From b22b5b594c4cc9321f1b0ab6814a6290f1bfa7b2 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期四, 05 六月 2025 15:52:56 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 1119 +++++++++++++++++++++++++--------------------------------
1 files changed, 493 insertions(+), 626 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 6aed8dc..dd01468 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3,44 +3,48 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
+import com.core.common.DateUtils;
import com.core.exception.CoolException;
-import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.entity.*;
-import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
-import com.zy.asrs.utils.CommandUtils;
-import com.zy.asrs.utils.PostMesDataUtils;
import com.zy.asrs.utils.Utils;
+import com.zy.asrs.utils.VersionUtils;
+import com.zy.common.model.LocTypeDto;
+import com.zy.common.model.MatDto;
+import com.zy.common.model.SearchLocParam;
+import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
+import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
+import com.zy.core.RgvThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
-import com.zy.core.model.CrnSlave;
-import com.zy.core.model.DevpSlave;
-import com.zy.core.model.Task;
+import com.zy.core.model.*;
import com.zy.core.model.command.CrnCommand;
+import com.zy.core.model.command.LedCommand;
+import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.CrnProtocol;
+import com.zy.core.model.protocol.ExtProtocol;
+import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
-import com.zy.core.thread.BarcodeThread;
-import com.zy.core.thread.LedThread;
-import com.zy.core.thread.SiemensDevpThread;
-import com.zy.system.entity.Config;
-import com.zy.system.service.ConfigService;
+import com.zy.core.thread.*;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
-import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
+import org.springframework.transaction.interceptor.TransactionAspectSupport;
-import java.util.Date;
-import java.util.List;
+import java.util.*;
+import java.util.concurrent.TimeUnit;
+import java.util.stream.Collectors;
/**
* 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
@@ -54,617 +58,546 @@
public static final long COMMAND_TIMEOUT = 5 * 1000;
@Autowired
+ private CommonService commonService;
+ @Autowired
private SlaveProperties slaveProperties;
@Autowired
- private WrkMastMapper wrkMastMapper;
+ private WrkMastStaMapper wrkMastStaMapper;
@Autowired
- private LocMastService locMastService;
+ private FillingMastService fillingMastService;
@Autowired
- private BasCrnpService basCrnpService;
- @Autowired
- private BasDevpService basDevpService;
+ private VacuumMastService vacuumMastService;
@Autowired
private BasErrLogService basErrLogService;
@Autowired
- private BasCrnErrorMapper basCrnErrorMapper;
+ private WrkMastStaService wrkMastStaService;
@Autowired
- private TaskWrkMapper taskWrkMapper;
- @Autowired
- private TaskWrkService taskWrkService;
- @Autowired
- private ConfigService configService;
- @Autowired
- private StaDescMapper staDescMapper;
- @Autowired
- private CommandInfoService commandInfoService;
+ private BasRgvErrService basRgvErrService;
@Value("${wms.url}")
private String wmsUrl;
- @Value("${wms.movePath}")
- private String movePath;
+ public Integer wrkNo1 = 10000;
- public void generateStoreWrkFile() {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鍏ュ簱鍙�
- for (DevpSlave.Sta inSta : devp.getInSta()) {
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- Short workNo = staProtocol.getWorkNo();
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading()
- && !staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (workNo >= 0)
- && staProtocol.isPakMk()) {
+ public Integer wrkNo2 = 20000;
- // 灏哄妫�娴嬪紓甯�
- boolean back = false;
- String errMsg = "";
- if (staProtocol.isFrontErr()) {
- errMsg = "鍓嶈秴闄�";
- back = true;
- }
- if (!back && staProtocol.isBackErr()) {
- errMsg = "鍚庤秴闄�";
- back = true;
- }
- if (!back && staProtocol.isHighErr()) {
