From b5dad5bca39b68fdaaaf844e38fcc55e94bb34f1 Mon Sep 17 00:00:00 2001 From: Junjie <fallin.jie@qq.com> Date: 星期五, 14 四月 2023 15:23:50 +0800 Subject: [PATCH] 地图处于其他楼层时无法显示提升机口站点问题 --- src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 836 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++-- 1 files changed, 808 insertions(+), 28 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 0db902b..f2b386c 100644 --- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java +++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java @@ -68,6 +68,10 @@ @Autowired private BasSteErrLogService basSteErrLogService; @Autowired + private BasShuttleErrLogService basShuttleErrLogService; + @Autowired + private BasShuttleErrService basShuttleErrService; + @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Autowired private BasSteService basSteService; @@ -602,10 +606,11 @@ } } + /** - * 鍏ュ嚭搴� ===>> 鍥涘悜绌挎杞﹀叆鍑哄簱浣滀笟涓嬪彂 + * 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙� */ - public synchronized void shuttleIoExecute() { + public synchronized void shuttleIoInExecute() { // 鏍规嵁杈撻�佺嚎plc閬嶅巻 for (DevpSlave devp : slaveProperties.getDevp()) { // 閬嶅巻鍏ュ簱绔� @@ -662,19 +667,41 @@ //鍒嗛厤婧愬簱浣� shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo()); + //鍒涘缓鍒嗛厤鍛戒护 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); - //鍥涘悜绌挎杞﹀彿 - assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); - //浠诲姟鍙� - assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); - //鍏ュ嚭搴撴ā寮� - assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue()); - //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆) + assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿 + assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙� + assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//鍏ュ嚭搴撴ā寮� String currentLocNo = shuttleProtocol.getCurrentLocNo(); - assignCommand.setSourceLocNo(currentLocNo); + assignCommand.setSourceLocNo(currentLocNo);//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆) + + String locNo = wrkMast.getLocNo();//褰撳墠宸ヤ綔妗e簱浣嶅彿 + Integer lev = Integer.parseInt(locNo.substring(locNo.length() - 2, locNo.length()));//褰撳墠宸ヤ綔妗e簱浣嶅眰楂� + Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));//灏忚溅褰撳墠灞傞珮 + + //鑾峰彇鎻愬崌鏈� + LiftSlave liftSlave = slaveProperties.getLift().get(0); + //鎻愬崌鏈哄簱浣嶅彿 + String liftLocNo = liftSlave.getLiftLocNo(currentLev); if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) { - //鍚屼竴灞� + //鍚屼竴灞傜洿鎺ュ彇璐ф棤闇�缁忚繃鎻愬崌鏈� + //鐩存帴璁$畻杞﹀埌鎻愬崌鏈哄彇璐у啀鍒板簱浣嶈矾寰勬寚浠� + List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo); + if (wrkMast.getWrkSts() == 8) { + //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛 + BasDevp basDevp = basDevpService.selectById(109);//鑾峰彇鎻愬崌鏈轰俊鎭� + ShuttleCommand moveCommand = new ShuttleCommand(); + moveCommand.setCommandWord((short) 1); + moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜 + moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());//鎻愬崌鏈哄彛浜岀淮鐮� + moveCommand.setStartToDistDistance(1300); + moveCommand.setMiddleToDistDistance(0); + moveCommand.setRunDirection(commands.get(0).getRunDirection()); + moveCommand.setCommandEnd((short) 1); + commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶� + } + assignCommand.setCommands(commands); //鍒嗛厤鐩爣搴撲綅 shuttleProtocol.setLocNo(wrkMast.getLocNo()); //鐩爣搴撲綅 @@ -683,16 +710,13 @@ }else { //涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿 - //灏忚溅褰撳墠灞傞珮 - Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length())); - - //鑾峰彇鎻愬崌鏈� - LiftSlave liftSlave = slaveProperties.getLift().get(0); - //鎻愬崌鏈哄簱浣嶅彿 - String liftLocNo = liftSlave.getLiftLocNo(currentLev); + //灏忚溅绉诲姩鍒版彁鍗囨満鍙o紝璁$畻璺緞 + List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id); + //鍒嗛厤鐩爣搴撲綅 shuttleProtocol.setLocNo(liftLocNo); //鐩爣搴撲綅 