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 | 2709 +++++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 2,084 insertions(+), 625 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 276409d..1b70a6d 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -8,11 +8,18 @@
import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
+import com.zy.asrs.entity.param.ArmOrderAssignmentParam;
+import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
+import com.zy.asrs.entity.param.CombParam;
+import com.zy.asrs.entity.result.OrderDetlValueResultUtil;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
+import com.zy.asrs.utils.PostMesDataUtils;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
+import com.zy.asrs.utils.core.ReturnT;
+import com.zy.common.constant.ArmConstant;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
@@ -45,10 +52,7 @@
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.stream.Collectors;
/**
@@ -94,12 +98,25 @@
private BasRgvMapMapper basRgvMapMapper;
@Autowired
private WrkMastService wrkMastService;
+ @Autowired
+ private WrkMastStaService wrkMastStaService;
+ @Autowired
+ private BasRgvMapService basRgvMapService;
+ @Autowired
+ private BasArmService basArmService;
+ @Autowired
+ private BasArmMastService basArmMastService;
@Value("${wms.url}")
private String wmsUrl;
- public Integer wrkNo = 10000;
+ @Value("${wms.comb}")
+ private String wmsComb;
+ @Value("${inventory.number}")
+ private Integer inventoryNumber;
+ public Integer wrkNo = 10000;
+ public static final List<Integer> LEFT_POSITION = Arrays.asList(1018,2018);
/**
* 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
@@ -124,7 +141,10 @@
if (barcodeThread == null) {
continue;
}
+
+
String barcode = barcodeThread.getBarcode();
+
// 灏哄妫�娴嬪紓甯�
boolean back = false;
String errMsg = "";
@@ -154,6 +174,7 @@
}
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�
@@ -167,12 +188,17 @@
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("{}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());
}
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
@@ -181,24 +207,71 @@
&& staProtocol.isInEnable()
&& !staProtocol.isEmptyMk()
&& staProtocol.isPakMk()) {
- if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
+ 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(3, errorMsg));
+ }
+ 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;
}
+// 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) {
- News.error(methodName + ":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());
- if (ledThread != null) {
- News.error(methodName + ":鎵爜澶辫触锛岃閲嶈瘯");
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "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() + "}, 璇锋墜鍔ㄥ彇娑堝凡瀛樺湪宸ヤ綔妗�"));
+ 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());
+ if (ledThread != null) {
+ 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;
}
- continue;
+ barcodeThread.setBarcode("");
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ 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());
+
+ 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");
+
+// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ continue;
+ }
+
}
WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
.eq("barcode", barcode)
- .in("io_type", 107,103));
+ .in("io_type", 107,103,57));
if (!Cools.isEmpty(checkPick)) {
continue;
}
@@ -221,26 +294,59 @@
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
barcodeThread.setBarcode("");
staProtocol.setWorkNo(dto.getWorkNo());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
+ 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));
+ log.error("杈撻�佺嚎涓嬪彂2锛�"+dto.getWorkNo()+","+dto.getStaNo());
+
+ 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 {
-// staProtocol.setWorkNo(wrkNo);
-// wrkNo++;
-// staProtocol.setStaNo(inSta.getBackSta().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ }
+// else if (jsonObject.getInteger("code").equals(700)) {
+// SearchLocParam param2 = new SearchLocParam();
+// param2.setBarcode(barcode);
+// param2.setBarcodeMat(barcodeMat);
+// param2.setSourceStaNo(inSta.getStaNo());
+// param2.setLocType1(locTypeDto.getLocType1());
+// String response2 = new HttpHandler.Builder()
+// .setUri(wmsUrl)
+// .setPath("/rpc/pakin/yk/loc/v33")
+// .setJson(JSON.toJSONString(param2))
+// .build()
+// .doPost();
+// JSONObject jsonObject2 = JSON.parseObject(response2);
+// if (jsonObject2.getInteger("code").equals(200)) {
+// log.info("鑷姩缁勬墭鎴愬姛锛侊紒");
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "鑷姩缁勬墭鎴愬姛"));
+// } else {
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "鑷姩缁勬墭澶辫触锛侊紒锛乥arcodeMat==>"+barcodeMat));
+// News.error(methodName + "==>缁勬墭澶辫触: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/yk/loc/v33", JSON.toJSONString(param), response2);
+// }
+// try{
+// Thread.sleep(500);
+// } catch (Exception e){
+//
+// }
+// }
+ else {
+ News.error(JSON.toJSONString(staProtocol));
+ staProtocol.setWorkNo(wrkNo);
+ wrkNo++;
+ staProtocol.setStaNo(inSta.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, inSta.getLed(), new Task(3, errorMsg));
-// }
+ String errorMsg = jsonObject.getString("msg");
+ 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);
}
@@ -304,6 +410,7 @@
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
@@ -390,16 +497,17 @@
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(9989);
+ staProtocol.setWorkNo(wrkNo++);
staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ log.error("杈撻�佺嚎涓嬪彂4锛�"+9989+","+(pickSta.getStaNo().shortValue()-(short)1));
//LED
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
// 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;
}
@@ -446,9 +554,10 @@
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
staProtocol.setWorkNo(wrkMast.getWrkNo());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ staProtocol.setStaNo((short) 161);
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());
}
@@ -462,6 +571,170 @@
}
// 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();
+ }
+
+ }
+
+ }
+
+ }
}
/**
@@ -487,9 +760,10 @@
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();
@@ -501,7 +775,7 @@
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� --------------------------------------------------------------------------
@@ -509,7 +783,10 @@
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
@@ -517,6 +794,7 @@
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());
@@ -537,8 +815,112 @@
}
/**
- * 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};
+ 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();
+ }
+
+ if (staProtocolOut.getWorkNo() != null && staProtocolOut.getStaNo() == 4006) {
+ WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
+ 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 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()) {
@@ -589,6 +971,7 @@
// 搴撲綅绉昏浆
//mark - 3 - ....