- errMsg = "楂樿秴闄�";
- back = true;
- }
- if (!back && staProtocol.isLeftErr()) {
- errMsg = "宸﹁秴闄�";
- back = true;
- }
- if (!back && staProtocol.isRightErr()) {
- errMsg = "鍙宠秴闄�";
- back = true;
- }
- if (!back && staProtocol.isWeightErr()) {
- errMsg = "瓒呴噸";
- back = true;
- }
- if (!back && staProtocol.isBarcodeErr()) {
- errMsg = "鎵爜澶辫触";
- back = true;
- }
- // 閫�鍥�
- if (back) {
-// News.warn("鎵爜鍏ュ簱澶辫触锛寋}鍏ュ簱绔欏洜{}寮傚父锛屾墭鐩樺凡琚��鍥�", inSta.getStaNo(), errMsg);
- staProtocol.setWorkNo(workNo);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
- if (taskWrk != null) {
- taskWrk.setMemo(errMsg);//灏嗛敊璇爜瀛樺叆澶囨敞瀛楁杩涜灞曠ず
- taskWrkMapper.updateById(taskWrk);
- }
- continue;
- }
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
- if (barcodeThread == null) {
- continue;
- }
- String barcode = barcodeThread.getBarcode();
- if(!Cools.isEmpty(barcode)) {
-
- }
- }
-
-
- }
- }
- }
/**
- * 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
+ * 鍫嗗灈鏈烘紨绀� ===>> 搴撲綅绉昏浆
*/
- @Async
- public void crnStnToOutStn() {
- for (CrnSlave crnSlave : slaveProperties.getCrn()) {
- // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
- for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
- 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());
+ public void getRgvTask() {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ for (DevpSlave.Sta inSta : devp.getInSta()) {
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ if (!rgv.getDemo()){
+ continue;
+ }
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.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(), staDesc.getStnNo().toString());
- if (taskWrk == null) {
+
+ if (staProtocol.isPakMk()){
+ VacuumMast vacuumMast = vacuumMastService.selectByStatusIsN();
+ FillingMast fillingMast = fillingMastService.selectByStatusIsn();
+ Date now = new Date();
+ WrkMastSta wrkMastSta = new WrkMastSta();
+ int workNo = commonService.getWorkNo(0);
+ wrkMastSta.setWrkNo((long)workNo);
+ wrkMastSta.setWrkStart(2);
+ wrkMastSta.setWrkEnd(vacuumMast.getStaNo());
+// wrkMastSta.setStaStart();
+ wrkMastSta.setStaEnd(fillingMast.getStaNo());
+ wrkMastSta.setCreateTime(now);
+ wrkMastSta.setUpdateTime(now);
+ wrkMastSta.setBignTime(now);
+ wrkMastSta.setType(0); //绫诲瀷 0:闈炵┖ 1:绌烘澘
+ wrkMastSta.setWrkType(3); //宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭斁 3锛氬彇鏀� 4锛氭媶鐩�
+ Integer insert = wrkMastStaMapper.insert(wrkMastSta);
+ if (insert>0){
+ devpThread.setPakMk(devp.getId(),false);
+ }
+ }
+ }
+
+ }
+ }
+ }
+ public synchronized void RGVDemoShow0() {
+ try {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ for (DevpSlave.Sta inSta : devp.getInSta()) {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+// if (){ //杈撻�佺嚎鐘舵��
+//
+// }
+
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+
+ SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }else {
+ rgvProtocol = rgvProtocol.clone();
+ }
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1()==0
+ && rgvProtocol.getTaskNo1() == 0
+ && rgvThread.isPakMk()
+ ){
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectWrkSts0();
+ if (!Cools.isEmpty(wrkMastSta)){
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgv.getId()); // RGV缂栧彿
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkNo1); // 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.getWrkStart().shortValue()); //宸ヤ綅1璧风偣
+ rgvCommand.setDestinationStaNo1(wrkMastSta.getWrkEnd().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, rgv.getId(), 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�={}", rgv.getId(), JSON.toJSON(rgvCommand));
+
+ } else {
+ vacuumMastStatusSetY(wrkMastSta.getWrkEnd());
+ rgvThread.setPakMk(false);
+
+ wrkMastSta.setWrkSts(1);
+ Integer update = wrkMastStaMapper.updateById(wrkMastSta);
+ if (update>0){
+
+ }else {
+ log.error("RGV鍛戒护涓嬪彂鍚庯紝鏇存柊宸ヤ綔浠诲姟鐘舵�佸け璐�");
+ }
+
+ }
+
+ }
+
+
+ }
+
+ }
+ }
+
+ }
+
+ } catch (Exception e) {
+ log.error("Rgv婕旂ず ===>> 澶辫触", e);
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+
+ public synchronized void RGVDemoShow1() {
