From b7e0039880d9f6e71230dbf9c13538de4f8135b8 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 10 六月 2023 19:23:26 +0800
Subject: [PATCH] 输送线条码读取bug、出入库模式信号、链条控制信号
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 2364 ++++++----------------------------------------------------
1 files changed, 245 insertions(+), 2,119 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 f2b386c..e462e8a 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -84,6 +84,8 @@
@Autowired
private WrkChargeMapper wrkChargeMapper;
@Autowired
+ private BasMapService basMapService;
+ @Autowired
private ErpService erpService;
@Autowired
private OrderMapper orderMapper;
@@ -544,68 +546,87 @@
}
/**
- * 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
+ * 鍒濆鍖栧疄鏃跺湴鍥�
*/
- 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()) {
- // 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());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
+ public synchronized void initRealtimeBasMap() {
+ for (int i = 1; i <= 4; i++) {//鎬诲叡鍥涘眰妤�
+ Object data = redisUtil.get("realtimeBasMap_" + i);
+ if (data == null) {//redis鍦板浘鏁版嵁涓虹┖锛屼粠鏁版嵁搴撲腑鑾峰彇
+ BasMap basMap = basMapService.selectLatestMap(i);
+ if (basMap == null) {
+ //鏁版嵁搴撲腑涔熶笉瀛樺湪鍦板浘鏁版嵁锛屼粠鍦板浘鏂囦欢涓幏鍙�
+ //杞藉叆鍦板浘
+ NavigateMapData mapData = new NavigateMapData(i);
+ List<List<MapNode>> lists = mapData.getJsonData(-1);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
+
+ //瀛樺叆鏁版嵁搴�
+ basMap = new BasMap();
+ basMap.setData(JSON.toJSONString(lists));
+ basMap.setCreateTime(new Date());
+ basMap.setUpdateTime(new Date());
+ basMap.setLev(i);
+
+ if (!basMapService.insert(basMap)) {
+ log.info("鍦板浘鏁版嵁瀛樺偍澶辫触");
+ }
}
- if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
- // 鏌ヨ宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakOutStep16(staProtocol.getSiteId());
- if (wrkMast == null) {
- continue;
- }
- // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
- if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
- continue;
- }
- // 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, wrkMast.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.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
- && crnProtocol.statusType == CrnStatusType.WAITING
- && crnProtocol.forkPosType == CrnForkPosType.HOME) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- // 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
- continue;
- }
-
- // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负 17.鍑哄簱瀹屾垚
- wrkMast.setWrkSts(17L);
- wrkMast.setCrnEndTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) != 0) {
- // 澶嶄綅鍫嗗灈鏈�
- crnThread.setResetFlag(true);
- } else {
- News.error("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负 17.鍑哄簱瀹屾垚 澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
- }
-
- }
-
- }
+ //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
+ redisUtil.set("realtimeBasMap_" + i, JSON.toJSONString(basMap));
}
}
}
+ /**
+ * 浠巖edis涓噸鍚换鍔�
+ */
+ public synchronized void restartTaskFromRedis() {
+ HashMap<Object, Object> map = redisUtil.getRedis();
+ for (Object key : map.keySet()) {
+ if (key.toString().contains("lift_wrk_no_")) {//鎻愬崌鏈轰换鍔�
+ LiftRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), LiftRedisCommand.class);
+ if (redisCommand == null) {
+ continue;
+ }
+
+ Short liftNo = redisCommand.getLiftNo();
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (!liftProtocol.isIdle()) {
+ continue;
+ }
+
+ //鎻愬崌鏈哄浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
+ liftProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗘彁鍗囨満绾跨▼鍒嗛厤浠诲姟鍙�
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
+ liftProtocol.setLiftLock(true);//鎻愬崌鏈洪攣瀹�
+
+ }else if(key.toString().contains("shuttle_wrk_no_")){//鍥涘悜绌挎杞︿换鍔�
+ ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class);
+ if (redisCommand == null) {
+ continue;
+ }
+
+ Short shuttleNo = redisCommand.getShuttleNo();
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (!shuttleProtocol.isIdle()) {
+ continue;
+ }
+
+ //鍥涘悜绌挎杞﹀浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
+ shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗗洓鍚戠┛姊溅绾跨▼鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
+ }
+ }
+
+ }
/**
* 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
@@ -619,13 +640,13 @@
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
- StaProtocol staProtocol105 = devpThread.getStation().get(105);
- staProtocol105.setWorkNo((short) 752);
- staProtocol105.setStaNo((short) 100);
-
- StaProtocol staProtocol106 = devpThread.getStation().get(106);
- staProtocol106.setWorkNo((short) 753);
- staProtocol106.setStaNo((short) 100);
+// StaProtocol staProtocol105 = devpThread.getStation().get(105);
+// staProtocol105.setWorkNo((short) 752);
+// staProtocol105.setStaNo((short) 100);
+//
+// StaProtocol staProtocol106 = devpThread.getStation().get(106);
+// staProtocol106.setWorkNo((short) 753);
+// staProtocol106.setStaNo((short) 100);
if (staProtocol == null) {
