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 | 989 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 954 insertions(+), 35 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 8bb3c30..f2b386c 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -23,10 +23,7 @@
import com.zy.core.enums.*;
import com.zy.core.model.*;
import com.zy.core.model.command.*;
-import com.zy.core.model.protocol.CrnProtocol;
-import com.zy.core.model.protocol.ShuttleProtocol;
-import com.zy.core.model.protocol.StaProtocol;
-import com.zy.core.model.protocol.SteProtocol;
+import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.*;
import lombok.extern.slf4j.Slf4j;
@@ -70,6 +67,10 @@
private BasErrLogService basErrLogService;
@Autowired
private BasSteErrLogService basSteErrLogService;
+ @Autowired
+ private BasShuttleErrLogService basShuttleErrLogService;
+ @Autowired
+ private BasShuttleErrService basShuttleErrService;
@Autowired
private BasCrnErrorMapper basCrnErrorMapper;
@Autowired
@@ -605,10 +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�
@@ -665,20 +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)
- Short currentCode = shuttleProtocol.getCurrentCode();
- LocMast currentLocMast = locMastService.queryByQrCode(currentCode.toString());
- assignCommand.setSourceLocNo(currentLocMast.getLocNo());
+ 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);//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
@@ -687,17 +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
- String currentLocNo = currentLocMast.getLocNo();
- 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��
}
@@ -715,8 +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<>();
@@ -736,9 +1031,7 @@
continue;
}
- Short currentCode = shuttleProtocol.getCurrentCode();//鍥涘悜绌挎杞﹀綋鍓嶄綅缃簩缁寸爜
- LocMast shuttleLocMast = locMastService.queryByQrCode(currentCode.toString());//鎵惧埌浜岀淮鐮佸搴旂殑搴撲綅璁板綍
- String shuttleLocNo = shuttleLocMast.getLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
+ String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
String shuttleLocNoLay = shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length());//搴撲綅鍙峰搴斿眰楂�
if (lay.equals(shuttleLocNoLay)) {
//褰撳墠鍥涘悜绌挎杞﹀拰宸ヤ綔妗ｄ换鍔″湪鍚屼竴灞傦紝鍒欒皟閰嶈杞﹁締
@@ -752,9 +1045,7 @@
recentShuttle = shuttleThread;
}else {
ShuttleProtocol recentShuttleProtocol = recentShuttle.getShuttleProtocol();//鐩墠鏈�杩戠┛姊溅
- Short recentShuttleCurrentCode = recentShuttleProtocol.getCurrentCode();//鐩墠鏈�杩戠┛姊溅浣嶇疆浜岀淮鐮�
- LocMast recentShuttleLocMast = locMastService.queryByQrCode(recentShuttleCurrentCode.toString());//鎵惧埌浜岀淮鐮佸搴旂殑搴撲綅璁板綍
- String recentShuttleLocNo = recentShuttleLocMast.getLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
+ String recentShuttleLocNo = recentShuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
String recentShuttleLocNoLay = recentShuttleLocNo.substring(recentShuttleLocNo.length() - 2, recentShuttleLocNo.length());//搴撲綅鍙峰搴斿眰楂�
int recentShuttleLocNoLayInt = Integer.parseInt(recentShuttleLocNoLay);
@@ -813,9 +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:
@@ -823,6 +1115,12 @@
break;
case 5:
wrkMast.setWrkSts(6L);
+ break;
+ case 22:
+ wrkMast.setWrkSts(23L);
+ break;
+ case 26:
+ wrkMast.setWrkSts(27L);
break;
default:
}
@@ -838,12 +1136,246 @@
shuttleProtocol.setLocNo(null);
//鏍囪澶嶄綅
shuttleProtocol.setPakMk(true);
- News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚爢鍨涙満鍙�={}", shuttleProtocol.getShuttleNo());
+ //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());
}
}
+ }
+
+ //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());
+ }
+ }
+ }
+
+ }
+ }
+
+ /**
+ * 鎻愬崌鏈轰换鍔�
+ */
+ public synchronized void liftIoExecute() {
+ for (LiftSlave liftSlave : slaveProperties.getLift()) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庣┖闂茬姸鎬�
+ if (!liftProtocol.isIdle()) {
+ continue;
+ }
+
+ //鎼滅储鏄惁鏈夊緟澶勭悊鐨勪换鍔�
+ WrkMast wrkMast = wrkMastMapper.selectLiftStep623();
+ if (wrkMast == null) {
+ continue;
+ }
+
+ //缁欐彁鍗囨満鍒嗛厤浠诲姟
+ liftProtocol.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+ liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
+ liftProtocol.setShuttleNo(wrkMast.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�
+
+ //鎵惧埌鍥涘悜绌挎杞︾殑绾跨▼
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, liftProtocol.getShuttleNo().intValue());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ //鍛戒护list
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+
+ //褰撳墠绌挎杞﹀簱浣嶅彿
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ //褰撳墠绌挎杞︽ゼ灞�
+ 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.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()));
+
+ //鎻愬崌鏈哄綋鍓嶆ゼ灞�
+ int liftLev = liftProtocol.getLev().intValue();
+ if (liftLev != currentLocNoLey) {
+ //涓嶅悓妤煎眰
+ 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((short) currentLocNoLey);//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((short) wrkMastLocNoLey);//宸ヤ綔妗ｇ洰鏍囨ゼ灞�
+ 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
+
+ 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);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(liftProtocol.getTaskNo());
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+ }
+
+ /**
+ * 鎻愬崌鏈轰换鍔″畬鎴�
+ */
+ public synchronized void liftFinished() {
+ for (LiftSlave liftSlave : slaveProperties.getLift()) {
+ //鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
+
+ //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.selectByWorkNo724(liftProtocol.getTaskNo().intValue());
+ if (wrkMast != null) {
+ 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);
+ //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());
+ }
+ }
+
+ //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());
+ }
+ }
}
}
}
@@ -2327,10 +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());
+ }
+ }
+ }
+ }
}
}
@@ -2818,6 +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")
--
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