+ try {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ for (DevpSlave.Sta inSta : devp.getInSta()) {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+// if (){ //杈撻�佺嚎鐘舵��
+//
+// }
+
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ if (!rgv.getDemo()) {
continue;
}
- // 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.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue())
- && crnProtocol.getTaskFinish() == 0
- && crnProtocol.forkPosType == CrnForkPosType.HOME) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- //鍙栧嚭杈撻�佺嚎鍛戒护
- List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
- if (commandInfos.isEmpty()) {
- continue;//鍛戒护绌�
- }
- Integer commandStep = taskWrk.getCommandStep();
- CommandInfo commandInfo = commandInfos.get(commandStep);
- StaProtocol staProtocol1 = JSON.parseObject(commandInfo.getCommand(), StaProtocol.class);
- if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) {
- log.error("杈撻�佺嚎鍛戒护涓嬫柟澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", taskWrk.getWrkNo());
- continue;//鍛戒护涓嬪彂澶辫触
- }
-
- // 澶嶄綅鍫嗗灈鏈�
- crnThread.setResetFlag(true);
-
- }
+ SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }else {
+ rgvProtocol = rgvProtocol.clone();
}
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1()==0
+ && rgvProtocol.getTaskNo1() == 0
+ && rgvThread.isPakMk()
+ ){
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectWrkSts1();
+ if (!Cools.isEmpty(wrkMastSta)){
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgv.getId()); // RGV缂栧彿
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkNo1); // 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.getWrkEnd().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, rgv.getId(), 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�={}", rgv.getId(), JSON.toJSON(rgvCommand));
+
+ } else {
+ rgvThread.setPakMk(false);
+ vacuumMastStatusSetN(wrkMastSta.getWrkEnd());
+ fillingMastStatusSetY(wrkMastSta.getStaEnd());
+
+ wrkMastSta.setWrkSts(2);
+ Integer update = wrkMastStaMapper.updateById(wrkMastSta);
+ if (update>0){
+
+ }else {
+ log.error("RGV鍛戒护涓嬪彂鍚庯紝鏇存柊宸ヤ綔浠诲姟鐘舵�佸け璐�");
+ }
+
+ }
+
+ }
+
+
+ }
+
}
}
}
+
+ } catch (Exception e) {
+ log.error("Rgv婕旂ず ===>> 澶辫触", 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(){
- 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());
+ public synchronized void RGVDemoShow2() throws InterruptedException {
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+// if (!rgv.getDemo()) {
+// continue;
+// }
+ SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }else {
+ rgvProtocol = rgvProtocol.clone();
+ }
+ if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() >0
+// && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
+ ){
+ boolean rgvComplete = rgvComplete(rgv.getId());
+ if (rgvComplete){
+ rgvThread.setPakMk(true);
+ }
+ List<WrkMastSta> wrkMastStas = wrkMastStaMapper.selectList(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", rgvProtocol.getTaskNo1()));
+ if (!Cools.isEmpty(wrkMastStas) || wrkMastStas.size()<=0){
+ WrkMastSta wrkMastSta = wrkMastStas.get(0);
+ wrkMastSta.setWrkSts(3);
+ wrkMastSta.setBignTime(new Date());
+ wrkMastStaMapper.updateById(wrkMastSta);
+ }
+ }
+
+ }
+ }
+
+ public boolean vacuumMastStatusSetN(Integer staNo){
+ EntityWrapper<VacuumMast> vacuumMastEntityWrapper = new EntityWrapper<>();
+ vacuumMastEntityWrapper.eq("sta_no",staNo);
+ VacuumMast vacuumMast = vacuumMastService.selectOne(vacuumMastEntityWrapper);
+ vacuumMast.setStatus("N");
+ boolean update = vacuumMastService.update(vacuumMast, vacuumMastEntityWrapper);
+ return update;
+ }
+ public boolean vacuumMastStatusSetY(Integer staNo){
+ EntityWrapper<VacuumMast> vacuumMastEntityWrapper = new EntityWrapper<>();
+ vacuumMastEntityWrapper.eq("sta_no",staNo);
+ VacuumMast vacuumMast = vacuumMastService.selectOne(vacuumMastEntityWrapper);
+ vacuumMast.setStatus("Y");
+ boolean update = vacuumMastService.update(vacuumMast, vacuumMastEntityWrapper);
+ return update;
+ }