assignCommand.setLocNo(liftLocNo); + assignCommand.setCommands(commands); wrkMast.setWrkSts(5L);//灏忚溅杩佺Щ鐘舵�� } @@ -710,8 +734,284 @@ } + //鑾峰彇璧风偣-缁堢偣鎸囦护銆俶apType锛�1=銆嬫棤璐у湴鍥撅紝2=銆嬫湁璐у湴鍥� + public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNO,Integer mapType) { + //璁$畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护 + List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNO, mapType); + List<ShuttleCommand> commands = new ArrayList<>(); + if (calc == null) { + return null; + } + + //鑾峰彇鍒嗘璺緞 + ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc); + //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护 + for (ArrayList<NavigateNode> nodes : data) { + //寮�濮嬭矾寰� + NavigateNode startPath = nodes.get(0); + //鐩爣璺緞 + NavigateNode endPath = nodes.get(nodes.size() - 1); + Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁$畻褰撳墠璺緞琛岃蛋鎬昏窛绂� + + ShuttleCommand command = new ShuttleCommand(); + command.setCommandWord((short) 1); + + //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮� + Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ()); + command.setStartCodeNum(startCodeNum); + + command.setMiddleCodeNum((short) 1); + + //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮� + Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ()); + command.setDistCodeNum(distCodeNum); + + command.setStartToDistDistance(allDistance); + command.setMiddleToDistDistance(0); + command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id); + command.setPalletLift((short) 1); + command.setForceMoveDistance(0); + command.setChargeSwitch((short) 2); + command.setIOControl((short) 0); + command.setRadarTmp((short) 0); + command.setCommandEnd((short) 1); + commands.add(command); + } + return commands; + } + + //鑾峰彇璧风偣-涓偣-缁堢偣鎸囦护 + public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNO) { + //璁$畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护 + List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//灏忚溅鏃犺揣锛岃蛋鍏ュ簱鍦板浘 + List<ShuttleCommand> commands = new ArrayList<>(); + if (calc == null) { + return null; + } + + //鑾峰彇鍒嗘璺緞 + ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc); + //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护 + for (ArrayList<NavigateNode> nodes : data) { + //寮�濮嬭矾寰� + NavigateNode startPath = nodes.get(0); + //鐩爣璺緞 + NavigateNode endPath = nodes.get(nodes.size() - 1); + Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁$畻褰撳墠璺緞琛岃蛋鎬昏窛绂� + + ShuttleCommand command = new ShuttleCommand(); + command.setCommandWord((short) 1); + + //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮� + Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ()); + command.setStartCodeNum(startCodeNum); + + command.setMiddleCodeNum((short) 1); + + //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮� + Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ()); + command.setDistCodeNum(distCodeNum); + + command.setStartToDistDistance(allDistance); + command.setMiddleToDistDistance(0); + command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id); + command.setPalletLift((short) 1); + command.setForceMoveDistance(0); + command.setChargeSwitch((short) 2); + command.setIOControl((short) 0); + command.setRadarTmp((short) 0); + command.setCommandEnd((short) 1); + commands.add(command); + } + + //灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉¢《鍗囨寚浠� + ShuttleCommand command = new ShuttleCommand(); + command.setCommandWord((short) 2); + command.setPalletLift((short) 1); + command.setCommandEnd((short) 1); + commands.add(command); + + //璁$畻灏忚溅涓偣鍒扮粓鐐规墍闇�鍛戒护 + List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNO, 2);//灏忚溅鏈夎揣锛岃蛋鍑哄簱鍦板浘(鍑哄簱鍦板浘鏈変笓鐢ㄨ揣閬�) + if (calc2 == null) { + return null; + } + + //鑾峰彇鍒嗘璺緞 + ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2); + for (ArrayList<NavigateNode> nodes : data2) { + //寮�濮嬭矾寰� + NavigateNode startPath = nodes.get(0); + //鐩爣璺緞 + NavigateNode endPath = nodes.get(nodes.size() - 1); + Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁$畻褰撳墠璺緞琛岃蛋鎬昏窛绂� + + command = new ShuttleCommand(); + command.setCommandWord((short) 1); + + //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮� + Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ()); + command.setStartCodeNum(startCodeNum); + + command.setMiddleCodeNum((short) 1); + + //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮� + Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ()); + command.setDistCodeNum(distCodeNum); + + command.setStartToDistDistance(allDistance); + command.setMiddleToDistDistance(0); + command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id); + command.setPalletLift((short) 1); + command.setForceMoveDistance(0); + command.setChargeSwitch((short) 2); + command.setIOControl((short) 0); + command.setRadarTmp((short) 0); + command.setCommandEnd((short) 1); + commands.add(command); + } + + //灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉℃墭鐩樹笅闄嶆寚浠� + command = new ShuttleCommand(); + command.setCommandWord((short) 2); + command.setPalletLift((short) 2); + command.setCommandEnd((short) 1); + commands.add(command); + + return commands; + } + /** - * 鎼滅储绌洪棽涓旀渶杩戠殑鍥涘悜绌挎杞� + * 鍑哄簱 ===>> 鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙� + */ + public synchronized void shuttleIoOutExecute() { + for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) { + //鎻愬彇涓�鏉″緟鍑哄簱浠诲姟 + if (wrkMast != null) { + String outStaLocNo = null;//鍑哄簱绔欑偣搴撲綅鍙� + //鑾峰彇鍑哄簱绔欑偣 + for (DevpSlave devpSlave : slaveProperties.getDevp()) { + for (DevpSlave.StaRack staOutRack : devpSlave.getRackOutStn()) { + if (staOutRack.getStaNo().equals(wrkMast.getStaNo())) { + //鍑哄簱绔欑偣鍜屽伐浣滄。鍑哄簱绔欑偣涓�鑷� + outStaLocNo = CommonUtils.getLocNoFromRBL(staOutRack.getRow(), staOutRack.getBay(), staOutRack.getLev()); + } + } + + } + + if (wrkMast.getWrkSts() == 21 + || wrkMast.getWrkSts() == 25 + || wrkMast.getWrkSts() == 31) { + ShuttleThread shuttleThread = null; + HashMap<String, Object> searchIdleShuttle = null; + if (wrkMast.getWrkSts() == 21) { + //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅 + searchIdleShuttle = this.searchIdleShuttle(wrkMast); + shuttleThread = (ShuttleThread) searchIdleShuttle.get("result"); + }else if(wrkMast.getWrkSts() == 31 || wrkMast.getWrkSts() == 25) { + //缁х画瀹屾垚涔嬪墠灏忚溅鏈畬鎴愮殑浠诲姟 + shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); + } + + if (shuttleThread == null) { + continue; + } + + ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); + if (shuttleProtocol == null) { + continue; + } + + if (!shuttleProtocol.isIdle()) { + continue; + } + + if (outStaLocNo == null) { + continue; + } + + wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿 + //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆) + String currentLocNo = shuttleProtocol.getCurrentLocNo(); + + //灏忚溅褰撳墠灞傞珮 + Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length())); + //鑾峰彇鎻愬崌鏈� + LiftSlave liftSlave = slaveProperties.getLift().get(0); + //鎻愬崌鏈哄簱浣嶅彿 + String liftLocNo = liftSlave.getLiftLocNo(currentLev); + + //鍒嗛厤浠诲姟鍙� + shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue()); + //鍒嗛厤婧愬簱浣� + shuttleProtocol.setSourceLocNo(currentLocNo); + + ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); + //鍥涘悜绌挎杞﹀彿 + assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); + //浠诲姟鍙� + assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); + //鍏ュ嚭搴撴ā寮� + assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue()); + assignCommand.setSourceLocNo(currentLocNo); + + if (wrkMast.getWrkSts() == 21) { + //鍒ゆ柇灏忚溅鍜屽簱浣嶆槸鍚﹀湪鍚屼竴灞� + if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) { + //鍚屼竴灞�(灏嗗皬杞︾Щ鍔ㄥ埌璐х墿浣嶇疆) + + List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo); + //鍒嗛厤鐩爣搴撲綅 + shuttleProtocol.setLocNo(wrkMast.getSourceLocNo()); + //鐩爣搴撲綅 + assignCommand.setLocNo(wrkMast.getSourceLocNo()); + assignCommand.setCommands(commands); + wrkMast.setWrkSts(26L);//灏忚溅鎼繍涓� + }else { + //涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿(灏嗗皬杞︾Щ鍔ㄥ埌鎻愬崌鏈轰綅缃�) + + //灏忚溅鍒版彁鍗囨満鍙f寚浠� + List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id); + shuttleProtocol.setLocNo(liftLocNo); + //鐩爣搴撲綅 + assignCommand.setLocNo(liftLocNo); + assignCommand.setCommands(commands); + wrkMast.setWrkSts(22L);//灏忚溅杩佺Щ鐘舵�� + } + } else if (wrkMast.getWrkSts() == 25) { + List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo); + //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛 + BasDevp basDevp = basDevpService.selectById(109);//鑾峰彇鎻愬崌鏈轰俊鎭� + ShuttleCommand moveCommand = new ShuttleCommand(); + moveCommand.setCommandWord((short) 1);//灏忚溅绉诲姩鎸囦护瀛� + moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//鎻愬崌鏈轰簩缁寸爜 + moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum()); + moveCommand.setStartToDistDistance(1300); + moveCommand.setMiddleToDistDistance(0); + moveCommand.setRunDirection(commands.get(0).getRunDirection()); + moveCommand.setCommandEnd((short) 1); + commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶� + + //鍒嗛厤鐩爣搴撲綅 + shuttleProtocol.setLocNo(wrkMast.getSourceLocNo()); + //鐩爣搴撲綅 + assignCommand.setLocNo(wrkMast.getSourceLocNo()); + assignCommand.setCommands(commands); + wrkMast.setWrkSts(26L);//灏忚溅鎼繍涓� + } + + if (wrkMastMapper.updateById(wrkMast) > 0) { + //涓嬪彂浠诲姟 + MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); + } + } + } + } + } + + /** + * 鎼滅储绌洪棽涓旀渶杩戠殑鍥涘悜绌挎杞�(浠ュ伐浣滄。鐩爣搴撲綅涓哄熀鐐硅绠楁渶杩戜笖绌洪棽鐨勮溅) */ public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) { HashMap<String, Object> map = new HashMap<>(); @@ -804,9 +1104,10 @@ } //鍥涘悜绌挎杞︾姸鎬佷负绛夊緟纭 - if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id && shuttleProtocol.getTaskNo() != 0) { + if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //浠诲姟瀹屾垚绛夊緟纭 + && shuttleProtocol.getTaskNo() != 0) { //灏嗕换鍔℃。鏍囪涓哄畬鎴� - WrkMast wrkMast = wrkMastMapper.selectByWorkNo59(shuttleProtocol.getTaskNo().intValue()); + WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue()); if (wrkMast != null) { switch (wrkMast.getWrkSts().intValue()) { case 9: @@ -814,6 +1115,12 @@ break; case 5: wrkMast.setWrkSts(6L); + break; + case 22: + wrkMast.setWrkSts(23L); + break; + case 26: + wrkMast.setWrkSts(27L); break; default: } @@ -838,6 +1145,48 @@ } } + + //鍥涘悜绌挎杞︾姸鎬佷负鍏呯數鐘舵�� + if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id //鍏呯數鏍囪瘑 + && shuttleProtocol.getTaskNo() != 0) { + //鏌ヨ鏄惁鏈夊厖鐢典换鍔� + WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue()); + if (wrkCharge != null) { + switch (wrkCharge.getWrkSts().intValue()) { + case 52://鍥涘悜绌挎杞﹁縼绉诲埌鎻愬崌鏈哄彛 + wrkCharge.setWrkSts(53L);//杩佺Щ瀹屾垚 + shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING); + break; + case 56: + if (shuttleProtocol.getBatteryPower() == 1000) { + wrkCharge.setWrkSts(60L);//鍏呯數瀹屾垚 + } + break; + default: + } + + if (wrkChargeMapper.updateById(wrkCharge) > 0) { + if (wrkCharge.getWrkSts() == 60) { + //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵�� + shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE); + } + //浠诲姟鍙锋竻闆� + shuttleProtocol.setTaskNo((short) 0); + //婧愬簱浣嶆竻闆� + shuttleProtocol.setSourceLocNo(null); + //鐩爣搴撲綅娓呴浂 + shuttleProtocol.setLocNo(null); + //鏍囪澶嶄綅 + shuttleProtocol.setPakMk(true); + //浠诲姟鎸囦护娓呴浂 + shuttleProtocol.setAssignCommand(null); + News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo()); + } else { + News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo()); + } + } + } + } } @@ -861,7 +1210,7 @@ } //鎼滅储鏄惁鏈夊緟澶勭悊鐨勪换鍔� - WrkMast wrkMast = wrkMastMapper.selectLiftStep6(); + WrkMast