this.locToLoc(crn, crnProtocol,mark);
+ //棰勮皟搴�
// this.crnRebackHp(crnProtocol, crnThread);
}
@@ -599,21 +982,17 @@
* 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 =1; break;
+ case 2: x =3; break;
+ case 3: x =5; break;
+ case 4: x =7; break;
+ case 5: x =9; break;
}
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�3,12
@@ -627,7 +1006,7 @@
}
//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");
@@ -636,10 +1015,10 @@
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) 1); // 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�
@@ -648,6 +1027,7 @@
}
crnThread.setBackHpFlag(true);
}
+
// }
}
@@ -667,13 +1047,68 @@
} else {
staProtocol = staProtocol.clone();
}
+// if (slave.getId() == 3) {
+// SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+// StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
+// 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();
+// }
+// WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
+// 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(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().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;
+// }
+// // 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) 5); // 婧愬簱浣嶆帓
+// crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
+// crnCommand.setSourcePosZ((short) 4); // 婧愬簱浣嶅眰
+// crnCommand.setDestinationPosX((short) 6); // 鐩爣搴撲綅鎺�
+// crnCommand.setDestinationPosY((short) 1); // 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, wrkMast9999.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�={}", wrkMast9999.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();
+// wrkMast9999.setWrkSts(3L);
+// wrkMast9999.setCrnStrTime(now);
+// wrkMast9999.setModiTime(now);
+// if (wrkMastMapper.updateById(wrkMast9999) == 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={}", wrkMast9999.getWrkNo());
+// }
+// break;
+// }
+// }
+// }
// 鏌ヨ绔欑偣璇︾粏淇℃伅
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
if (staDetl == null) {
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;
}
@@ -811,9 +1246,70 @@
// 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());
+ if (slave.getId() == 3) {
+ SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ 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();
+ }
+ WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9997);
+ 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(wrkMast9999 != null && 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;
+ }
+ // 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) 5); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX((short) 6); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 4); // 鐩爣搴撲綅灞�
+// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.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�={}", wrkMast9999.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();
+ wrkMast9999.setWrkSts(12L);
+ wrkMast9999.setCrnStrTime(now);
+ wrkMast9999.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast9999) == 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={}", wrkMast9999.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) {
@@ -852,8 +1348,16 @@
// 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")
+ ) {
+// 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�
@@ -1161,17 +1665,50 @@
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());
- 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());
+ // 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());
continue;
}
// 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
@@ -1186,15 +1723,19 @@
// 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�");
}
+
/**
* 鍫嗗灈鏈哄紓甯镐俊鎭褰�
@@ -1353,6 +1894,7 @@
&& staProtocol.isInEnable()
&& staProtocol.isEmptyMk()
&& 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�");
@@ -1378,6 +1920,7 @@
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");
@@ -1394,7 +1937,7 @@
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 {
@@ -1407,12 +1950,12 @@
// 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));
-// }
-// }
+ if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+ if (!Cools.isEmpty(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);
}
} catch (Exception e) {
@@ -1434,7 +1977,6 @@
* 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());
@@ -1452,11 +1994,7 @@
}
// 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) {
- 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�");
+ if (null == wrkMast) { continue; }
wrkMasts.add(wrkMast);
// 缁勮鍛戒护
LedCommand ledCommand = new LedCommand();
@@ -1487,16 +2025,34 @@
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() != 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.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
+ }
+ if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
+ }
+ if (wrkMast.getIoType() == 107) {
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
+ }
+ });
}
commands.add(ledCommand);
}
@@ -1507,32 +2063,11 @@
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);
}
}
@@ -1542,7 +2077,6 @@
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�");
}
}
@@ -1556,17 +2090,13 @@
}
}
-// 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
@@ -1574,10 +2104,8 @@
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;
}
@@ -1585,16 +2113,15 @@
// 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());
}
}
}
-// 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");
}
/**
@@ -1738,7 +2265,7 @@
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
@@ -2032,105 +2559,147 @@
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) {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ List<Integer> list = new ArrayList<>();
+ list.add(1109);list.add(2031);
+ for (Integer site:list){
+ Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
+ StaProtocol staProtocol = null;
+ if(emptyCount >= 2 && site == 1109){
+ continue;
+ }else if(emptyCount == 1 && site == 2031){
+ continue;
+ }
+ //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�
+ switch (site){
+ case 1109:staProtocol = devpThread.getStation().get(site - 2);break;
+ case 2031:staProtocol = devpThread.getStation().get(site);break;
+ }
+ if (staProtocol == null) {
return;
+ } else {
+ staProtocol = staProtocol.clone();
}
- 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 (staProtocol.isAutoing() //鑷姩
+ && !staProtocol.isLoading() //鏃犵墿
+ && staProtocol.isOutEnable() //鍙嚭淇″彿
+ && staProtocol.getWorkNo() == 0
+ ) {
+ Short loctype1 = 1;
+ LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
+ locTypeDto.setSiteId(site);
+ try {
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/auto/emptyOut/v1")
+ .setJson(JSON.toJSONString(locTypeDto))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ String data = jsonObject.get("data").toString();
+ News.info((String) jsonObject.get("msg")+","+data);
+ } else {
+ News.warnNoLog("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);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
- } 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);
- }
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ List<Integer> list = new ArrayList<>();
+ list.add(1038);
+ for (Integer site:list){
+ StaProtocol staProtocol = devpThread.getStation().get(site);