+ public boolean fillingMastStatusSetN(Integer staNo){
+ EntityWrapper<FillingMast> fillingMastEntityWrapper = new EntityWrapper<>();
+ fillingMastEntityWrapper.eq("sta_no",staNo);
+ FillingMast fillingMast = fillingMastService.selectOne(fillingMastEntityWrapper);
+ fillingMast.setStatus("N");
+ boolean update = fillingMastService.update(fillingMast, fillingMastEntityWrapper);
+ return update;
+ }
+
+ public boolean fillingMastStatusSetY(Integer staNo){
+ EntityWrapper<FillingMast> fillingMastEntityWrapper = new EntityWrapper<>();
+ fillingMastEntityWrapper.eq("sta_no",staNo);
+ FillingMast fillingMast = fillingMastService.selectOne(fillingMastEntityWrapper);
+ fillingMast.setStatus("Y");
+ boolean update = fillingMastService.update(fillingMast, fillingMastEntityWrapper);
+ return update;
+ }
+
+
+
+ /*
+ * 灏忚溅澶嶄綅
+ * */
+ public synchronized boolean rgvComplete(Integer rgvId){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, 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;
+ } else {
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}",rgvId);
+ 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);
+ return false;
+ }
+ }
+
+ public synchronized void ExtTaskAndPut() throws InterruptedException {
+ for (ExtSlave extSlave : slaveProperties.getExt()) {
+// if (!rgv.getDemo()) {
+// continue;
+// }
+ MelsecExtThread extThread = (MelsecExtThread) SlaveConnection.get(SlaveType.Ext, extSlave.getId());
+ ExtProtocol extProtocol = extThread.getExtProtocol();
+ if (extProtocol == null) {
continue;
}
+// else {
+// extProtocol = extProtocol.clone();
+// }
+ if (extProtocol.isTake()){//鍏佽鍙�
- // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
- && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
- // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
- if (crnProtocol.getLastIo().equals("I")) {
- if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc(crn, crnProtocol); // 鍏ュ簱
- crnProtocol.setLastIo("O");
- } else if (basCrnp.getOutEnable().equals("Y")) {
- this.locToCrnStn(crn, crnProtocol); // 鍑哄簱
- crnProtocol.setLastIo("I");
- }
- }
- // 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
- else if (crnProtocol.getLastIo().equals("O")) {
- if (basCrnp.getOutEnable().equals("Y")) {
- this.locToCrnStn(crn, crnProtocol); // 鍑哄簱
- crnProtocol.setLastIo("I");
- } else if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc(crn, crnProtocol); // 鍏ュ簱
- crnProtocol.setLastIo("O");
- }
- }
+ }else if (extProtocol.isPut()){//鍏佽鏀�
+
}
- // 搴撲綅绉昏浆
- this.locToLoc(crn, crnProtocol);
}
}
- /**
- * 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
- */
- public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
- for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
- 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;
- }
-
- // 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;
- }
-
- //鍙栧嚭鍛戒护
- List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
- Integer commandStep = taskWrk.getCommandStep();
- if (commandInfos.isEmpty()) {
- continue;//鍛戒护绌�
- }
- CommandInfo commandInfo = commandInfos.get(commandStep);
- CrnCommand crnCommand = JSON.parseObject(commandInfo.getCommand(), CrnCommand.class);//鍙栧嚭鍛戒护鎶ユ枃
-
- if (!MessageQueue.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;
- }
- }
-
- /**
- * 鍑哄簱 ===>> 搴撲綅鍒板爢鍨涙満绔�
- * 2022-06-09 TQS淇敼锛屾煡璇㈠伐浣滄。LIST锛岄亶鍘嗕笅鍙戯紝闃叉绗竴涓换鍔″牭濉炲嚭搴�
- */
- public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
- List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null);
- if (taskWrksInitial.size()==0){
- return;
- }
- for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
- List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
- for (StaDesc staDesc : staDescs){
- // 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�
- List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(),staDesc.getStnNo().toString());
- for (TaskWrk taskWrk : taskWrks){
- if (taskWrk == null) {
- continue;
- }
- // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