continue;
@@ -687,18 +708,15 @@
if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
//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);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo, assignCommand,shuttleThread);
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);
+ short startCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
+ Short distCode = commands.get(0).getStartCodeNum();//鎻愬崌鏈哄彛浜岀淮鐮�
+ Short runDirection = commands.get(0).getRunDirection();//杩愯鏂瑰悜
+ //鑾峰彇鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, runDirection);
commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
}
assignCommand.setCommands(commands);
@@ -711,7 +729,7 @@
//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);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(liftLocNo);
//鐩爣搴撲綅
@@ -735,13 +753,16 @@
}
//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) {
+ public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
//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<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType);
List<ShuttleCommand> commands = new ArrayList<>();
if (calc == null) {
return null;
}
+
+ List<NavigateNode> allNode = new ArrayList<>();
+ allNode.addAll(calc);
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
@@ -752,36 +773,25 @@
//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);
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
commands.add(command);
}
+
+ assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
+ navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+
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) {
+ public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
//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<>();
@@ -789,6 +799,9 @@
return null;
}
+ List<NavigateNode> allNode = new ArrayList<>();
+ allNode.addAll(calc);
+
//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
@@ -799,43 +812,25 @@
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);
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
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);
+ commands.add(shuttleThread.getPalletCommand((short) 1));
//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�)
+ 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;
}
+
+ allNode.addAll(calc2);
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
@@ -846,37 +841,21 @@
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);
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
+ commands.add(moveCommand);
}
//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);
+ commands.add(shuttleThread.getPalletCommand((short) 2));
+
+ assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
+ navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
return commands;
}
@@ -961,7 +940,7 @@
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);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand, shuttleThread);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
//鐩爣搴撲綅
@@ -972,7 +951,7 @@
//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);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
shuttleProtocol.setLocNo(liftLocNo);
//鐩爣搴撲綅
assignCommand.setLocNo(liftLocNo);
@@ -980,17 +959,13 @@
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);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand, shuttleThread);
//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);
+ short startCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈轰簩缁寸爜
+ Short distCode = commands.get(0).getStartCodeNum();//鐩爣浜岀淮鐮�
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, commands.get(0).getRunDirection());
commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
//鍒嗛厤鐩爣搴撲綅
@@ -1110,16 +1085,16 @@
WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
if (wrkMast != null) {
switch (wrkMast.getWrkSts().intValue()) {
- case 9:
+ case 9://9.灏忚溅鍏ュ簱鎼繍涓� ==> 14.鍏ュ簱瀹屾垚
wrkMast.setWrkSts(14L);
break;
- case 5:
+ case 5://5.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙� ==> 6.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴�
wrkMast.setWrkSts(6L);
break;
- case 22:
+ case 22://22.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙� ==> 23.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴�
wrkMast.setWrkSts(23L);
break;
- case 26:
+ case 26://26.灏忚溅鍑哄簱鎼繍涓� ==> 27.灏忚溅鍑哄簱鎼繍瀹屾垚
wrkMast.setWrkSts(27L);
break;
default:
@@ -1210,7 +1185,7 @@
}
//鎼滅储鏄惁鏈夊緟澶勭悊鐨勪换鍔�
- WrkMast wrkMast = wrkMastMapper.selectLiftStep623();
+ WrkMast wrkMast = wrkMastMapper.selectLiftStep262327();
if (wrkMast == null) {
continue;
}
@@ -1218,82 +1193,100 @@
//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()));
+ if (wrkMast.getWrkSts() == 2) {
+ //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()));
- //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 != 1) {
+ //鎻愬崌鏈轰笉鍦�1灞傦紝鑾峰彇鍒�1灞傜殑鎻愬崌鏈哄懡浠�
+ LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) 1);
+ commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