+ StaProtocol staProtocol1 = devpThread.getStation().get(1040);
+ 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.isPakMk()
+ && staProtocol1.isFull() //鍙犳弧淇″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�
+ ) {
+
+ System.out.println(staProtocol);
+ try {
+ Short loctype1 = 1;
+ LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
+ locTypeDto.setSiteId(site);
+
+ 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"));
+ staProtocol.setWorkNo(jsonObject.get("data").hashCode());
+ staProtocol.setStaNo(site.shortValue());
+ devpThread.setPakMk(site,false);
+ MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
+ } 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);
+ }
+ } 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 synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,String sign){
+// log.info("灏忚溅鍦板浘鏇存柊锛乕鏍囪锛歿}];[BasRgvMap锛歿}];[staStart锛歿}];[staEnd锛歿}];",sign,JSON.toJSONString(basRgvMapCurrent),staStart,staEnd);
// 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�
+// log.info("灏忚溅鍦板浘鏇存柊锛佽幏鍙栨渶杩滅珯鐐�;[farCurrentStaNo锛歿}]",farCurrentStaNo);
Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //鑾峰彇鍚堝苟骞叉秹椤�
+// log.info("灏忚溅鍦板浘鏇存柊锛佽幏鍙栧悎骞跺共娑夐」;[fallMerge锛歿}]",fallMerge);
basRgvMapCurrent.setLockEndRoute(fallMerge);
- basRgvMapMapper.updateById(basRgvMapCurrent);
+ Integer i = basRgvMapMapper.updateById(basRgvMapCurrent);
+// if (i>0){
+// log.error("{}:==>{}:{}鍙疯溅鏇存柊缁撴潫閿�,{}",sign,new Date(),basRgvMapCurrent.getRgvNo(),JSON.toJSONString(basRgvMapCurrent));
+// }
//鏇存柊鍙︿竴鍙板皬杞﹀湴鍥�
- Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther();
+ Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther(basRgvMapCurrent.getRgvNo());
+// log.info("灏忚溅鍦板浘鏇存柊锛佸彟涓�鍙板皬杞﹀彿;[rgvNoOther锛歿}]",rgvNoOther);
+
BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
+// log.info("灏忚溅鍦板浘鏇存柊锛佸彟涓�鍙板皬杞�;[basRgvMapOther锛歿}]",JSON.toJSONString(basRgvMapOther));
+
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�
+// log.info("灏忚溅鍦板浘鏇存柊锛佸彟涓�鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�;[lockEndRoute锛歿}]",lockEndRoute);
basRgvMapOther.setEndRoute(lockEndRoute);
- basRgvMapMapper.updateById(basRgvMapOther);
+ Integer i1 = basRgvMapMapper.updateById(basRgvMapOther);
+// if (i1>0){
+// log.error("{}:==>{}:{}鍙疯溅鏇存柊缁撴潫浣嶇疆,{}",sign,new Date(),basRgvMapOther.getRgvNo(),JSON.toJSONString(basRgvMapOther));
+// }
return true;
}catch (Exception e){
- log.error("灏忚溅鍦板浘鏇存柊鍑洪敊锛�");
+ log.error("灏忚溅鍦板浘鏇存柊鍑洪敊锛佸紓甯稿師鍥狅細"+e);
return false;
}
}
@@ -2140,28 +2709,61 @@
* */
public synchronized void refreshRgvMap() {
try{
- for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
+ for (BasRgvMap rgvSlave:basRgvMaps) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
continue;
+ }else {
+ rgvProtocol = rgvProtocol.clone();
}
- BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
if (basRgv == null) {
- log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�2", rgvSlave.getId());
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�2", rgvSlave.getRgvNo());
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)
-
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE &&
+ rgvProtocol.getModeType() == RgvModeType.AUTO
+ && !rgvProtocol.isLoaded1ing() //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.isLoaded2ing()
+ && rgvProtocol.getTaskNo2()==0
+ &&rgvThread.isPakMk()
) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+
+ Integer rgvNoOther = basRgvMap.getRgvNoOther((int) rgvProtocol.getRgvNo());
+ RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther);
+ RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
+ if (rgvProtocolOther == null) {
+ continue;
+ }else {
+ rgvProtocolOther = rgvProtocolOther.clone();
+ }
+ if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocolOther.getModeType() == RgvModeType.AUTO
+ && !rgvProtocolOther.isLoaded1ing()
+ && rgvProtocolOther.getTaskNo1()==0
+ && !rgvProtocolOther.isLoaded2ing()
+ && rgvProtocolOther.getTaskNo2()==0
+ &&rgvThreadOther.isPakMk()
+ ){
+ //瀵瑰伐浣滄。杩涜鍒ゆ柇
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+ if (rgvProtocol.getTaskNo1() >0 && rgvProtocol.getTaskNo1()<=9000){
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
+ rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2366");
+ }else if (rgvProtocol.getTaskNo1() == 0){
+ rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2366");
+ }
+
+ }
+
+
+
}
}
}catch (Exception e){
@@ -2170,234 +2772,908 @@
}
}
-
/**
- * 瀹屾垚灏忚溅浠诲姟
+ * 鑷姩鐢熸垚RGV鎺ラ┏浠诲姟锛堟绱㈠嚭鍏ュ彛浠诲姟锛岀敓鎴愬搴擱GV浠诲姟锛屾绱�4妤间换鍔★紝闈�3鍙峰爢鍨涙満锛屽垯鐢熸垚瀵瑰簲鎺ラ┏浠诲姟锛�
*/
- public synchronized void rgvCompleteWrkMastSta() {
- try{
- for (DevpSlave devp : slaveProperties.getDevp()) {
- 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�3", rgvSlave.getId());
- continue;
- }
-
- // 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
- if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
- ){
- 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.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;
- }
-
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
- if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
- continue;
- }
- WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
- if (!Cools.isEmpty(wrkMast)){
- if (!staProtocol.isPakMk()){
- continue;
- }
- // 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMast.getWrkNo());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
- continue;
- }
- }
- boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
-// boolean rgvComplete = true;
- 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);
- }
- }
- /**
- * 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�4", 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;
- }
- 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()!=0 || wrkMastSta.getWrkType()!=3){//1:婊＄増 3锛氬彇鏀�
- continue;
- }
- boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
- 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());
- }
- } else {
- log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
- }
- break;
- }
- }
-
- }
- }catch (Exception e){
- log.error("3875琛屾墽琛屽皬杞︽惉杩愪换鍔′笅鍙戝け璐�");
- log.error("3875琛�"+e);
- }
- }
- /**
- * 鎵ц灏忚溅鎼繍浠诲姟
- */
-// public synchronized void rgvRunWrkMastEmptyStaPut() {//鏀�
+// public synchronized void rgvCreateWrkMastSta(){
// try{
-// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
-// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
-// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
-// if (rgvProtocol == null) {
+// for (DevpSlave devp : slaveProperties.getDevp()) {
+// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+// StaProtocol staProtocol = devpThread.getStation().get(1105);
+// if (staProtocol == null) {
// continue;
+// } else {
+// staProtocol = staProtocol.clone();
// }
-// 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�5", rgvSlave.getId());
+// if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
// 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.getLoaded1()==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());
+ /**
+ * 灏忚溅涓婂伐浣嶅乏鍙崇Щ鍔�
+ *
+ */
+// public synchronized boolean rgvStaMove(Long workNo) {
+// try {
+// for (RgvSlave rgv : slaveProperties.getRgv()) {
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
