcodeThread.getBarcode();
- barcode="999997";
+ String barcode = staProtocol.getBarcode();
if(!Cools.isEmpty(barcode)) {
if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愶細"+JSON.toJSON(barcode)+"===銆嬫墭鐩樻潯鐮佸紓甯�");
continue;
}
} else {
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愶細===銆嬫墭鐩樻潯鐮佷负绌�");
continue;
}
--
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