- if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == null || taskWrk.getStartPoint() == null) {
- log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", taskWrk.getWrkNo(), taskWrk.getStartPoint(), taskWrk.getIoType());
- continue;
- }
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ public synchronized void DevpTaskAndPut() throws InterruptedException {
+ try {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ for (DevpSlave.Sta inSta : devp.getInSta()) {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
if (staProtocol == null) {
- break;
+ continue;
} else {
staProtocol = staProtocol.clone();
}
-
- // 鏌ヨ绔欑偣璇︾粏淇℃伅
- BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
- if (staDetl == null) {
- log.error("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;
+// System.out.println(JSON.toJSONString(staProtocol));
+ if (staProtocol.isAutoing()){
+ WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,1);
+ Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
+ if (count==0){
+ wrkMastSta.setType(1);
+ wrkMastSta.setWrkType(3);
+ wrkMastStaMapper.insert(wrkMastSta);
+ }
+ }else if (staProtocol.isLoading()){
+ WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,3);
+ Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
+ if (count==0){
+ wrkMastSta.setType(1);
+ wrkMastSta.setWrkType(3);
+ wrkMastStaMapper.insert(wrkMastSta);
+ }
+ }else if (staProtocol.isInEnable()){
+ WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,5);
+ Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
+ if (count==0){
+ wrkMastSta.setType(1);
+ wrkMastSta.setWrkType(3);
+ wrkMastStaMapper.insert(wrkMastSta);
+ }
+ }else if (staProtocol.isOutEnable()){
+ WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,7);
+ Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
+ if (count==0){
+ wrkMastSta.setType(1);
+ wrkMastSta.setWrkType(3);
+ wrkMastStaMapper.insert(wrkMastSta);
+ }
}
-
- // 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()) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
- break;
+ if (staProtocol.isEmptyMk()){
+ WrkMastSta wrkMastSta = new WrkMastSta(new Date(),1,10);
+ Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
+ if (count==0){
+ wrkMastSta.setType(1);
+ wrkMastSta.setWrkType(3);
+ wrkMastStaMapper.insert(wrkMastSta);
}
-
- // 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) {
- break;
+ }
+ if (staProtocol.isFullPlt()){
+ WrkMastSta wrkMastSta = new WrkMastSta(new Date(),3,10);
+ Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
+ if (count==0){
+ wrkMastSta.setType(1);
+ wrkMastSta.setWrkType(3);
+ wrkMastStaMapper.insert(wrkMastSta);
}
-
- // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
- if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
-
- taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
-
- List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
- if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
- continue;
- }
- String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
- TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
- if (!Cools.isEmpty(hallowLocNoTask)){
- if (!Cools.isEmpty(hallowLocNoTask.getTargetPoint())){
- continue;
- }
-// new PostMesDataUtils().postMesData("绉诲簱浠诲姟鍒嗛厤搴撲綅",wmsUrl,movePath,hallowLocNoTask);
- try {
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath(movePath)
- .setJson(JSON.toJSONString(hallowLocNoTask))
- .build()
- .doPost();
- System.out.println("response:"+response);
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- //瑙ｆ瀽
- }
- }catch (Exception e){
- 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+"/"+movePath, JSON.toJSONString(hallowLocNoTask), "璇锋眰绉诲簱浠诲姟鍒嗛厤搴撲綅");
- }
- continue;
- }
+ }
+ if (staProtocol.isCar()){
+ WrkMastSta wrkMastSta = new WrkMastSta(new Date(),5,10);
+ Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
+ if (count==0){
+ wrkMastSta.setType(1);
+ wrkMastSta.setWrkType(3);
+ wrkMastStaMapper.insert(wrkMastSta);
}
-
- //鍙栧嚭鍛戒护
- List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