wrkMast = wrkMastMapper.selectLiftStep623(); if (wrkMast == null) { continue; } @@ -891,7 +1240,7 @@ int currentLocNoLey = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length())); //宸ヤ綔妗g洰鏍囧簱浣嶅彿 - String wrkMastLocNo = wrkMast.getLocNo(); + String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo(); //宸ヤ綔妗g洰鏍囧簱浣嶆ゼ灞� int wrkMastLocNoLey = Integer.parseInt(wrkMastLocNo.substring(wrkMastLocNo.length() - 2, wrkMastLocNo.length())); @@ -918,7 +1267,7 @@ commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list - //鎻愬崌鏈烘惉杩愬洓鍚戠┛姊溅 + //鎻愬崌鏈哄墠寰�鐩爣妤煎眰 LiftCommand command3 = new LiftCommand(); command3.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿 command3.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙� @@ -929,7 +1278,7 @@ commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list //鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲嚭鍘� - //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵 + //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩鍑哄幓 LiftCommand command4 = new LiftCommand(); command4.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿 command4.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙� @@ -938,7 +1287,13 @@ commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list - wrkMast.setWrkSts(7L);//绉诲姩浠诲姟 + if (wrkMast.getIoType() == 101) { + //鍑哄簱浠诲姟 + wrkMast.setWrkSts(24L);//绉诲姩浠诲姟 + }else { + //鍏ュ簱浠诲姟 + wrkMast.setWrkSts(7L);//绉诲姩浠诲姟 + } //鎵�闇�鍛戒护缁勫悎瀹屾瘯锛屾洿鏂版暟鎹簱锛屾彁浜ゅ埌绾跨▼鍘诲伐浣� LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); @@ -966,9 +1321,18 @@ //鎻愬崌鏈轰负绛夊緟纭 if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) { //灏嗕换鍔℃。鏍囪涓哄畬鎴� - WrkMast wrkMast = wrkMastMapper.selectByWorkNo7(liftProtocol.getTaskNo().intValue()); + WrkMast wrkMast = wrkMastMapper.selectByWorkNo724(liftProtocol.getTaskNo().intValue()); if (wrkMast != null) { - wrkMast.setWrkSts(8L); + switch (wrkMast.getWrkSts().intValue()) { + case 7: + wrkMast.setWrkSts(8L); + break; + case 24: + wrkMast.setWrkSts(25L); + break; + default: + } + if (wrkMastMapper.updateById(wrkMast) > 0) { //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵�� liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE); @@ -978,6 +1342,35 @@ liftProtocol.setPakMk(true); //浠诲姟鎸囦护娓呴浂 liftProtocol.setAssignCommand(null); + //鎻愬崌鏈鸿В閿� + liftProtocol.setLiftLock(false); + News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo()); + } else { + News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo()); + } + } + + //鏌ヨ鏄惁鏈夊厖鐢典换鍔� + WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue()); + if (wrkCharge != null) { + switch (wrkCharge.getWrkSts().intValue()) { + case 54://鎻愬崌鏈烘惉杩愪腑 + wrkCharge.setWrkSts(55L);//鎻愬崌鏈烘惉杩愬畬鎴� + break; + default: + } + + if (wrkChargeMapper.updateById(wrkCharge) > 0) { + //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵�� + liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE); + //浠诲姟鍙锋竻闆� + liftProtocol.setTaskNo((short) 0); + //鏍囪澶嶄綅 + liftProtocol.setPakMk(true); + //浠诲姟鎸囦护娓呴浂 + liftProtocol.setAssignCommand(null); + //鎻愬崌鏈鸿В閿� + liftProtocol.setLiftLock(false); News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo()); } else { News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo()); @@ -2466,10 +2859,129 @@ */ public void recErr() { try { + this.recShuttleErr(); this.recCrnErr(); this.recSteErr(); } catch (Exception e) { News.error("recErr fail", e); + } + } + + /** + * 鍥涘悜绌挎杞﹀紓甯镐俊鎭褰� + */ + private void recShuttleErr() { + Date now = new Date(); + for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) { + // 鑾峰彇鍫嗗灈鏈轰俊鎭� + ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId()); + if (shuttleThread == null) { + continue; + } + ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); + if (shuttleProtocol == null) { + continue; + } + + if (shuttleProtocol.getTaskNo() != 0) { + //鏈変换鍔� + BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue()); + // 鏈夊紓甯� + if (latest == null) { + if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) { + WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo()); + if (wrkMast == null) { + continue; + } + BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue()); + String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName(); + BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog( + null, // 缂栧彿 + wrkMast.getWrkNo(), // 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� + shuttleSlave.getId(), // 鍥涘悜绌挎杞� + 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$爜 + (int) shuttleProtocol.getStatusErrorCode(), // 寮傚父鐮� + errName, // 寮傚父 + 1, // 寮傚父鎯呭喌 + now, // 娣诲姞鏃堕棿 + null, // 娣诲姞浜哄憳 + now, // 淇敼鏃堕棿 + null, // 淇敼浜哄憳 + "浠诲姟涓紓甯�" // 澶囨敞 + ); + if (!basShuttleErrLogService.insert(basShuttleErrLog)) { + News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName); + } + } + } else { + // 寮傚父淇 + if (shuttleProtocol.getStatusErrorCode() == null || shuttleProtocol.getStatusErrorCode() == 0) { + latest.setEndTime(now); + latest.setUpdateTime(now); + latest.setStatus(2); + if (!basShuttleErrLogService.updateById(latest)) { + News.error("鍥涘悜绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId()); + } + } + } + }else { + //鏃犱换鍔� + BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId()); + // 鏈夊紓甯� + if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) { + // 璁板綍鏂板紓甯� + if (latest == null || (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) { + BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue()); + String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName(); + BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog( + null, // 缂栧彿 + null, // 宸ヤ綔鍙� + now, // 鍙戠敓鏃堕棿 + null, // 缁撴潫鏃堕棿 + null, // 宸ヤ綔鐘舵�� + null, // 鍏ュ嚭搴撶被鍨� + shuttleSlave.getId(), // 鍥涘悜绌挎杞� + null, // plc + null, // 鐩爣搴撲綅 + null, // 鐩爣绔� + null, // 婧愮珯 + null, // 婧愬簱浣� + null, // 鏉$爜 + (int)shuttleProtocol.getStatusErrorCode(), // 寮傚父鐮� + errName, // 寮傚父 + 1, // 寮傚父鎯呭喌 + now, // 娣诲姞鏃堕棿 + null, // 娣诲姞浜哄憳 + now, // 淇敼鏃堕棿 + null, // 淇敼浜哄憳 + "鏃犱换鍔″紓甯�" // 澶囨敞 + ); + if (!basShuttleErrLogService.insert(basShuttleErrLog)) { + News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName); + } + } + // 鏃犲紓甯� + } else { + // 寮傚父淇 + if (latest != null && latest.getStatus() == 1) { + latest.setEndTime(now); + latest.setUpdateTime(now); + latest.setStatus(2); + if (!basShuttleErrLogService.updateById(latest)) { + News.error("鍥涘悜绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId()); + } + } + } + } } } @@ -2957,6 +3469,274 @@ } /** + * 鍥涘悜绌挎杞︾數閲忔娴� ===>> 鍙戣捣鍏呯數 + */ + public synchronized void loopShuttleCharge() { + for (DevpSlave devpSlave : slaveProperties.getDevp()) { + SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId()); + for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { + //鑾峰彇鍥涘悜绌挎杞︾嚎绋� + ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); + ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); + if (shuttleProtocol == null) { + continue; + } + + //鍒ゆ柇褰撳墠灏忚溅鏄惁婊¤冻闇�瑕佸厖鐢佃姹� + if (!shuttleProtocol.isRequireCharge()) { + continue; + } + + WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge); + if (wrkCharge != null) {//宸叉湁鍏呯數浠诲姟 + continue; + } + + ShuttleChargeType shuttleCharge = null; + String locNo; + for (ShuttleChargeType chargeType : ShuttleChargeType.values()) { + switch (chargeType.id) { + case 1: + if (devpThread.charge0 == false) { + ShuttleChargeType first = ShuttleChargeType.FIRST; + locNo = first.locNo; + if (wrkChargeService.selectWorkingOfCharge(first.id) == null) { + shuttleCharge = first; + } + } + break; + default: + } + } + + if (shuttleCharge == null) { + continue; + } + + String chargeLocNo = shuttleCharge.locNo; + wrkCharge = new WrkCharge(); + wrkCharge.setShuttleNo(shuttle.getId()); + wrkCharge.setCharge(shuttleCharge.id); + wrkCharge.setWrkNo(commonService.getChargeWorkNo(4)); + wrkCharge.setWrkSts(51L); // 21.