From b791daa70e38b4e426d2b065da5bd317fe8c91f3 Mon Sep 17 00:00:00 2001
From: 野心家 <1051256694@qq.com>
Date: 星期二, 27 五月 2025 11:18:46 +0800
Subject: [PATCH] #ZH
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 266 +++++++++++++++++++++++++++++++----------------------
1 files changed, 156 insertions(+), 110 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 aae0581..2b44c8e 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -31,6 +31,7 @@
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
+import org.apache.poi.ss.formula.functions.T;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
@@ -114,17 +115,24 @@
// 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) {
+ if (staProtocol == null || !staProtocol.isLoading()) {
continue;
} else {
staProtocol = staProtocol.clone();
}
Integer workNo = staProtocol.getWorkNo();
+ if (workNo!=9998 && workNo!=9997){
+ continue;
+ }
Integer stano = staProtocol.getStaNo();
// 灏哄妫�娴嬪紓甯�
boolean back = false;
String errMsg = "";
+ if (staProtocol.getGrossWt()>=600){
+ errMsg = "瓒呴噸";
+ back = true;
+ }
if (staProtocol.isFrontErr()) {
errMsg = "鍓嶈秴闄�";
back = true;
@@ -164,9 +172,10 @@
if (!staProtocol.isPakMk()) {
continue;
}
+ System.out.println("鎵爜鍏ュ簱澶辫触锛寋"+inSta.getStaNo()+"}鍏ュ簱绔欏洜{"+errMsg+"}寮傚父锛屾墭鐩樺凡琚��鍥�");
// 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.getStaNo());
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -180,7 +189,7 @@
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading()
&& staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo>9000 && workNo<10000))
+ && (workNo == 9998 || workNo == 9997)
&& staProtocol.isPakMk()
&& staProtocol.isPakMkWalk()
) {
@@ -190,13 +199,14 @@
continue;
}
String barcode = barcodeThread.getBarcode();
- if (!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
+ if (!Cools.isEmpty(barcode) && !barcode.equals("99999999") && !barcode.equals("000000")) {
// 璇锋眰wms鎺ュ彛锛岃幏鍙栧伐浣滃彿鍜岀洰鏍囧簱浣�
- ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, 0);
+ ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, workNo == 9998? 0 : 1);
+
TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
if (!Cools.isEmpty(taskWrk1)) {
log.info("鎵樼洏鐮侊細" + barcode + "浠诲姟妗ｅ瓨鍦�");
- if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
+ if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));
@@ -205,7 +215,8 @@
return;
} else {
staProtocol.setWorkNo(taskWrk1.getWrkNo());
- staProtocol.setStaNo(staDesc.getCrnStn());
+ staProtocol.setStaNo(staProtocol.getSiteId());
+ devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
}
@@ -238,8 +249,9 @@
log.error("鎵爜妫�娴嬬▼搴忓紓甯�" + inSta.getStaNo() + "寮傚父淇℃伅" + e1);
}
staProtocol.setWorkNo(9999);
- staProtocol.setStaNo(inSta.getStaNo());
+ staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
continue;
}
@@ -255,7 +267,7 @@
);
log.info("鍏ュ簱璇锋眰鍙傛暟{}" + JSON.toJSONString(toWmsDTO));
log.info("鍏ュ簱璇锋眰杩斿洖鍙傛暟{}" + JSON.toJSONString(response));
- if (jsonObject.getInteger("code").equals(200)) {
+ if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
try {
devpThread.setPakMk(staProtocol.getSiteId(), false);
} catch (Exception e) {
@@ -264,7 +276,7 @@
log.error("鎵爜妫�娴嬬▼搴忓紓甯�,寮傚父淇℃伅" + e);
staProtocol.setWorkNo(9999);
- staProtocol.setStaNo(inSta.getStaNo());
+ staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
@@ -275,7 +287,7 @@
log.error("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(9999);
- staProtocol.setStaNo(inSta.getStaNo());
+ staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -305,12 +317,15 @@
// 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) {
+ if (staProtocol == null || !staProtocol.isLoading()) {
continue;
} else {
staProtocol = staProtocol.clone();
}
Integer workNo = staProtocol.getWorkNo();
+ if (workNo!=9997){
+ continue;
+ }
Integer stano = staProtocol.getStaNo();
// 灏哄妫�娴嬪紓甯�
@@ -351,8 +366,9 @@
if (!staProtocol.isPakMk()) {
continue;
}
+ System.out.println("鎵爜鍏ュ簱澶辫触锛寋"+inSta.getStaNo()+"}鍏ュ簱绔欏洜{"+errMsg+"}寮傚父锛屾墭鐩樺凡琚��鍥�");
// 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.setWorkNo(9999);
staProtocol.setStaNo(inSta.getStaNo());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -367,13 +383,25 @@
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading()
&& staProtocol.isInEnable()
- && staProtocol.isEmptyMk() && (workNo == 0 || (workNo>9000 && workNo<10000))
+ && (workNo == 9997)
&& staProtocol.isPakMk()
&& staProtocol.isPakMkWalk()
) {
+ // 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) || barcode.equals("0") || barcode.equals("000000")) {
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getBackSta());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ continue;
+ }
// 璇锋眰wms鎺ュ彛锛岃幏鍙栧伐浣滃彿鍜岀洰鏍囧簱浣�
- ToWmsDTO toWmsDTO = new ToWmsDTO("", staProtocol.getSiteId(), 1);
-
+ ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, 1);
HashMap<String, Object> headParam = new HashMap<>();
headParam.put("Content-Type", "application/json");
String response;
@@ -401,7 +429,7 @@
log.error("鎵爜妫�娴嬬▼搴忓紓甯�" + inSta.getStaNo() + "寮傚父淇℃伅" + e1);
}
staProtocol.setWorkNo(9999);
- staProtocol.setStaNo(inSta.getStaNo());
+ staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
continue;
@@ -418,7 +446,7 @@
);
log.info("鍏ュ簱璇锋眰鍙傛暟{}" + JSON.toJSONString(toWmsDTO));
log.info("鍏ュ簱璇锋眰杩斿洖鍙傛暟{}" + JSON.toJSONString(response));
- if (jsonObject.getInteger("code").equals(200)) {
+ if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
try {
devpThread.setPakMk(staProtocol.getSiteId(), false);
} catch (Exception e) {
@@ -428,7 +456,7 @@
log.error("鎵爜妫�娴嬬▼搴忓紓甯�,寮傚父淇℃伅" + e);
staProtocol.setWorkNo(9999);
- staProtocol.setStaNo(inSta.getStaNo());
+ staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
@@ -481,7 +509,7 @@
if (!Cools.isEmpty(taskWrk1)) {
log.info("鎵樼洏鐮侊細" + barcode + "浠诲姟妗ｅ瓨鍦�");
- if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
+ if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));
@@ -621,7 +649,7 @@
if (offer) {
log.info("涓嬪彂杈撻�佺嚎浠诲姟鎴愬姛锛歵askWrk:" + JSON.toJSONString(taskWrk));
Date now = new Date();
- taskWrk.setStatus(9);
+ taskWrk.setStatus(TaskStatusType.OVER3.id);
taskWrk.setWrkSts(14);
taskWrk.setModiTime(now);
taskWrk.setCompleteTime(now);
@@ -779,7 +807,7 @@
// //寮�濮嬭繍琛�
// String response = CrnStartRunning(taskWrk);
// JSONObject jsonObject = JSON.parseObject(response);
-// if (jsonObject.getInteger("code").equals(200)) {
+// if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
//
// }else {
// log.error("鍏ュ簱寮�濮嬭繍琛岄�氳澶辫触,"+jsonObject.get("msg"));
@@ -800,7 +828,7 @@
crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
- crnCommand.setCommand((short) 1);
+// crnCommand.setCommand((short) 1);
if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
@@ -924,7 +952,7 @@
// 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.setStatus(2);
+ taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);
taskWrk.setModiTime(now);
taskWrk.setExecuteTime(now);
if (taskWrkMapper.updateById(taskWrk) == 0) {
@@ -1028,14 +1056,14 @@
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�
- crnCommand.setCommand((short) 1);
+// crnCommand.setCommand((short) 1);
if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), 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.setStatus(2);
+ taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);
taskWrk.setModiTime(now);
taskWrk.setExecuteTime(now);
if (taskWrkMapper.updateById(taskWrk) == 0) {
@@ -1119,7 +1147,7 @@
if (!Cools.isEmpty(taskWrk)) {
if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
taskWrk.setWrkSts(4);//鍏ュ簱瀹屾垚
- taskWrk.setStatus(5);//瀹岀粨
+ taskWrk.setStatus(TaskStatusType.OVER.id);//瀹岀粨
//鏇存柊搴撲綅鐘舵��
LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
locMast.setLocSts("F");//F.鍦ㄥ簱
@@ -1129,7 +1157,7 @@
locMastService.updateById(locMast);
} else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
taskWrk.setWrkSts(13);//鍑哄簱瀹屾垚
- taskWrk.setStatus(5);//瀹岀粨
+ taskWrk.setStatus(TaskStatusType.OVER.id);//瀹岀粨
//鏇存柊搴撲綅鐘舵��
LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
locMast.setLocSts("O");//O.绌哄簱浣�
@@ -1139,7 +1167,7 @@
locMastService.updateById(locMast);
} else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
taskWrk.setWrkSts(4);//鍏ュ簱瀹屾垚
- taskWrk.setStatus(5);//瀹岀粨
+ taskWrk.setStatus(TaskStatusType.OVER.id);//瀹岀粨
//鏇存柊搴撲綅鐘舵��
LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
locMast.setLocSts("F");//F.鍦ㄥ簱
@@ -1160,43 +1188,43 @@
taskWrkService.updateById(taskWrk);
- try {
- HashMap<String, Object> headParam = new HashMap<>();
- headParam.put("taskNo",taskWrk.getTaskNo());
- headParam.put("taskStatus",taskWrk.getStatusWms());
- headParam.put("ioType",taskWrk.getIoTypeWms());
- headParam.put("barCode",taskWrk.getBarcode());
- headParam.put("reportTime", LocalDateTime.now());
- headParam.put("weight",taskWrk.getScWeight().doubleValue());
-
- String response;
- log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", headParam);
-
- response = new HttpHandler.Builder()
- // .setHeaders(headParam)
- .setUri(wmsUrl)
- .setPath(taskStatusFeedbackPath)
- .setJson(JSON.toJSONString(headParam))
- .build()
- .doPost();
- log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", response);
-
-// JSONObject jsonObject = JSON.parseObject(response);
-// log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", jsonObject);
-
- apiLogService.save("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms"
- , wmsUrl + taskStatusFeedbackPath