- Integer commandStep = taskWrk.getCommandStep();
- if (commandInfos.isEmpty()) {
- continue;//鍛戒护绌�
+ }
+ if (staProtocol.isLow()){
+ WrkMastSta wrkMastSta = new WrkMastSta(new Date(),7,10);
+ Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
+ if (count==0){
+ wrkMastSta.setType(1);
+ wrkMastSta.setWrkType(3);
+ wrkMastStaMapper.insert(wrkMastSta);
}
- CommandInfo commandInfo = commandInfos.get(commandStep);
- CrnCommand crnCommand = JSON.parseObject(commandInfo.getCommand(), CrnCommand.class);//鍙栧嚭鍛戒护鎶ユ枃
-
- if (!MessageQueue.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� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
- Date now = new Date();
- taskWrk.setWrkSts(12);
- taskWrk.setModiTime(now);
- if (taskWrkMapper.updateById(taskWrk) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
- }
- }
- return;
}
}
}
+ } catch (Exception e) {
+ log.error("鐢熸垚灏忚溅鎼繍浠诲姟 ===>> 澶辫触", e);
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
}
/**
- * 搴撲綅绉昏浆
+ * 鎵ц灏忚溅鎼繍浠诲姟
*/
- public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
- for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
- // 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑绉诲簱宸ヤ綔妗�
- List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut3(slave.getId(), crnStn.getStaNo().toString());
- for (TaskWrk taskWrk : taskWrks){
- if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("")) {
- continue;
- }
- // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
- if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) {
- log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/鐩爣搴撲綅鍙�, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
- continue;
+ public synchronized void rgvRunWrkMastFullSta() {
+ try{
+ SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, 1);
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ log.error("RGV涓嶅湪绾�");
+ return;
+ }
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+ if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1()==0
+ && rgvProtocol.getTaskNo1() == 0
+ && rgvThread.isPakMk()
+ ) {
+ Integer selectCount = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts", 3).ne("wrk_sts", 0));
+ if (selectCount>0){
+ log.error("瀛樺湪鎵цRGV涓换鍔★紝浣嗘槸灏忚溅鐘舵�佺┖闂诧紒锛侊紒");
+ return;
}
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
- continue;
- }
-
- // 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;
- }
-
-
- // 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(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(Utils.getRowShort(taskWrk.getStartPoint())); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
- 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� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
- Date now = new Date();
- taskWrk.setWrkSts(12);
- taskWrk.setModiTime(now);
- if (taskWrkMapper.updateById(taskWrk) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", taskWrk.getWrkNo());
+ List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectList(new EntityWrapper<WrkMastSta>().eq("wrk_sts",0));
+ for (WrkMastSta wrkMastSta : wrkMastStaList){
+ if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:婊＄増 3锛氬彇鏀�
+ continue;
+ }
+ boolean sign = rgvTakeFullAll(1, wrkMastSta); //鍛戒护涓嬪彂
+ if (sign){
+ wrkMastSta.setWrkSts(1);
+ wrkMastSta.setUpdateTime(new Date());
+ wrkMastStaMapper.updateById(wrkMastSta);
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
}
break;
}
- return;
}
+ }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瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
- */
- @Async
- public void storeFinished() {
- 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; }
- // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
- if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
-
- //鑾峰彇鎸囦护ID
- Integer commandId = crnProtocol.getCommandId();
- CommandInfo commandInfo = commandInfoService.selectById(commandId);
- if (commandInfo == null) {
- //鎸囦护涓嶅瓨鍦�
- continue;
- }
-
- commandInfo.setCommandStatus(CommandStatusType.COMPLETE.id);//鎸囦护瀹屾垚
- commandInfo.setCompleteTime(new Date());//鎸囦护瀹屾垚鏃堕棿
