From af4511906970c2dc3a58c6d267de55852c359457 Mon Sep 17 00:00:00 2001
From: pjb <pjb123456>
Date: 星期日, 28 十二月 2025 17:18:30 +0800
Subject: [PATCH] 许可证不检验地址
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 440 +++++++++++++++++++++++-------------------------------
1 files changed, 190 insertions(+), 250 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 270c862..4ee9bf8 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3,16 +3,20 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
-import com.zy.asrs.entity.*;
+import com.zy.asrs.entity.BasCircularShuttle;
+import com.zy.asrs.entity.BasDevpPosition;
+import com.zy.asrs.entity.BasRgv;
+import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasCircularShuttleService;
import com.zy.asrs.service.BasDevpPositionService;
-import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.WrkMastService;
-import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
-import com.zy.asrs.utils.TimeCalculatorUtils;
+import com.zy.common.service.CommonService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.*;
+import com.zy.core.enums.RgvModeType;
+import com.zy.core.enums.RgvStatusType;
+import com.zy.core.enums.RgvTaskModeType;
+import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.RgvCommand;
@@ -29,7 +33,7 @@
/**
* 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
- * Created by vincent on 2020/8/6
+ * Created by IX on 2024/10/01
*/
@Slf4j
@Service("mainService")
@@ -39,8 +43,6 @@
@Autowired
private SlaveProperties slaveProperties;
@Autowired
- private BasDevpService basDevpService;
- @Autowired
private BasRgvServiceImpl basRgvService;
@Autowired
private BasDevpPositionService basDevpPositionService;
@@ -48,250 +50,141 @@
private BasCircularShuttleService basCircularShuttleService;
@Autowired
private WrkMastService wrkMastService;
+ @Autowired
+ private CommonService commonService;
@Value("${constant-parameters.perimeter}")
private Long perimeter;
- /**
- * 绔欑偣浠诲姟妫�娴� 鏇存柊灏忚溅浣嶇疆淇℃伅
- */
- public synchronized void updateStePositionNearby() {
- try{
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L));
- if (wrkMasts.isEmpty()){
+ @Value("${constant-parameters.proportion}")
+ private Long proportion;
+ @Value("${constant-parameters.acceleration}")
+ private Long acceleration;
+ @Value("${constant-parameters.rgvCount}")
+ private Long rgvCount;
+ @Value("${constant-parameters.rgvDate}")
+ private Double rgvDate;
+ @Value("${wms.url}")
+ private String wmsUrl;
+ @Value("${wms.reportOutPath}")
+ private String wmsOutPath;
+ @Value("${wms.reportSwitch}")
+ private boolean reportSwitch;
+ @Value("${wms.reportSwitchAuto}")
+ private boolean reportSwitchAuto;
+
+
+ public synchronized void rgvTheHandlingTaskIsIssued() {
+ try {
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", 0).eq("wrk_sts", 9)
+ .orderBy("io_pri", false)
+ .orderBy("modi_time", true));
+ if (wrkMasts.isEmpty()) {
return;
}
- List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position",true));
- if (basDevpPositions.isEmpty()){
- log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�");
- return;
- }
- List<Integer> siteList = SortTheExecutionOfTheCarUtil.WrkMastExtractSites(wrkMasts);
- List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
- Integer siteNo = SortTheExecutionOfTheCarUtil.ObtainDenseAreasFirstPlace(siteList, devpList);
- if (siteNo == null){
- log.error("灏辫繎瀵嗛泦鍘熷垯鑾峰彇绔欑偣澶辫触");
- return;
- }
- Long sitePosition = 0L;
- for (BasDevpPosition basDevpPosition : basDevpPositions){
