From af1b0101f2f19fb562ba81eb2bbe3a7976e3d716 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期五, 24 十一月 2023 15:50:50 +0800
Subject: [PATCH] #堆垛机出入库
---
src/main/java/com/zy/core/thread/SiemensCrnThread.java | 2
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 200 ++++++++++++++++++++-------------------
src/main/resources/application-prod.yml | 54 +++++-----
3 files changed, 132 insertions(+), 124 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 25d9bca..0cf7216 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -84,56 +84,60 @@
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
// 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
- // 鏌ヨ宸ヤ綔妗�
- TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staProtocol.getSiteId().toString());
- if (taskWrk == null) {
+ List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo()));
+ for (StaDesc staDesc : staDescs){
+ // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ if (staProtocol == null) {
continue;
+ } else {
+ staProtocol = staProtocol.clone();
}
- // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
- if (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2) {
- // 鍒ゆ柇鍚婅溅鏄惁瀹為檯宸插畬鎴愶紝涓旂數鑴戠姸鎬佸湪move涓紝浠ュ鐢佃剳杩涜鏇存柊宸ヤ綔妗�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, taskWrk.getCrnNo());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
- // 绉诲姩涓�
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
+ // 鏌ヨ宸ヤ綔妗�
+ TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
+ if (taskWrk == null) {
continue;
}
- // 鍒ゆ柇鍫嗗灈鏈虹姸鎬佺瓑寰呯‘璁�
- if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue())
- && crnProtocol.getTaskFinish() == 0
- && crnProtocol.forkPosType == CrnForkPosType.HOME) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- // 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
- String targetPoint = taskWrk.getTargetPoint();
- int i = Integer.parseInt(targetPoint);
- staProtocol.setStaNo((short)i);
- if (!CommandUtils.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
+ if (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2) {
+ // 鍒ゆ柇鍚婅溅鏄惁瀹為檯宸插畬鎴愶紝涓旂數鑴戠姸鎬佸湪move涓紝浠ュ鐢佃剳杩涜鏇存柊宸ヤ綔妗�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, taskWrk.getCrnNo());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
+ // 绉诲姩涓�
continue;
}
+ // 鍒ゆ柇鍫嗗灈鏈虹姸鎬佺瓑寰呯‘璁�
+ if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue())
+ && crnProtocol.getTaskFinish() == 0
+ && crnProtocol.forkPosType == CrnForkPosType.HOME) {
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
- taskWrk.setWrkSts(14);
- if (taskWrkMapper.updateById(taskWrk) != 0) {
- // 澶嶄綅鍫嗗灈鏈�
- crnThread.setResetFlag(true);
- } else {
- log.error("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", taskWrk.getWrkNo());
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
+ String targetPoint = taskWrk.getTargetPoint();
+ int i = Integer.parseInt(targetPoint);
+ staProtocol.setStaNo((short)i);
+ if (!CommandUtils.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ continue;
+ }
+
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
+ taskWrk.setWrkSts(14);
+ if (taskWrkMapper.updateById(taskWrk) != 0) {
+ // 澶嶄綅鍫嗗灈鏈�
+ crnThread.setResetFlag(true);
+ } else {
+ log.error("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", taskWrk.getWrkNo());
+ }
+
}
-
}
}
}
+
}
}
}
@@ -188,68 +192,72 @@
*/
public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
- boolean flag = false;
- // 鑾峰彇鍫嗗灈鏈哄叆搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- // 鏌ヨ绔欑偣璇︾粏淇℃伅
- BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
- if (staDetl == null) {
- log.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
- continue;
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
- && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
- flag = true;
- }
- if (!flag) {
- continue;
- }
- // 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級鐨勫叆搴撳伐浣滄。
- TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo().toString());
- if(null == taskWrk) {
- continue;
- }
+ List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
+ for (StaDesc staDesc : staDescs) {
+ boolean flag = false;
+ // 鑾峰彇鍫嗗灈鏈哄叆搴撶珯淇℃伅
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ log.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
+ continue;
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
+ && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ continue;
+ }
+ // 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級鐨勫叆搴撳伐浣滄。
+ TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
+ if(null == taskWrk) {
+ continue;
+ }
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
- continue;
- }
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+ continue;
+ }
- // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
- continue;
- }
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
+ continue;
+ }
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosY(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setSourcePosZ(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
- crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
- crnCommand.setCommand((short)1);
- if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
- Date now = new Date();
- taskWrk.setWrkSts(3);
- taskWrk.setModiTime(now);
- if (taskWrkMapper.updateById(taskWrk) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+ crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+ crnCommand.setSourcePosX(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosY(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setSourcePosZ(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
+ crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
+ crnCommand.setCommand((short)1);
+ if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
+ log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
+ Date now = new Date();
+ taskWrk.setWrkSts(3);
+ taskWrk.setModiTime(now);
+ if (taskWrkMapper.updateById(taskWrk) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+ }
}
}
+
return;
}
}
diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
index 4c4b1c8..f3d986c 100644
--- a/src/main/java/com/zy/core/thread/SiemensCrnThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -413,7 +413,7 @@
// }else {
array[4] = command.getSourcePosX();
// }
- array[5] = command.getDestinationPosY();
+ array[5] = command.getSourcePosY();
array[6] = command.getDestinationPosZ();
// if (rowOne.contains(command.getDestinationPosX())){
diff --git a/src/main/resources/application-prod.yml b/src/main/resources/application-prod.yml
index 3dd2b98..e255ab6 100644
--- a/src/main/resources/application-prod.yml
+++ b/src/main/resources/application-prod.yml
@@ -27,13 +27,13 @@
row: 3
bay: 41
lev: 1
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
crnInStn[1]: #鍫嗗灈鏈哄叆搴撶珯鐐�2
staNo: 205
row: 4
bay: 41
lev: 1
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
crn[1]: #鍫嗗灈鏈�2
id: 2
ip: 172.17.91.7
@@ -59,13 +59,13 @@
row: 3
bay: 41
lev: 1
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
crnInStn[1]: #鍫嗗灈鏈哄叆搴撶珯鐐�2
staNo: 205
row: 4
bay: 41
lev: 1
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
crn[2]: #鍫嗗灈鏈�3
id: 3
ip: 172.17.91.12
@@ -87,17 +87,17 @@
lev: 1
devpPlcId: ${wcs-slave.devp[0].id}
crnOutStn[1]: #鍫嗗灈鏈哄嚭搴撶珯鐐�
- staNo: 200
+ staNo: 206
row: 3
bay: 41
lev: 1
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
crnInStn[1]: #鍫嗗灈鏈哄叆搴撶珯鐐�2
- staNo: 205
+ staNo: 211
row: 4
bay: 41
lev: 1
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
crn[3]: #鍫嗗灈鏈�4
id: 4
ip: 172.17.91.17
@@ -119,17 +119,17 @@
lev: 1
devpPlcId: ${wcs-slave.devp[0].id}
crnOutStn[1]: #鍫嗗灈鏈哄嚭搴撶珯鐐�
- staNo: 200
- row: 3
- bay: 41
- lev: 1
- devpPlcId: ${wcs-slave.devp[0].id}
+ staNo: 218
+ row: 12
+ bay: 22
+ lev: 2
+ devpPlcId: ${wcs-slave.devp[1].id}
crnInStn[1]: #鍫嗗灈鏈哄叆搴撶珯鐐�2
- staNo: 205
- row: 4
- bay: 41
- lev: 1
- devpPlcId: ${wcs-slave.devp[0].id}
+ staNo: 223
+ row: 13
+ bay: 22
+ lev: 2
+ devpPlcId: ${wcs-slave.devp[1].id}
crn[4]: #鍫嗗灈鏈�5
id: 5
ip: 172.17.91.22
@@ -151,17 +151,17 @@
lev: 1
devpPlcId: ${wcs-slave.devp[0].id}
crnOutStn[1]: #鍫嗗灈鏈哄嚭搴撶珯鐐�
- staNo: 200
+ staNo: 224
row: 3
bay: 41
lev: 1
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
crnInStn[1]: #鍫嗗灈鏈哄叆搴撶珯鐐�2
- staNo: 205
+ staNo: 229
row: 4
bay: 41
lev: 1
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
crn[5]: #鍫嗗灈鏈�6
id: 6
ip: 172.17.91.27
@@ -183,17 +183,17 @@
lev: 1
devpPlcId: ${wcs-slave.devp[0].id}
crnOutStn[1]: #鍫嗗灈鏈哄嚭搴撶珯鐐�
- staNo: 200
+ staNo: 230
row: 3
bay: 41
lev: 1
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
crnInStn[1]: #鍫嗗灈鏈哄叆搴撶珯鐐�2
- staNo: 205
+ staNo: 235
row: 4
bay: 41
lev: 1
- devpPlcId: ${wcs-slave.devp[0].id}
+ devpPlcId: ${wcs-slave.devp[1].id}
devp[0]: #杈撻�佺嚎
id: 1
ip: 172.17.91.36
@@ -258,7 +258,7 @@
slot: 0
devp[2]: #杈撻�佺嚎
id: 3
- ip: 10.10.10.30
+ ip: 172.17.8.201
rack: 0
slot: 0
port: 102
--
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