鍑嗗鍏呯數 + wrkCharge.setIoPri((double) 10); + wrkCharge.setLocNo(chargeLocNo); + wrkCharge.setMemo("charge"); + wrkCharge.setAppeTime(new Date()); + if (!wrkChargeService.insert(wrkCharge)) { + News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟澶辫触!!!", shuttle.getId()); + continue; + } + + shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//鍏呯數涓� + News.info("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟鎴愬姛!!!", shuttle.getId()); + } + } + + + } + + /** + * 鎵ц鍥涘悜绌挎杞﹀厖鐢典换鍔� + */ + public synchronized void executeShuttleCharge() { + WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge); + if (wrkCharge == null) { + return; + } + + + ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo()); + if (shuttleThread == null) { + return; + } + ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); + if (shuttleProtocol == null) { + return; + } + + //褰撳墠绌挎杞﹀簱浣嶅彿 + String currentLocNo = shuttleProtocol.getCurrentLocNo(); + //灏忚溅褰撳墠灞傞珮 + Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length())); + //鑾峰彇鎻愬崌鏈� + LiftSlave liftSlave = slaveProperties.getLift().get(0); + //鎻愬崌鏈哄簱浣嶅彿 + String liftLocNo = liftSlave.getLiftLocNo(currentLev); + //鍏呯數搴撲綅鍙� + String chargeLocNo = wrkCharge.getLocNo(); + //鍏呯數搴撲綅灞傞珮 + Integer chargeLocNoLev = Integer.parseInt(chargeLocNo.substring(chargeLocNo.length() - 2, chargeLocNo.length())); + + if (wrkCharge.getWrkSts() == 51 || wrkCharge.getWrkSts() == 55) { + if (currentLev == chargeLocNoLev) { + //鍚屼竴灞傛棤闇�缁忚繃鎻愬崌鏈� + //鐩存帴璁$畻杞﹀埌鍏呯數搴撲綅 + //鑾峰彇灏忚溅鍒板厖鐢靛簱浣嶈矾寰勬寚浠� + List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id); + //杩涜鍏呯數涓� + shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING); + ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); + assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); + assignCommand.setTaskMode((short) 9);//鍏呯數 + assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); + assignCommand.setCharge(true);//鍏呯數浠诲姟 + + //鍒涘缓鍏呯數鎸囦护 + ShuttleCommand command = new ShuttleCommand(); + command.setCommandWord((short) 5);//鍏呯數 + command.setShuttleNo(shuttleProtocol.getShuttleNo()); + command.setChargeSwitch((short) 1);//寮�濮嬪厖鐢� + command.setCommandEnd((short) 1); + commands.add(command); + + //鎸囦护闆嗗垎閰� + assignCommand.setCommands(commands); + + wrkCharge.setWrkSts(56L);//鍏呯數涓姸鎬� + if (wrkChargeMapper.updateById(wrkCharge) > 0) { + //涓嬪彂浠诲姟 + MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); + } + }else { + //涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿 + + //灏忚溅绉诲姩鍒版彁鍗囨満鍙o紝璁$畻璺緞 + List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id); + //鍒嗛厤鐩爣搴撲綅 + shuttleProtocol.setLocNo(liftLocNo); + + ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); + assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); + assignCommand.setTaskMode((short) 9);//鍏呯數 + assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); + assignCommand.setCharge(true);//鍏呯數浠诲姟 + //鐩爣搴撲綅 + assignCommand.setLocNo(liftLocNo); + //婧愬簱浣� + assignCommand.setSourceLocNo(currentLocNo); + assignCommand.setCommands(commands); + wrkCharge.setWrkSts(52L);//灏忚溅杩佺Щ鐘舵�� + if (wrkChargeMapper.updateById(wrkCharge) > 0) { + //涓嬪彂浠诲姟 + MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); + } + } + + }else if(wrkCharge.getWrkSts() == 53){ + //灏忚溅宸茬粡杈惧埌鎻愬崌鏈哄彛 + LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId()); + if (liftThread == null) { + return; + } + LiftProtocol liftProtocol = liftThread.getLiftProtocol(); + if (liftProtocol == null) { + return; + } + + //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庣┖闂茬姸鎬� + if (!liftProtocol.isIdle()) { + return; + } + + //缁欐彁鍗囨満鍒嗛厤浠诲姟 + liftProtocol.setLiftLock(true);//閿佸畾鎻愬崌鏈� + liftProtocol.setTaskNo(wrkCharge.getWrkNo().shortValue());//璁剧疆浠诲姟鍙� + liftProtocol.setShuttleNo(wrkCharge.getShuttleNo().shortValue());//璁剧疆鍥涘悜绌挎杞﹀彿 + liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓� + + //鍛戒护list + ArrayList<LiftCommand> commands = new ArrayList<>(); + + //鎻愬崌鏈哄綋鍓嶆ゼ灞� + int liftLev = liftProtocol.getLev().intValue(); + if (liftLev != currentLev) { + //绌挎杞﹀拰鎻愬崌鏈哄浜庝笉鍚屾ゼ灞� + LiftCommand command1 = new LiftCommand(); + command1.