- if (commandInfoService.updateById(commandInfo)) {//淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- }
+ /*
+ * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
+ * */
+ public synchronized boolean rgvTakeFullAll(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(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().intValue()); // 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) 0); //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;
}
}
-// /**
-// * 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
-// */
-// @Async
-// public void storeFinished() {
-// 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; }
-// // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
-// if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
-// // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
-// TaskWrk taskWrk = taskWrkMapper.selectCrnNoWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
-// if (Cools.isEmpty(taskWrk)) {
-// log.error("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
-// if ((taskWrk.getWrkSts() == 3 && taskWrk.getIoType() == 1) || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) {
-// taskWrk.setWrkSts(4);
-// } else {
-// continue;
-// }
-// Date now = new Date();
-// taskWrk.setModiTime(now);
-// Integer integerTaskWrk = taskWrkMapper.updateById(taskWrk);
-// // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
-// if (integerTaskWrk > 0) {
-// // 鍫嗗灈鏈哄浣�
-// crnThread.setResetFlag(true);
-//
-// //鏇存柊搴撲綅鐘舵��
-// LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
-// locMast.setLocSts("F");//F.鍦ㄥ簱
-// locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
-// locMast.setModiTime(now);
-// locMast.setModiUser(9999L);
-// locMastService.updateById(locMast);
-// }
-// }
-// }
-// }
-
- /**
- * 鍫嗗灈鏈哄紓甯镐俊鎭褰�
- */
- @Async
- public void recCrnErr(){
+ public synchronized void recCrnErr() {
Date now = new Date();
- 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;
+ SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, 1);
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ return;
}
if (true) {
// if (crnProtocol.getModeType() != CrnModeType.STOP) {
// 鏈変换鍔�
- if (crnProtocol.getTaskNo() != 0) {
- BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
+ if (rgvProtocol.getTaskNo1() != 0) {
+
+ BasErrLog latest = basErrLogService.findLatestByTaskNo(1, rgvProtocol.getTaskNo1());
// 鏈夊紓甯�
if (latest == null) {
- if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
- WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
- if (wrkMast == null) {
- continue;
+ if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
+ WrkMastSta wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>()
+ .setSqlSelect("TOP 1 wrk_no as wrkNo , wrk_sts as wrkSts,wrk_start as wrkStart,wrk_end as wrkEnd, create_time as createTime")
+ .eq("wrk_No", rgvProtocol.getTaskNo1())
+ .orderBy("create_time", false)
+
+ );
+ if (wrkMastSta == null) {
+ return;
}
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
- String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName();
+ BasRgvErr rgvErr = basRgvErrService.selectById(rgvProtocol.getAlarm());
+ String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
BasErrLog basErrLog = new BasErrLog(
null, // 缂栧彿
- wrkMast.getWrkNo(), // 宸ヤ綔鍙�
+ wrkMastSta.getWrkNo().intValue(), // 宸ヤ綔鍙�
now, // 鍙戠敓鏃堕棿
null, // 缁撴潫鏃堕棿
- wrkMast.getWrkSts(), // 宸ヤ綔鐘舵��
- wrkMast.getIoType(), // 鍏ュ嚭搴撶被鍨�
- crn.getId(), // 鍫嗗灈鏈�
+ wrkMastSta.getWrkSts().longValue(), // 宸ヤ綔鐘舵��
+ wrkMastSta.getType(), // 鍏ュ嚭搴撶被鍨�
+ 1, // 鍫嗗灈鏈�
null, // plc
- wrkMast.getLocNo(), // 鐩爣搴撲綅
- wrkMast.getStaNo(), // 鐩爣绔�
- wrkMast.getSourceStaNo(), // 婧愮珯
- wrkMast.getSourceLocNo(), // 婧愬簱浣�
- wrkMast.getBarcode(), // 鏉＄爜
- (int) crnProtocol.getAlarm1(), // 寮傚父鐮�
+ null, // 鐩爣搴撲綅
+ wrkMastSta.getWrkEnd(), // 鐩爣绔�
+ wrkMastSta.getWrkEnd(), // 婧愮珯
+ null, // 婧愬簱浣�
+ null, // 鏉＄爜
+ (int) rgvProtocol.getAlarm(), // 寮傚父鐮�
errName, // 寮傚父
1, // 寮傚父鎯呭喌
now, // 娣诲姞鏃堕棿
@@ -674,29 +607,31 @@