- , null
- , "127.0.0.1"
- , JSON.toJSONString(headParam)
- , response
- , true
- );
- } catch (Exception e) {
- log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触", taskWrk);
- log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触,鎶ラ敊淇℃伅锛�", e);
-// throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
- }
+// try {
+// HashMap<String, Object> headParam = new HashMap<>();
+// headParam.put("taskNo",taskWrk.getTaskNo());
+// headParam.put("taskStatus",taskWrk.getStatusWms());
+// headParam.put("ioType",taskWrk.getIoTypeWms());
+// headParam.put("barCode",taskWrk.getBarcode());
+// headParam.put("reportTime", LocalDateTime.now());
+// headParam.put("weight",taskWrk.getScWeight().doubleValue());
+//
+// String response;
+// log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", headParam);
+//
+// response = new HttpHandler.Builder()
+// // .setHeaders(headParam)
+// .setUri(wmsUrl)
+// .setPath(taskStatusFeedbackPath)
+// .setJson(JSON.toJSONString(headParam))
+// .build()
+// .doPost();
+// log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", response);
+//
+//// JSONObject jsonObject = JSON.parseObject(response);
+//// log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", jsonObject);
+//
+// apiLogService.save("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms"
+// , wmsUrl + taskStatusFeedbackPath
+// , null
+// , "127.0.0.1"
+// , JSON.toJSONString(headParam)
+// , response
+// , true
+// );
+// } catch (Exception e) {
+// log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触", taskWrk);
+// log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触,鎶ラ敊淇℃伅锛�", e);
+//// throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
+// }
}
}
@@ -1376,7 +1404,10 @@
return false;
}
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
- || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ return false;
+ }
+ if (rgvProtocol.getLoaded()==1){
return false;
}
RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
@@ -1400,7 +1431,7 @@
return false;
}
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
- || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
return false;
}
@@ -1417,7 +1448,7 @@
return false;
}
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
- || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
return false;
}
RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
@@ -1513,46 +1544,6 @@
Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);
- for (Integer staNoNow : belongToRange) {
- for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
- if (rgvStn.getStaNo().equals(staNoNow)) {
- TaskWrk taskWrk = deviceDetection(rgvStn);
- if (taskWrk != null) {
- BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
- if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
- sign = taskGenerate(rgvSlave, rgvStn, 0);
- }
- }
- break;
- }
- }
- if (sign) {
- break;
- }
- }
- if (!sign) {
- // 绛涢�夎寖鍥村唴鍙栬揣浠诲姟
- for (Integer staNoNow : belongToRange) {
- for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
- if (rgvStn.getStaNo().equals(staNoNow)) {
- TaskWrk taskWrk = deviceDetection(rgvStn);
- if (taskWrk != null) {
- Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
- for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
- if (rgvStnOut.getStaNo().equals(outStaNo)) {
- sign = taskGenerate(rgvSlave, rgvStn, 0);
- break;
- }
- }
- }
- break;
- }
- }
- if (sign) {
- break;
- }
- }
- }
if (!sign && staList.size()==1){
if (rgvOtherIDLEOther(rgvSlave)){
if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
@@ -1576,6 +1567,49 @@
}
break;
}
+ }
+ }
+ }
+
+ if(!sign){
+ for (Integer staNoNow : belongToRange) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ }
+ }
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
+ }
+ }
+ if (!sign) {
+ // 绛涢�夎寖鍥村唴鍙栬揣浠诲姟
+ for (Integer staNoNow : belongToRange) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
+ if (rgvStnOut.getStaNo().equals(outStaNo)) {
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ break;
+ }
+ }
+ }
+ break;
+ }
+ }
+ if (sign) {
+ break;
}
}
}
@@ -1750,6 +1784,18 @@
issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
issuedPut.setIsRunning(1);
issuedPut.setDirection(basDevpPositionEnd.getRgvSign()==1);
+
+ try{
+ if (taskWrk.getIoType()==2 && basDevpPositionEnd.getRgvSign()==1){
+ Date now = new Date();
+ taskWrk.setStatus(TaskStatusType.OVER.id);
+ taskWrk.setModiTime(now);//鏇存柊鏃堕棿
+ taskWrk.setCompleteTime(now);//瀹岀粨鏃堕棿
+ taskWrkService.updateById(taskWrk);
+ }
+ } catch (Exception e){
+
+ }
} catch (Exception e) {
log.error("浠诲姟鐢熸垚澶辫触issued1===銆嬪紓甯镐俊鎭細{}", e.getMessage());
return false;
--
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