- if (basDevpPosition.getDevNo().equals(siteNo)){
- sitePosition = basDevpPosition.getPlcPosition();
- }
- }
- List<List<Long>> rgvPositionList = new ArrayList<>();
- for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+
+ List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0));
+
+ LinkedList<RgvProtocol> rgvProtocolList = new LinkedList<>();
+ for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
continue;
}
- List<Long> rgvPosition = new ArrayList<>();
- rgvPosition.add(rgvProtocol.getRgvNo().longValue());
- rgvPosition.add(rgvProtocol.getRgvPos());
- rgvPositionList.add(rgvPosition);
- }
- Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition,perimeter);
- if (rgvNo == -1){
- log.info("鏇存柊灏忚溅鎺掑簭淇℃伅寮傚父={}",rgvNo);
- return;
- }
- List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
- if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)){
- return;
+ rgvProtocolList.add(rgvProtocol);
}
- int[][] ints = new int[basCircularShuttleList.size()][2];
- for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
- ints[basCircularShuttle.getRgvNo()-1] = new int[]{basCircularShuttle.getRgvNo(),basCircularShuttle.getRgvId()};
- }
- String[] oldList = new String[ints.length];
- for (int[] rgv : ints){
- oldList[rgv[0]-1] = Arrays.toString(rgv);
- }
- int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
- String[] newList = new String[rgvList.length];
- for (int[] rgv : rgvList){
- newList[rgv[0]-1] = Arrays.toString(rgv);
- }
-
- log.info("鏇存柊灏忚溅鎺掑簭淇℃伅锛氬師濮嬪皬杞﹀彿rgvNo={},灏忚溅閲嶆柊鎺掑簭淇℃伅={},灏忚溅鍘熷鎺掑簭淇℃伅={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
- for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
- int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
- basCircularShuttle.setRgvId(rgv[1]);
- basCircularShuttleService.updateById(basCircularShuttle);
- }
-
- } catch (Exception e) {
- log.error("鑷姩鏇存柊灏忚溅鎺掑簭淇℃伅澶辫触锛屽紓甯革細"+e);
- }
- }
- /**
- * 绔欑偣浠诲姟妫�娴� 鏇存柊灏忚溅浣嶇疆淇℃伅
- */
- public synchronized void updateStePosition() {
- try{
- boolean sign = false;
- Integer rgvNo = 0;
- List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
- for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- sign = true;
- } else if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM) ){
- sign = true;
- } else {
- rgvNo = basCircularShuttle.getRgvNo();
- break;
+ runRgv:
+ for (WrkMast wrkMast : wrkMasts) {
+ Integer rgvSstaNo = wrkMast.getRgvSstaNo();
+ BasDevpPosition basDevpPositions = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", rgvSstaNo)); // 绔欑偣
+ long position = basDevpPositions.getPlcPosition(); // 璧峰绔欎綅缃�
+ position += 50; // 灏忚溅鍙栬揣瀹氫綅绮惧害 +- 50,绔欑偣浣嶇疆10000锛屽皬杞﹀湪10050涔熸槸鍙互鍙栫殑
+ TreeMap<Long, RgvProtocol> map = new TreeMap<>();
+ for (RgvProtocol rgvProtocol : rgvProtocolList) {
+ long distance;
+ if (rgvProtocol.getRgvPos() <= position) {
+ distance = position - rgvProtocol.getRgvPos();
+ } else {
+ distance = position + (perimeter - rgvProtocol.getRgvPos());
+ }
+ map.put(distance, rgvProtocol);
}
- }
- if (sign && rgvNo!=0){
- int[][] ints = new int[basCircularShuttleList.size()][2];
- for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
- ints[basCircularShuttle.getRgvNo()-1] = new int[]{basCircularShuttle.getRgvNo(),basCircularShuttle.getRgvId()};
- }
- String[] oldList = new String[ints.length];
- for (int[] rgv : ints){
- oldList[rgv[0]-1] = Arrays.toString(rgv);
- }
- int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
- String[] newList = new String[rgvList.length];
- for (int[] rgv : rgvList){