// if (rgvProtocol == null) {
// continue;
+// } else {
+// rgvProtocol = rgvProtocol.clone();
// }
-// BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+// if (rgvProtocol.isLoaded2ing() && rgvProtocol.isLoaded1ing()) {
+// continue;
+// }
+// if (rgvProtocol.isLoaded1ing() && !rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo1() != 0) {
+// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
+// Short moveSta = 0;
+//
+// if (wrkMastSta.getStaEnd() < 1036 || (2000 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd() < 2031)) {
+// moveSta = 2;
+// boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(), 7, wrkMastSta.getWrkNo(), moveSta);
+// if (!rgvComplete) {
+// log.error("灏忚溅宸ヤ綅绉诲姩澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+// break;
+// }
+// }
+// }
+// if (!rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo2() != 0) {
+// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
+// Short moveSta = 0;
+//
+// if (wrkMastSta.getStaEnd() > 2030 || (1036 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd() < 2000)) {
+// moveSta = 1;
+// boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(), 8, wrkMastSta.getWrkNo(), moveSta);
+// if (!rgvComplete) {
+// log.error("灏忚溅宸ヤ綅绉诲姩澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+// break;
+// }
+// }
+// }
+//
+//
+// }
+// } catch (Exception e) {
+// log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
+// }
+// }
+ /**
+ * 瀹屾垚灏忚溅浠诲姟
+ */
+// public synchronized void rgvCompleteWrkMastSta() {
+// try{
+// for (DevpSlave devp : slaveProperties.getDevp()) {
+// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
+// for (RgvSlave rgv : slaveProperties.getRgv()) {
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+// if (rgvProtocol == null) {
+// continue;
+// }else {
+// rgvProtocol = rgvProtocol.clone();
+// }
+// BasRgv basRgv = basRgvService.selectById(rgv.getId());
// if (basRgv == null) {
-// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�6", rgvSlave.getId());
+// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�3", rgv.getId());
+// continue;
+// }
+// //鏀捐揣纭
+// if(rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
+// boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
+// if (!rgvComplete){
+// log.error("灏忚溅鏀捐揣澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+// }
+// }
+// if(rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
+// boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 6);
+// if (!rgvComplete){
+// log.error("灏忚溅鏀捐揣澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+// }
+// }
+//
+// // 鍙湁褰揜GV宸ヤ綅1绛夊緟WCS纭銆佽嚜鍔�
+// if (rgvProtocol.getStatusType1() == 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.getStatusType1(),rgvProtocol);
+// if(rgvProtocol.getTaskNo1() == 9999){ // 棰勮皟搴︿换鍔＄‘璁�
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// Integer staNo = basRgvMap.getNowRoute();
+// switch (staNo){
+// case 1004: staNo = 1042; break;
+// case 1007: staNo = 1105; break;
+// }
+//
+// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+// StaProtocol staProtocol = devpThread.getStation().get(staNo);
+// boolean rgvComplete = false;
+
+// long now = System.currentTimeMillis();
+// if (staProtocol.isLoading()) {
+// rgvProtocol.setLoadingStartTime(null); // 宸插埌浣嶏紝娓呯┖鏃堕棿鎴�
+// } else {
+// if (rgvProtocol.getLoadingStartTime() == null) {
+// rgvProtocol.setLoadingStartTime(now);
+// }
+// }
+//
+// if (staProtocol.isLoading()) {
+// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛佺瓑寰呭叆搴撳彇璐�", rgvProtocol.getRgvNo());
+// }
+// }
+// }
+// if ( rgvProtocol.getTaskNo1()!=9999 && rgvProtocol.getTaskNo1() != 0){
+// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
+// if(null == wrkMastSta){
+// log.error("灏忚溅鏃犱换鍔�");
+// continue;
+// }
+// if(wrkMastSta.getWrkSts() == 1){//鍙栬揣纭
+//// if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
+//// continue;
+//// }
+// boolean rgvComplete = false;
+// rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),7,wrkMastSta.getWrkNo(),(short)2);
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
+// }
+// wrkMastSta.setUpdateTime(new Date());
+// wrkMastSta.setWrkSts(2);
+// try{
+// wrkMastStaMapper.updateById(wrkMastSta);
+// log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+// }catch (Exception e){
+// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+// }
+// break;
+// }
+// }
+//
+// 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());
+// }
+// }
+// // 鍙湁褰揜GV宸ヤ綅2绛夊緟WCS纭銆佽嚜鍔�
+// if (rgvProtocol.getStatusType2() == 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.getStatusType2(),rgvProtocol);
+// if (rgvProtocol.getTaskNo2() !=0 ){
+// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
+// if(wrkMastSta.getWrkSts() == 1){//鍙栬揣纭
+// boolean rgvComplete = false;
+// rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),8,wrkMastSta.getWrkNo(),(short)1);
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
+// }
+// wrkMastSta.setWrkSts(2);
+// try{
+// wrkMastStaMapper.updateById(wrkMastSta);
+// log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+// }catch (Exception e){
+// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+// }
+// break;
+// }
+// if(wrkMastSta.getWrkSts() == 4){//琛岃蛋鍚庣‘璁�
+// wrkMastSta.setWrkSts(2);
+// try{
+// wrkMastStaMapper.updateById(wrkMastSta);
+// log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+// }catch (Exception e){
+// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+// }
+// boolean rgvComplete = false;
+//
+// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
+// }
+// break;
+// }
+// if (Cools.isEmpty(wrkMastSta) || 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;
+// }
+
+// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+// StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
+// if (staProtocol == null) {
+// continue;
+// } else {
+// staProtocol = staProtocol.clone();
+// }
+// if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+// continue;
+// }
+// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
+//
+// int sourceSta = wrkMast.getSourceStaNo();
+// boolean rgvComplete = false;
+//
+// //鍙屽伐浣嶅嚭鍏ュ簱涓嶅悓宸ヤ綅澶嶄綅
+// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),6);
+
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
+// }
+// WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
+// wrkMast1.setPdcType("Y");
+//
+// wrkMastService.updateById(wrkMast1);
+//
+// wrkMastSta.setWrkSts(3);
+// wrkMastStaMapper.updateById(wrkMastSta);
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
+// }
+// else {
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{},绛夊緟wcs纭锛�",rgvProtocol.getRgvNo());
+// }
+// }
+// //褰撳皬杞︽棤浠诲姟鏃跺彇娑堥攣瀹�
+// if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0){
+// rgvThread.setPakMk(true);
+// rgvThread.setPakIn(true);
+// rgvThread.setPakOut(true);
+// }
+// }
+// }
+// }catch (Exception e){
+// log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+// }
+// }
+
+ /**
+ * rgv鏀捐揣浠诲姟涓嬪彂
+ */
+ public synchronized void rgvOutExecute() {
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ // 鑾峰彇RGV淇℃伅
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol.getStatusType1() != RgvStatusType.IDLE && rgvProtocol.getModeType() != RgvModeType.AUTO) {