"浠诲姟涓紓甯�" // 澶囨敞
);
if (!basErrLogService.insert(basErrLog)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
+
}
}
} else {
// 寮傚父淇
- if (crnProtocol.getAlarm1() == null || crnProtocol.getAlarm1() == 0) {
+ if (rgvProtocol.getAlarm() == null || rgvProtocol.getAlarm() == 0) {
latest.setEndTime(now);
latest.setUpdateTime(now);
latest.setStatus(2);
if (!basErrLogService.updateById(latest)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
+
}
}
}
- // 鏃犱换鍔�
+ // 鏃犱换鍔�
} else {
- BasErrLog latest = basErrLogService.findLatest(crn.getId());
+ BasErrLog latest = basErrLogService.findLatest(1);
+
// 鏈夊紓甯�
- if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
+ if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
+
// 璁板綍鏂板紓甯�
- if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm1().intValue())) {
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
- String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName();
+ if (latest == null || (latest.getErrCode() != rgvProtocol.getAlarm().intValue())) {
+ BasRgvErr rgvErr = basRgvErrService.selectById(rgvProtocol.getAlarm());
+ String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
BasErrLog basErrLog = new BasErrLog(
null, // 缂栧彿
null, // 宸ヤ綔鍙�
@@ -704,14 +639,14 @@
null, // 缁撴潫鏃堕棿
null, // 宸ヤ綔鐘舵��
null, // 鍏ュ嚭搴撶被鍨�
- crn.getId(), // 鍫嗗灈鏈�
+ 1, // 鍫嗗灈鏈�
null, // plc
null, // 鐩爣搴撲綅
null, // 鐩爣绔�
null, // 婧愮珯
null, // 婧愬簱浣�
null, // 鏉＄爜
- (int)crnProtocol.getAlarm1(), // 寮傚父鐮�
+ (int) rgvProtocol.getAlarm(), // 寮傚父鐮�
errName, // 寮傚父
1, // 寮傚父鎯呭喌
now, // 娣诲姞鏃堕棿
@@ -721,10 +656,10 @@
"鏃犱换鍔″紓甯�" // 澶囨敞
);
if (!basErrLogService.insert(basErrLog)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
+
}
}
- // 鏃犲紓甯�
+ // 鏃犲紓甯�
} else {
// 寮傚父淇
if (latest != null && latest.getStatus() == 1) {
@@ -732,85 +667,17 @@
latest.setUpdateTime(now);
latest.setStatus(2);
if (!basErrLogService.updateById(latest)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
+
}
}
}
}
}
- }
+
+// News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈哄紓甯镐俊鎭褰曟墽琛屽畬鎴�");
}
- //鑷姩娲惧彂浠诲姟
- public void autoDistribute() {
- Config config = configService.selectByCode("autoDistribute");
- if (config == null) {
- return;
- }
-
- if (config.getValue().equals("false")) {//鍒ゆ柇鏄惁寮�鍚嚜鍔ㄦ淳鍙戜换鍔�
- return;
- }
-
- for (TaskWrk taskWrk : taskWrkService.selectReceive()) {
- try {
- taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
- } catch (CoolException e) {
- e.printStackTrace();
- }
- }
- }
-
- //鑷姩瀹屾垚浠诲姟
- public synchronized void autoCompleteTask() {
- List<TaskWrk> taskWrks = taskWrkMapper.selectWorkingTask();
- for (TaskWrk taskWrk : taskWrks) {
- //鑾峰彇鍛戒护闆嗗悎
- List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
- if ((taskWrk.getCommandStep() + 1) != commandInfos.size()) {
- continue;//褰撳墠姝ュ簭娌℃湁鍒拌揪鏈�鍚庝竴鏉″懡浠�
- }
-
- //鍒ゆ柇鏈鍛戒护鏄惁鎵ц瀹屾垚
- CommandInfo commandInfo = commandInfos.get(commandInfos.size() - 1);
- if (commandInfo.getCommandStatus() != CommandStatusType.COMPLETE.id) {
- continue;//鎸囦护鏈畬鎴�
- }
-
- Date now = new Date();
- //鎸囦护宸插畬鎴愶紝鏇存柊浠诲姟
- if (taskWrk.getIoType() == 1) {
- //鍏ュ簱浠诲姟
- taskWrk.setWrkSts(4);//3.鍚婅溅鍏ュ簱涓� => 4.鍏ュ簱瀹屾垚
- taskWrk.setStatus(TaskStatusType.COMPLETE.id);
- taskWrk.setModiTime(now);
- taskWrkService.updateById(taskWrk);
-
- //鏇存柊搴撲綅鐘舵��
- LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
- locMast.setLocSts("F");//F.鍦ㄥ簱
- locMast.setBarcode(taskWrk.getBarcode());//鎵樼洏鐮�
- locMast.setModiTime(now);
- locMast.setModiUser(9999L);
- locMastService.updateById(locMast);
- } else if (taskWrk.getIoType() == 2) {
- //鍑哄簱浠诲姟
- taskWrk.setWrkSts(14);//12.鍚婅溅鍑哄簱涓� => 14.鍑哄簱瀹屾垚
- taskWrk.setStatus(TaskStatusType.COMPLETE.id);
- taskWrk.setModiTime(now);
- taskWrkService.updateById(taskWrk);
-
- //鏇存柊搴撲綅鐘舵��
- LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
- locMast.setLocSts("O");//O.绌哄簱浣�
- locMast.setBarcode("");//鎵樼洏鐮�
- locMast.setModiTime(now);
- locMast.setModiUser(9999L);
- locMastService.updateById(locMast);
- }
- }
- }
}
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