- newList[rgv[0]-1] = Arrays.toString(rgv);
- }
+ position -= 50;
+// log.info("鍙栬揣绔欑偣锛歿}锛屽悗闈㈠皬杞︽帓搴�", basDevpPositions.getDevNo());
+// StringBuilder sb = new StringBuilder();
+// for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
+// RgvProtocol rgvProtocol = rgvProtocolMap.getValue();
+// sb.append("[").append(rgvProtocol.getRgvNo()).append(",").append(rgvProtocol.getRgvPos()).append(",").append(rgvProtocol.getStatusType().desc).append("]");
+// }
+// log.info(sb.toString());
- log.info("鏇存柊灏忚溅鎺掑簭淇℃伅锛氬師濮嬪皬杞﹀彿rgvNo={},灏忚溅閲嶆柊鎺掑簭淇℃伅={},灏忚溅鍘熷鎺掑簭淇℃伅={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
- for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
- int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
- basCircularShuttle.setRgvId(rgv[1]);
- basCircularShuttleService.updateById(basCircularShuttle);
- }
- }
+ for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
+ RgvProtocol rgvProtocol = rgvProtocolMap.getValue(); // 鏈�杩戣窛绂诲皬杞�
+// log.info("鍙栬揣绔欑偣锛歿}锛屽悗闈㈡渶杩戝皬杞︼細{},鐘舵��:{}", basDevpPositions.getDevNo(), rgvProtocol.getRgvNo(), rgvProtocol.getStatusType().desc);
+ int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 10));
+ if (rgvProtocol.modeType == RgvModeType.AUTO
+ && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
+ && rgvProtocol.getTaskNo1() == 0
+ && rgvProtocol.getAlarm() == 0) {
+ if (count != 0) {
+ log.error("{}鍛煎彨灏忚溅锛歿}鍙峰皬杞︾┖闂诧紝浣嗗伐浣滄。鏄剧ず璇ュ皬杞︽湁浠诲姟",wrkMast.getWrkNo(),rgvProtocol.getRgvNo());
+ break ;
+ }
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
+ rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
+ rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setSourceStaNo1(wrkMast.getRgvSstaNo().shortValue()); //宸ヤ綅1璧风偣
+ rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().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, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+ break runRgv;
+ }
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+ Date now = new Date();
+ wrkMast.setRgvNo(rgvProtocol.getRgvNo());
+ wrkMast.setWrkSts(10L);
+ wrkMast.setRgvCreateTime(now);
+ wrkMastService.updateById(wrkMast);
+ break runRgv;
+ } else if(rgvProtocol.modeType == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() != 0){ // 褰撳墠灏忚溅鏀捐揣鐩爣浣嶇疆鍦ㄥ綋鍓嶄换鍔″彇璐х偣涔嬪悗锛岃烦杩囦换鍔″垎閰嶏紝涓嶅啀鍒欏垽鏂笅涓皬杞︾洰鏍囦綅缃�
+ WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1())); // 褰撳墠rgv浠诲姟
+ if(wrkMast1!= null && !Cools.isEmpty(wrkMast1.getRgvDstaNo())) {
+ // 褰撳墠rgv浠诲姟鐩爣绔欑偣
+ BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo()));
+ long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 褰撳墠rgv浠诲姟鐩爣绔欑偣浣嶇疆
+ // 鑾峰彇RGV褰撳墠浣嶇疆鍜岀姸鎬�
+ long currentRgvPos = rgvProtocol.getRgvPos();
+ int rgvStatus = rgvProtocol.getStatusType().id;
- } catch (Exception e) {
- log.error("鑷姩鏇存柊灏忚溅鎺掑簭淇℃伅澶辫触锛屽紓甯革細"+e);
- }
- }
- /**
- * 绔欑偣浠诲姟妫�娴� 涓嬪彂灏忚溅鍙栨斁浠诲姟
- */
- public synchronized void DevpTaskNoRun() {
- try{
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time",true));
- if (wrkMasts.isEmpty()){
- return;
- }
- long differenceInSeconds = TimeCalculatorUtils.differenceInSeconds(wrkMasts.get(0).getModiTime(), new Date());
- if (differenceInSeconds<=5){
- return;
- }
-
- BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- return;
- }
- List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position",true));
- Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos(),perimeter);
- BasDevpPosition[] basDevpPositionsList = SortTheExecutionOfTheCarUtil.devpNoSort(basDevpPositions, devNo);
- BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