+ continue;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgv.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgv.getId());
+ continue;
+ }
+ //灏忚溅鏃犱换鍔℃椂璺宠繃
+ if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0 ){
+ continue;
+ }
+ 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;
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ if (staProtocol == null) {
+ News.infoNoLog( " - 1" + " - 1" + " - Rgv鍏ュ簱鏀捐揣绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
+ if (staDetl == null) {
+ News.error( " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv鏀捐揣绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog( " - 1" + " - 3" + " - Rgv鍏ュ簱鏀捐揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
+ + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
+ + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isInEnable()
+ + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanining());
+ continue;
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ Integer workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2() : rgvProtocol.getTaskNo1(); //鍏ュ簱鏀捐揣浼樺厛宸ヤ綅2鎵ц
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);
+ WrkMast wrkMast = wrkMastMapper.selectByWrkNo(workNo);
+ if( null == wrkMastSta ) {
+ News.infoNoLog( " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ continue;
+ }
+
+
+ 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);
+ wrkMastMapper.updateById(wrkMast);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+
+ }
+ }
+ //鍑哄簱鏀捐揣
+ if( rgvThread.isPakOut()){
+ for(RgvSlave.RgvStn rgvStn : rgv.getRgvOutPStn()){//鍏ュ簱鏀捐揣绔欑偣
+ boolean flag = false;
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ if (staProtocol == null) {
+ News.infoNoLog( " - 1" + " - 1" + " - Rgv鍑哄簱鏀捐揣绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
+ if (staDetl == null) {
+ News.error( " - 1" + " - 2" + " - 鍑哄簱 ===>>Rgv鏀捐揣绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog( " - 1" + " - 3" + " - Rgv鍑哄簱鏀捐揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
+ + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
+ + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isOutEnable()
+ + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanouting());
+ continue;
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ Integer workNo = 0;
+ if(rgvThread.isPakToCrn()){
+ workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1():rgvProtocol.getTaskNo2(); //姝ｅ父鎯呭喌鍑哄簱鏀捐揣浼樺厛宸ヤ綅1鏀�
+ }else{
+ workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2():rgvProtocol.getTaskNo1(); //鎺ラ┏鎯呭喌浼樺厛宸ヤ綅2鏀�
+ }
+
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);//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( " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍑哄簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ continue;
+ }
+ 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");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+
+ }
+ }
+ rgvThread.setPakRgv(true);//浼樺厛鏀捐揣瀹屾垚锛屽紑鍚璋冨害
+ }
+ }
+ /**
+ * rgv浠诲姟瀹屾垚
+ */
+ public synchronized void rgvTaskComplete(){
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ Long taskNo1 = Long.valueOf(rgvProtocol.getTaskNo1());
+ Long taskNo2 = Long.valueOf(rgvProtocol.getTaskNo2());
+ List<WrkMastSta> wrkMastStaList = wrkMastStaService.selectList(
+ new EntityWrapper<WrkMastSta>()
+ .eq("wrk_sts" ,2)
+ .eq("rgv_no", rgvProtocol.getRgvNo())
+ );
+ for(WrkMastSta wrkMastSta : wrkMastStaList){
+ if(!Objects.equals(wrkMastSta.getWrkNo(), taskNo1) && !Objects.equals(wrkMastSta.getWrkNo(), taskNo2)){
+ try{
+ wrkMastSta.setWrkSts(3);
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.info("鏇存柊灏忚溅宸ヤ綔妗ｈ嚦瀹屾垚鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅宸ヤ綔妗ｈ嚦瀹屾垚澶辫触");
+ }
+ }
+ }
+ if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+ && !rgvProtocol.isLoaded1ing()
+ && !rgvProtocol.isLoaded2ing()){
+ rgvThread.setPakRgv(true);
+ rgvThread.setPakMk(true);
+ rgvThread.setPakIn(true);
+ rgvThread.setPakOut(true);
+ rgvThread.setPakToCrn(true);
+ }
+
+ }
+ }
+
+
+ /**
+ * rgv鍑哄叆搴撲换鍔′笅鍙�
+ */
+ public synchronized void rgvIoExecute(Integer mark) {
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgv.getId());
+ if (basRgv == null) {
+ 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() && 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();
+
+ if (rgvProtocol.getLastIo().equals("I")) {
+ if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
+ //mark - 1 - ....
+ this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
+ rgvProtocol.setLastIo("O");
+ } else if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
+ //mark - 2 - ....
+ this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 鍑哄簱
+ rgvProtocol.setLastIo("I");
+ }
+ }
+ // 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
+ else if (rgvProtocol.getLastIo().equals("O")) {
+ if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
+ this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 鍑哄簱
+ rgvProtocol.setLastIo("I");
+ } else if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
+ this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
+ rgvProtocol.setLastIo("O");
+ }
+ }
+ }
+ WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
+ WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
+ if(wrkMastSta1 != null && wrkMastSta2 != null){
+ rgvThread.setPakMk(false); //灏忚溅鍙屽伐浣嶉攣瀹�
+ }
+ if(!rgvThread.isPakToCrn()){
+ rgvRunWrkToCrn(rgv, rgvProtocol,mark); //鑻ュ皬杞﹀彇鍒颁竴涓帴椹充换鍔★紝绗簩涓伐浣嶅彧鑳藉彇鎺ラ┏浠诲姟
+ }
+// if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
+// 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();
+//
+// }
+ }
+ }
+ public synchronized void rgvRunWrkMastInTest(){
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(1);
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(1021); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(342);//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 wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, 1);
+ boolean result = false;
+// if(wrkMastSta2 != null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
+// result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
+// }
+// if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
+// rgvThread.setPakRgv(false);
+// continue;
+// }
+ wrkMastSta.setWorkSta(1);
+ wrkMastSta.setRgvNo(1);
+ wrkMastSta.setStaStart(1035);
+ Short direction = 2;//鍙屽伐浣嶆渶缁堟姷杈句綅缃�
+ boolean sign = false;
+// sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,); //鍛戒护涓嬪彂
+ if (sign){
+ wrkMastSta.setWrkSts(1);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+// rgvThread.setPakOut(false);//鍑哄簱涓嶅厑璁�
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+ if (!signMap){
+ log.error("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());
+ }
+ }
+ /**
+ * 灏忚溅鍏ュ簱浠诲姟鍙栬揣涓嬪彂
+ */
+ public synchronized void rgvRunWrkMastIn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark) {
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvInTStn()) {//rgv鍏ュ簱鍙栬揣绔欑偣
+ boolean flag = false;
+ //閬嶅巻rgv鍏ュ簱鍙栬揣绔欑偣
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ 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) {
+ 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;
+ } else {
+ staProtocol2 = staProtocol2.clone();