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿 + command1.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙� + command1.setRun((short) 1);//鍗囬檷 + command1.setDistPosition(currentLev.shortValue());//鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�) + command1.setLiftLock(true);//閿佸畾鎻愬崌鏈� + commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list + } + + //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵 + LiftCommand command2 = new LiftCommand(); + command2.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿 + command2.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙� + command2.setRun((short) 6);//杈撻�佺嚎杩愪綔 + command2.setLiftLock(true);//閿佸畾鎻愬崌鏈� + + commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list + + //鎻愬崌鏈哄墠寰�鐩爣妤煎眰 + LiftCommand command3 = new LiftCommand(); + command3.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿 + command3.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙� + command3.setRun((short) 1);//鍗囬檷 + command3.setDistPosition(chargeLocNoLev.shortValue());//鍏呯數搴撲綅鐩爣妤煎眰 + command3.setLiftLock(true);//閿佸畾鎻愬崌鏈� + + commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list + + //鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲嚭鍘� + //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩鍑哄幓 + LiftCommand command4 = new LiftCommand(); + command4.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿 + command4.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙� + command4.setRun((short) 3);//杈撻�佺嚎杩愪綔 + command4.setLiftLock(true);//閿佸畾鎻愬崌鏈� + + commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list + + wrkCharge.setWrkSts(54L);//鎻愬崌鏈烘惉杩愪腑 + //鎵�闇�鍛戒护缁勫悎瀹屾瘯锛屾洿鏂版暟鎹簱锛屾彁浜ゅ埌绾跨▼鍘诲伐浣� + LiftAssignCommand assignCommand = new LiftAssignCommand(); + assignCommand.setCommands(commands); + assignCommand.setLiftNo(liftProtocol.getLiftNo()); + assignCommand.setTaskNo(liftProtocol.getTaskNo()); + if (wrkChargeMapper.updateById(wrkCharge) > 0) { + //涓嬪彂浠诲姟 + MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand)); + } + + } else if (wrkCharge.getWrkSts() == 56) { + //鍏呯數涓� + //鍒ゆ柇灏忚溅鏄惁鍏呮弧鐢甸噺锛屾弧鐢�1000鎴栫數鍘�54V浠ヤ笂 + if (shuttleProtocol.getBatteryPower() >= 1000 || shuttleProtocol.getCurrentVoltage() >= 540) { + //鍏呮弧锛屾柇寮�鍏呯數 + List<ShuttleCommand> commands = new ArrayList<>(); + ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); + assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); + assignCommand.setTaskMode((short) 0); + assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); + assignCommand.setCharge(true); + + //鍒涘缓鍏呯數鎸囦护 + ShuttleCommand command = new ShuttleCommand(); + command.setCommandWord((short) 5);//鍏呯數 + command.setShuttleNo(shuttleProtocol.getShuttleNo()); + command.setChargeSwitch((short) 2);//鏂紑鍏呯數 + command.setCommandEnd((short) 1); + commands.add(command); + + //鎸囦护闆嗗垎閰� + assignCommand.setCommands(commands); + + shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING); + //涓嬪彂浠诲姟 + MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); + } + + if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) { + shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING); + } + } + + } + + /** * 灏忚溅鐢甸噺妫�娴� ===>> 鍙戣捣鍏呯數 */ @SuppressWarnings("serial") -- Gitblit v1.9.1