- List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
- //涓嬪彂浠诲姟
- taskDown(wrkMastLists);
- } catch (Exception e){
- log.error("鑷姩涓嬪彂灏忚溅鍙栨斁浠诲姟澶辫触锛屽紓甯革細"+e);
- }
- }
-
- //鑾峰彇灏忚溅鍙栨斁浠诲姟鍒楄〃澶辫触
- public synchronized List<List<WrkMast>> getWrkMastLists(BasDevpPosition[] basDevpPositionsListUN) {
- List<List<WrkMast>> wrkMastLists = new ArrayList<>();
- try{
- List<WrkMast> wrkMastlistA = new ArrayList<>();
- List<WrkMast> wrkMastlistB = new ArrayList<>();
- for (BasDevpPosition basDevpPosition : basDevpPositionsListUN){
- List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts", 1L).orderBy("modi_time",true));
- for (WrkMast wrkMast:wrkMastList){
- if (!Cools.isEmpty(wrkMast)){
- if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN,wrkMast.getSourceStaNo(),wrkMast.getStaNo())){
- wrkMastlistA.add(wrkMast);
- } else {
- wrkMastlistB.add(wrkMast);
+ // 瀹氫箟娴姩鑼冨洿锛堜粎鍋滈潬鐘舵�侀�傜敤锛�
+ long posTolerance = (rgvStatus == 0 || rgvStatus == 2 || rgvStatus == 3 || rgvStatus == 6 || rgvStatus == 7 || rgvStatus == 8 || rgvStatus == 100) ? 50 : 0;
+ if(currentRgvPos < rgvDstaNoPosition + posTolerance) { // 灏忚溅褰撳墠浣嶇疆 < rgv鐩爣浣嶇疆
+ if(!(currentRgvPos - posTolerance < position && position < rgvDstaNoPosition + posTolerance)) { // 杩欎釜浠诲姟浣嶇疆鏄湪褰撳墠rgv浣嶇疆鍓嶉潰骞朵笖杩欎釜浠诲姟璧风偣鍦ㄥ綋鍓峳gv鐩爣绔欑偣涔嬪悗
+ break; // 褰撳墠rgv鏀捐揣瀹屾垚鍚庯紝鍙互鍙栧綋鍓嶄换鍔�
+ }
+ } else {
+ if(!(currentRgvPos + posTolerance < position || position < rgvDstaNoPosition - posTolerance)) {
+ break;
+ }
+ }
+ }
}
- }
}
}
- wrkMastLists.add(wrkMastlistA);
- wrkMastLists.add(wrkMastlistB);
- return wrkMastLists;
- } catch (Exception e){
- log.error("鑾峰彇灏忚溅鍙栨斁浠诲姟鍒楄〃澶辫触锛屽紓甯革細"+e);
- return wrkMastLists;
- }
- }
-
- public synchronized void taskDown(List<List<WrkMast>> wrkMastLists) {
- long rgvId = 0;
- runRgv:
- for (List<WrkMast> wrkMastList : wrkMastLists){
- for (WrkMast wrkMast: wrkMastList){
-
- log.error("瀛樺湪浠诲姟锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(wrkMast));
-
- rgvId++;
- BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null){
- continue ;
- }
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 2L));
- if (!wrkMasts.isEmpty()){
- continue ;
- }
- if (rgvProtocol != null
- && rgvProtocol.modeType == RgvModeType.AUTO
- && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
- && rgvProtocol.getTaskNo1()==0
- && rgvProtocol.getAlarm() == 0){
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
- rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue()); //宸ヤ綅1璧风偣
- rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().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, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
- //
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
- break runRgv;
- }
- log.error("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
-
- wrkMast.setWrkSts(2L);
- wrkMast.setRgvNo(rgvProtocol.getRgvNo());
- wrkMast.setAppeTime(new Date());
- try{
- wrkMastService.updateById(wrkMast);
- continue ;
- }catch (Exception e){
- log.error("鏇存柊灏忚溅浠诲姟澶辫触,浠诲姟鍙凤細"+wrkMast.getWrkNo());
- }
- break runRgv;
- } else {
- break runRgv;
- }
- }
-
+ } catch (Exception e) {
+ log.error("鑷姩涓嬪彂灏忚溅鍙栨斁浠诲姟澶辫触锛屽紓甯革細" + e);
}
}
//浠诲姟瀹屾垚
- public synchronized void rgvCompleteWrkMastSta() {
- try{
- for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ public synchronized void rgvCompleteWrkMastSta(int[] autoZ) {
+ try {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
@@ -302,50 +195,97 @@
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