+ }
+ BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
+ if (staDetl2 == null) {
+ 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;
+ }
+ 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;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
+ if (staDetl == null) {
+ 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;
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0
+ && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv鍏ュ簱鍙栬揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
+ + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
+ + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanining());
+ continue;
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ List<Integer> route = new ArrayList<>();
+ switch (rgvProtocol.getRgvNo()){
+ case 1: route = RouteUtils.getRouteOne();break;
+ 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℃。
+ 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;
+ }
+ WrkMastSta wrkMastSta2 = null;
+ if(rgvProtocol.getTaskNo2() != null){
+ wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
+ }
+ boolean result = false;
+ if(wrkMastSta2 != null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
+ result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
+ }
+ if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
+ rgvThread.setPakRgv(false);
+ continue;
+ }
+ wrkMastSta.setWorkSta(wrkMastSta2 !=null ? 1 : 2);
+ wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
+ 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);
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+
+
+ }
+ }
+ /**
+ * 灏忚溅鍑哄簱浠诲姟鍙栬揣涓嬪彂
+ */
+ public synchronized void rgvRunWrkMastOut(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv鍑哄簱鍙栬揣绔欑偣
+ boolean flag = false;
+ //閬嶅巻rgv鍏ュ簱鍙栬揣绔欑偣
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ 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) {
+ 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;
+ } else {
+ staProtocol2 = staProtocol2.clone();
+ }
+ BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
+ if (staDetl2 == null) {
+ 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;
+ }
+ wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
+
+ }
+ if (staProtocol == null) {
+ News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍑哄簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
+ if (staDetl == null) {
+ News.error("" + mark + " - 1" + " - 2" + " - 鍑哄簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
+ && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv鍑哄簱鍙栬揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
+ + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
+ + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isOutEnable()
+ + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanouting());
+ continue;
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ List<Integer> route = new ArrayList<>();
+ switch (rgvProtocol.getRgvNo()){
+ case 1: route = RouteUtils.getRouteOne();break;
+ 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℃。
+ 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;
+ }
+ WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
+ boolean result = false;
+ if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
+ result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
+ }
+ if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
+ rgvThread.setPakRgv(false);
+ continue;
+ }
+ wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//鑻�1鍙峰伐浣嶆湁浠诲姟缁�2鍙峰伐浣�
+ wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
+ boolean sign = false;
+ sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+ if (sign){
+ 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);
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+
+
+ }
+ }
+
+ /**
+ * 灏忚溅鍑哄簱鎺ラ┏浠诲姟鍙栬揣涓嬪彂
+ */
+ public synchronized void rgvRunWrkToCrn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
+ for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv鍑哄簱鍙栬揣绔欑偣
+ boolean flag = false;
+ //閬嶅巻rgv鍏ュ簱鍙栬揣绔欑偣
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
+ StaProtocol staProtocol2 = null;
+ if(rgvStn.getStaNo2()!= null ){
+ staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
+ if (staProtocol2 == 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;
+ } else {
+ staProtocol2 = staProtocol2.clone();
+ }
+ BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
+ if (staDetl2 == null) {
+ 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;
+ }
+ }
+ if (staProtocol == null) {
+ News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍑哄簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
+ if (staDetl == null) {
+ News.error("" + mark + " - 1" + " - 2" + " - 鍑哄簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
+ && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv鍑哄簱鍙栬揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
+ + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
+ + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isOutEnable()
+ + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanouting());
+ continue;
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ List<Integer> route = new ArrayList<>();
+ switch (rgvProtocol.getRgvNo()){
+ case 1: route = RouteUtils.getRouteOne();break;
+ 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.selectNoInterfereToCrn(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;
+ }
+ WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
+ boolean result = false;
+ if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
+ result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
+ }
+ if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
+ rgvThread.setPakRgv(false);
+ continue;
+ }
+ wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//鑻�1鍙峰伐浣嶆湁浠诲姟缁�2鍙峰伐浣�
+ wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
+ boolean sign = false;
+ sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+ if (sign){
+ rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
+ try{
+ wrkMastSta.setWrkSts(1);
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+
+
+ }
+ }
+ /**
+ * 鎵ц灏忚溅鎼繍浠诲姟
+ *
+ * @return
+ */
+// public synchronized boolean rgvRunWrkMastFullSta() {
+// boolean wrkEnable = false;
+// try{
+// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
+// for (BasRgvMap rgvSlave:basRgvMaps) {
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
+// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+// if (rgvProtocol == null) {
+// continue;
+// }else {
+// rgvProtocol = rgvProtocol.clone();
+// }
+// BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
+// if (basRgv == null) {
+// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgvSlave.getRgvNo());
// continue;
// }
//
-// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾棤鐗�//rgv鍙敤
+// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鍏ュ簱鍙栬揣
// 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.isLoaded1ing()
+// && rgvProtocol.getTaskNo1() == 0
+// && rgvThread.isPakMk()
+// && rgvThread.isPakIn()
// ) {
// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
// if (basRgvMap == null) {
@@ -2408,135 +3684,169 @@
// 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�
+// List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//鍏ュ簱鍙�
+// if (!staNos.contains(wrkMastSta.getStaStart())) {
// continue;
// }
-// boolean sign = false;
-// if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//鍙�
-// sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
-// } else {
-// continue;
-// }
+// boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+// wrkEnable = true;
// 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());
+// wrkMastSta.setWrkSts(1);
+// try{
+// wrkMastStaMapper.updateById(wrkMastSta);
+// log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+// }catch (Exception e){
+// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
// }
-// }else {
+// rgvThread.setPakMk(false);
+// rgvThread.setPakOut(false);
+// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+// if (signMap){
+// return wrkEnable;
+//// break;
+// }else {
+// log.error("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());
+// Thread.sleep(500);
+// }
+// } else {
// log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+// Thread.sleep(500);
// }
// break;
// }
// }
+//
+// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鍑哄簱鍙栬揣
+// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// && !rgvProtocol.isLoaded2ing()
+// && rgvProtocol.getTaskNo2() == 0
+// && rgvThread.isPakMk()
+// && rgvThread.isPakOut()
+// ){
+// 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){
+// List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//鍏ュ簱鍙�
+// if (staNos.contains(wrkMastSta.getStaStart())) {//闈炲叆搴撳彛锛堝嚭搴撳彛锛夐檺鍒�
+// continue;
+// }
+// boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null); //鍛戒护涓嬪彂
+// wrkEnable = true;
+// if (sign){
+// wrkMastSta.setWrkSts(1);
+// try{
+// wrkMastStaMapper.updateById(wrkMastSta);
+// log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+// }catch (Exception e){
+// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+// }
+// rgvThread.setPakMk(false);
+// rgvThread.setPakOut(false);
+// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+// if (signMap){
+// return wrkEnable;
+//// break;
+// }else {
+// log.error("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());
+// Thread.sleep(500);
+// }
+// } else {
+// log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+// Thread.sleep(500);
+// }
+// break;
+// }
+//
+// }
+//
// }
// }catch (Exception e){
-// log.error("3989琛屾墽琛屽皬杞﹀彇绌烘澘浠诲姟涓嬪彂澶辫触");
-// log.error("3989琛�"+e);
+// log.error("鎵ц灏忚溅鎼繍浠诲姟涓嬪彂澶辫触");
+// }
+// return wrkEnable;
+// }
+ /**
+ * 灏忚溅棰勮皟搴�
+ */
+// public synchronized void rgvPreScheduling(){
+// try{
+// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
+// for (BasRgvMap rgvSlave:basRgvMaps) {
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
+// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+// if (rgvProtocol == null) {
+// continue;
+// }else {
+// rgvProtocol = rgvProtocol.clone();
+// }
+// BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
+// if (basRgv == null) {
+// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgvSlave.getRgvNo());
+// continue;
+// }
+//
+// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鎵嶈繘琛岄璋冨害
+// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// && !rgvProtocol.isLoaded1ing()
+// && rgvProtocol.getTaskNo1() == 0
+// && !rgvProtocol.isLoaded2ing()
+// && rgvProtocol.getTaskNo2() == 0
+// && rgvThread.isPakMk()
+// ) {
+// 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�
+// // 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, 1029, 1022, 1019, 1008, 1005);
+// for (Integer staNo : staNos) {
+// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+// StaProtocol staProtocol = devpThread.getStation().get(staNo);
+// if(staProtocol.isLoading()){
+// 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.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
+// switch (staNo){
+// case 1043: rgvCommand.setTargetPosition1(1042);break; //宸ヤ綅1鐩爣绔欑偣
+// case 1104: rgvCommand.setTargetPosition1(1105);break;
+// case 1037: rgvCommand.setTargetPosition1(1036);break;
+//
+// }
+// if(Objects.equals(basRgvMap.getNowRoute(), staNo)){
+// continue;
+// }
+// rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+// if (!MessageQueue.offer(SlaveType.Rgv, (int) rgvProtocol.getRgvNo(), 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�={}", (int) rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+// }
+// }
+// }
+//
+// }
+//
+// }
+// }
+// }catch (Exception e){
+// log.error("鎵ц灏忚溅绉诲姩涓嬪彂澶辫触");
// }
// }
- /*
- * 鏈変换鍔′絾鏈墽琛� 姝ゆ椂闇�瑕佽皟鏁村皬杞︿綅缃�
- * */
- public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
- try{
- Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
- if (integer==0){
- return;
- }
- 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�1", 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;
- }
- rgvAvoidanceXY(rgvProtocol.getRgvNo());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
- }
- }
- }catch (Exception e){
- log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
- log.error("4109琛�"+e);
- }
- }
-
- /*
- * 灏忚溅XY绉诲姩 閬胯
- * */
- public synchronized boolean rgvAvoidanceXY(Integer rgvId){
- if (rgvId==1){
- try{
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
- //basRgvMap.getLockStartRoute().shortValue()
- rgvCommand.setSourceStaNo1( (short)100);
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- return false;
- } else {
- return true;
- }
- }catch (Exception e){
- return false;
-
- }
- }else {
- try{
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
- //basRgvMap.getLockStartRoute().shortValue()
- rgvCommand.setSourceStaNo1( (short)161);
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- return false;
- } else {
- return true;
- }
- }catch (Exception e){
- return false;
-
- }
- }
- }
/*
@@ -2547,131 +3857,71 @@
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅1璧风偣
- rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
+ RgvTaskStatusType type;
+ Integer targetPosition = 0;
+ if(wrkMastSta.getWrkSts() == 0){
+ type = RgvTaskStatusType.FETCH; //鍙栬揣
+ targetPosition = wrkMastSta.getStaStart();
+ }else{
+ type = RgvTaskStatusType.PUT; //鏀捐揣
+ targetPosition = wrkMastSta.getStaEnd();
+ }
+ rgvCommand.setTaskNo(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅宸ヤ綔鍙�
+ rgvCommand.setTaskStatus(type); // 宸ヤ綅浠诲姟妯″紡: 鍙栬揣
+ rgvCommand.setTargetPosition(targetPosition); //宸ヤ綅鐩爣绔欑偣
+ rgvCommand.setWrkTaskPri(wrkMastSta.getWorkSta());
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(2, rgvCommand))) {
//step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
return false;
} else {
+
return true;
}
+
}catch (Exception e){
return false;
}
}
- /*
- * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
- * */
-// public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
-// try{
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
-// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
-// rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栬揣
-// rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅1璧风偣
-// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
-// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
-// return false;
-// } else {
-// return true;
-// }
-// }catch (Exception e){
-// return false;
-// }
-// }
+ /**
+ * 鍙栨斁鍙栬矾寰勮绠�
+ */
+ public synchronized boolean rgvCalcDistance(Integer rgvNo, Integer outStn, Integer inStn){
+ try {
+ // 灏忚溅褰撳墠浣嶇疆
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvNo);
+ Integer currPos = basRgvMap.getNowRoute(); // 鎴栬�呯敤 rgvProtocol.getRgvPosI()
- /*
- * 灏忚溅鏀捐揣鑷宠緭閫佺嚎浠诲姟
- * */
-// public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
-// try{
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
-// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
-// rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鏀捐揣
-// rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅1鐩爣绔欑偣
-// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
-// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
-// return false;
-// } else {
-// return true;
-// }
-// }catch (Exception e){
-// return false;
-// }
-// }
+ if(currPos == null || outStn == null || inStn == null){
+ return false; // 鏃犳晥鏁版嵁鐩存帴鏀惧純
+ }
- /*
- * 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));
-// return false;
-// } else {
-// return true;
-// }
-// }catch (Exception e){
-// return false;
-// }
-// }
+ // 璁＄畻涓ゆ璺濈
+ List<Integer> routeToOut = RouteUtils.getRouteDis(currPos, outStn);
+ List<Integer> routeToIn = RouteUtils.getRouteDis(currPos, inStn);
- /*
- * 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;
-// }
-// }catch (Exception e){
-// return false;
-// }
-// }
+ int distOut = (routeToOut != null) ? routeToOut.size() : Integer.MAX_VALUE;
+ int distIn = (routeToIn != null) ? routeToIn.size() : Integer.MAX_VALUE;
+
+ // 璋冭瘯鏃ュ織
+ log.info("RGV璺濈璁＄畻: currPos={}, outStn={}, distOut={}, inStn={}, distIn={}",
+ currPos, outStn, distOut, inStn, distIn);
+
+ return distOut < distIn; // 鏀捐揣鐐规洿杩� 鈫� true
+ } catch (Exception e) {
+ log.error("RGV璺緞璺濈璁＄畻寮傚父", e);
+ return false;
+ }
+ }
/*
* 灏忚溅澶嶄綅
* */
- public synchronized boolean rgvComplete(Integer rgvId){
+ public synchronized boolean rgvComplete(Integer rgvId,Integer step){
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(step, 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;
@@ -2685,4 +3935,213 @@
}
}
+
+
+ /*
+ * arm浠诲姟瀹屾垚鑷姩缁勬墭
+ * */
+ public synchronized void armMissionAccomplished() {
+ try{
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta armSta : devp.getArmSta()) {
+
+ // 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 = 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;
+ }
+
+ List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>()
+ .eq("arm_no", armSta.getArmNo())
+ .eq("sta_no_sou", armSta.getStaNo())
+ .eq("status", 1));
+ for (BasArm basArm : basArmList) {
+ if (basArm.getStatus()!=1){
+ continue;
+ }
+ try{
+ List<BasArmMast> basArmMastList = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 3)
+ );
+ if (basArmMastList.isEmpty()){
+ continue;
+ }
+ CombParam combParam = new CombParam(basArmMastList);
+ combParam.setBarcode(barcode);
+ //arm浠诲姟瀹屾垚鑷姩缁勬墭
+ ReturnT<String> result = new PostMesDataUtils().postMesData("arm浠诲姟瀹屾垚鑷姩缁勬墭",wmsUrl, wmsComb, combParam);
+ if (result.getCode()==200){
+ basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLineSou(),3,4);
+ } else {
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愶細"+JSON.toJSON(basArmMastList)+"===銆嬭嚜鍔ㄧ粍鎵樺け璐ワ紝绛夊緟閲嶈瘯");
+ }
+ } catch (Exception e){
+ log.error("arm缂栧彿锛�"+basArm.getArmNo()+"====銆嬫満姊拌噦鎶撳彇浠诲姟瀹屾垚"+e.getMessage());
+ }
+ break;
+ }
+ }
+ }
+ } catch (Exception e){
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愮粍鎵樺け璐�"+e.getMessage());
+ }
+ }
+ public synchronized void armMissionAccomplishedScanToCheckIn() {
+ try{
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta armSta : devp.getArmSta()) {
+
+ List<BasArmMast> basArmMastList = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", armSta.getArmNo())
+ .eq("sta_no", armSta.getStaNo())
+ .eq("status", 4)
+ );
+
+ if (basArmMastList.isEmpty()){
+ continue;
+ }
+ // 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();
+ }
+
+// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
+// int workNo = commonService.getWorkNo(6);//寰呭畬鍠�
+// // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+// staProtocol.setWorkNo(workNo);
+// staProtocol.setStaNo(armSta.getStaNoEnd().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�"+workNo+","+armSta.getStaNoEnd());
+// if (!result) {
+// News.error(""+" - 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());
+// }
+ basArmMastService.updateArmMastStatus(basArmMastList.get(0).getArmNo(),basArmMastList.get(0).getSortingLine(),4,5);
+// }
+ }
+ }
+ } catch (Exception e){
+ log.error("缁勬墭瀹屾垚椹卞姩鎵樼洏鎵爜鍏ュ簱澶辫触"+e.getMessage());
+ }
+ }
+
+ /*
+ * arm浠诲姟涓嬪彂
+ * */
+ public synchronized void armTaskAssignment() {
+ try{
+ List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<>());
+ for (BasArm basArm : basArmList) {
+ if (basArm.getStatus()!=1){
+ continue;
+ }
+ try{
+ List<BasArmMast> basArmMastListError = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 9)
+ );
+ if (!basArmMastListError.isEmpty()){
+ log.error(basArm.getArmNo()+"鍙锋満姊拌噦瀛樺湪寮傚父鏁版嵁闇�瑕佺淮鎶わ紒锛侊紒");
+ continue;
+ }
+ List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 1)
+ );
+ List<BasArmMast> basArmMastListRuning3 = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 3)
+ );
+ if (basArmMastListRuning.isEmpty() && basArmMastListRuning3.isEmpty()){
+ List<BasArmMast> basArmMastList = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 0)
+ );
+ if (basArmMastList.isEmpty()){
+ continue;
+ }
+ if (basArmMastList.size()>1){
+ log.error("arm缂栧彿锛�"+basArm.getArmNo()+"====銆嬫媶鐮佸灈浠诲姟寮傚父绂佹涓嬪彂锛侊紒锛佷换鍔″緟鎵ц鏁伴噺澶т簬1锛侊紒锛�");
+ continue;
+ }
+ BasArmMast basArmMast = basArmMastList.get(0);
+ List<BasArmMast> basArmMastListOrder = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("sku", basArmMast.getSku())
+ .eq("order_no", basArmMast.getOrderNo())
+ );
+ if (basArmMastListOrder.size()==1){
+ OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getSku());
+
+ if (Cools.isEmpty(orderDetlValueResultUtil)){
+ continue;
+ }
+ //璁㈠崟涓嬪彂
+ try{
+ ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
+// 璁㈠崟涓嬪彂(SKU+璁㈠崟)
+ ReturnT<String> result = new PostMesDataUtils().postMesData("鏈烘鑷傛姄鍙栬鍗曪紙SKU锛変笅鍙戯細",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_ADAPTOR, armOrderAssignmentParam);
+ if (result.getCode()==200){
+ basArmMast.setStatus(1);
+ basArmMastService.updateById(basArmMast);
+ } else {
+ log.error("鏈烘鑷傛姄鍙栬鍗曪紙SKU锛変笅鍙戯細"+JSON.toJSON(basArmMast)+"===銆嬭鍗曚俊鎭笅鍙戝け璐�");
+ }
+ } catch (Exception e){
+ log.error("鏈烘鑷傛姄鍙栬鍗曪紙SKU锛変笅鍙戯細"+JSON.toJSON(basArmMast)+"===銆嬭鍗曚笅鍙戣鍗曚俊鎭笅鍙戝け璐�");
+ continue;
+ }
+ }
+ ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArm.getSortingLine());
+ //璁剧疆宸ヤ綔绌洪棿灏辩华
+ ReturnT<String> result = new PostMesDataUtils().postMesData("鏈烘鑷傛姄鍙栦换鍔′笅鍙戯細閫氱煡宸ヤ綔绌洪棿宸插氨缁�",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
+ if (result.getCode()==200){
+ basArmMast.setStatus(1);
+ basArmMastService.updateById(basArmMast);
+ } else {
+ log.error("鏈烘鑷傛姄鍙栦换鍔★細"+JSON.toJSON(basArmMast)+"===銆嬩换鍔′俊鎭笅鍙戝け璐�");
+ }
+ }
+ } catch (Exception e){
+ log.error("arm缂栧彿锛�"+basArm.getArmNo()+"====銆嬫媶鐮佸灈浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+ }catch (Exception e){
+ log.error("arm浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+
}
--
Gitblit v1.9.1