continue;
}
- if (rgvProtocol.getStatusType() == RgvStatusType.WAITING){
- 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);
- }
+
// 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
&& rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getTaskNo1()!=0
+ && rgvProtocol.getTaskNo1() != 0
) {
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);
WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
- if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)){
- 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�"+wrkMast);
+ if (Cools.isEmpty(wrkMast)) {
+ log.error("鏈煡鍒板皬杞︽墽琛屼换鍔★紒" + rgvProtocol.getTaskNo1());
+ continue;
+ } else if(wrkMast.getWrkSts() != 10) {
+ log.warn("鎵ц浠诲姟鐘舵�佷笉绗﹀悎锛�" + rgvProtocol.getTaskNo1());
continue;
}
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
- if (!rgvComplete){
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+ if (!rgvComplete) {
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
break;
}
- wrkMast.setWrkSts(3L);
- wrkMast.setAppeTime(new Date());
+ wrkMast.setWrkSts(2L);
+ if (wrkMast.getIoType()==120){
+ wrkMast.setWrkSts(53L);
+ }
+ Date now = new Date();
+ wrkMast.setRgvFinishTime(now);
+ wrkMastService.updateById(wrkMast);
+ log.info("{}灏忚溅澶嶄綅瀹屾垚锛屼换鍔″彿锛歿}锛屼慨鏀瑰伐浣滄。鐘舵�佷负锛歿}鎴愬姛",rgvProtocol.getRgvNo(),wrkMast.getWrkNo(),wrkMast.getWrkSts());
+ }
+ }
+ } catch (Exception e) {
+ log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
+ }
+ }
+
+ // 灏忚溅鍙栬揣瓒婁綅,浠诲姟鍙栨秷
+ public synchronized void rgvTaskCancel() {
+ try {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+
+ // 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
+ if (rgvProtocol.getStatusType() == RgvStatusType.PICK_UP_OFFSIDE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() != 0
+ ) {
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue())
+ .eq("rgv_no",rgvProtocol.getRgvNo()));
+ if (Cools.isEmpty(wrkMast)) {
+ log.error(rgvProtocol.getRgvNo() + "灏忚溅鍙栬揣瓒婁綅鏈煡鍒板皬杞︽墽琛屼换鍔★紒" + rgvProtocol.getTaskNo1());
+ continue;
+ } else if(wrkMast.getWrkSts() != 10) {
+ log.warn(rgvProtocol.getRgvNo() + "灏忚溅鍙栬揣瓒婁綅鎵ц浠诲姟鐘舵�佷笉绗﹀悎锛�" + rgvProtocol.getTaskNo1());
+ continue;
+ }
+ log.info("{}鍙峰皬杞﹀皬杞﹀彇璐ц秺浣嶏紝鐘舵�亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
+ boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
+ if (!rgvComplete) {
+ log.error("灏忚溅鍙栬揣瓒婁綅,浠诲姟鍙栨秷,澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+ break;
+ }
+ wrkMast.setWrkSts(9L);
+ wrkMast.setRgvNo(0);
+ wrkMast.setRgvCreateTime(new Date());
wrkMastService.updateById(wrkMast);
}
}
- } catch (Exception e){
- log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+ } catch (Exception e) {
+ log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
}
}
/*
* 灏忚溅澶嶄綅
* */
- public synchronized boolean rgvComplete(Integer rgvId){
- try{
+ public synchronized boolean rgvComplete(Integer rgvNo) {
+ try {
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}",rgvId);
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(3, new RgvCommand()))) {
+ log.error("灏忚溅澶嶄綅RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}", rgvNo);
return false;
} else {
- log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}",rgvId);
+ log.info("灏忚溅澶嶄綅RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}", rgvNo);
return true;
}
- }catch (Exception e){
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}銆傚紓甯革細"+e,rgvId);
+ } catch (Exception e) {
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}銆傚紓甯革細" + e, rgvNo);
return false;
}
}
--
Gitblit v1.9.1