+ }
- //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�
+ //杈撻�佺嚎灏嗚揣鐗╄繍杩涙潵(姝ｈ浆)
+ LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
+ commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
- commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
- }
+ //鎻愬崌鏈哄墠寰�鐩爣妤煎眰(宸ヤ綔妗ｇ洰鏍囨ゼ灞�)
+ LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) wrkMastLocNoLey);
+ commands.add(command3);//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
+ //鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓(鍙嶈浆)
+ //杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓
+ LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
+ commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
}else {
- //鍏ュ簱浠诲姟
- wrkMast.setWrkSts(7L);//绉诲姩浠诲姟
+ liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//璁剧疆鍥涘悜绌挎杞﹀彿
+
+ //鎵惧埌鍥涘悜绌挎杞︾殑绾跨▼
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ //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
+ //鑾峰彇鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)鍛戒护
+ LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) currentLocNoLey);
+ 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(姝ｈ浆)
+ LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
+ commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ if (liftLev != currentLocNoLey) {
+ //鎻愬崌鏈哄墠寰�鐩爣妤煎眰(宸ヤ綔妗ｇ洰鏍囨ゼ灞�)
+ LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) wrkMastLocNoLey);
+ 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(鍙嶈浆)
+ LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
+ commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
}
+
+ switch (wrkMast.getWrkSts().intValue()) {
+ case 2://2.璁惧涓婅蛋
+ wrkMast.setWrkSts(3L);//3.鎻愬崌鏈烘惉杩愪腑
+ break;//3.鎻愬崌鏈烘惉杩愪腑
+ case 6://6.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴�
+ wrkMast.setWrkSts(7L);//7.鎻愬崌鏈鸿縼绉诲皬杞︿腑
+ break;
+ case 23://23.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴�
+ wrkMast.setWrkSts(24L);//24.鎻愬崌鏈鸿縼绉诲皬杞︿腑
+ break;
+ case 27://27.灏忚溅鍑哄簱鎼繍瀹屾垚
+ wrkMast.setWrkSts(28L);//28.鎻愬崌鏈烘惉杩愪腑
+ break;
+ }
+
//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);
@@ -1321,14 +1314,21 @@
//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());
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
if (wrkMast != null) {
switch (wrkMast.getWrkSts().intValue()) {
- case 7:
+ case 3://3.鎻愬崌鏈烘惉杩愪腑 ==> 4.鎻愬崌鏈烘惉杩愬畬鎴�
+ wrkMast.setWrkSts(4L);
+ break;
+ case 7://7.鎻愬崌鏈鸿縼绉诲皬杞︿腑 ==> 8.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴�
wrkMast.setWrkSts(8L);
break;
- case 24:
+ case 24://24.鎻愬崌鏈鸿縼绉诲皬杞︿腑 ==> 25.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴�
wrkMast.setWrkSts(25L);
+ break;
+ case 28://28.鎻愬崌鏈烘惉杩愪腑 ==> 29.鎻愬崌鏈烘惉杩愬畬鎴�
+ wrkMast.setWrkSts(29L);
+ wrkMast.setWrkSts(34L);//34.鍑哄簱瀹屾垚锛屾殏鏃跺厛鐩存帴瀹屾垚鍑哄簱宸ヤ綔妗ｏ紝鍚庣画闇�瑕佹牴鎹緭閫佺嚎缁欏嚭鐨勭姸鎬佹潵纭畾34.鍑哄簱瀹屾垚鐘舵��
break;
default:
}
@@ -1378,627 +1378,6 @@
}
}
}
- }
-
- /**
- * 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) {
- News.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
- continue;
- }
- // 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) {
- // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
- if (crnProtocol.getLastIo().equals("I")) {
- if (basCrnp.getInEnable().equals("Y")) {
- // 鍏ュ簱
- if (this.crnStnToLoc(crn, crnProtocol)) {
- }
- crnProtocol.setLastIo("O");
- } else if (basCrnp.getOutEnable().equals("Y")) {
- // 鍑哄簱
- if (this.locToCrnStn(crn, crnProtocol)) {
- }
- 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")) {
- // 鍑哄簱
- if (this.locToCrnStn(crn, crnProtocol)) {
- }
- crnProtocol.setLastIo("I");
- } else if (basCrnp.getInEnable().equals("Y")) {
- // 鍏ュ簱
- if (this.crnStnToLoc(crn, crnProtocol)) {
- }
- crnProtocol.setLastIo("O");
- }
- }
- // 搴撲綅绉昏浆
-// this.locToLoc(crn, crnProtocol);
- // 婕旂ず
-// this.steMoveDemo(crn, crnProtocol);
- }
- }
- }
-
- /**
- * 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
- */
- public boolean crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
- for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
- 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) {
- News.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;
- }
- // 鑾峰彇宸ヤ綔鐘舵�佷负 2,3,4,5,6 鐨勫叆搴撳伐浣滄。
- WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
- if(null == wrkMast) {
-// News.error("{}绔欑偣鏌ヨ鏃犲緟鍏ュ簱鏁版嵁 宸ヤ綔鍙�={}", crnStn.getStaNo(), staProtocol.getWorkNo());
- continue;
- }
-
- // 鍚屽簱浣嶇粍杩涜鏍￠獙
- List<String> groupLocNo = Utils.getGroupLocNo(wrkMast.getLocNo());
- if (!Cools.isEmpty(groupLocNo)) {
- if (null != wrkMastMapper.selectPakoutWorkingByGroupLoc(groupLocNo)) {
- continue;
- }
- }
-
- if (wrkMast.getWrkSts() < 3) {
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
- && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
- flag = true;
- }
- if (!flag) {
- continue;
- }
- }
- // 鑾峰彇搴撲綅淇℃伅
- LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
- if (locMast == null) {
- News.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
- continue;
- }
- if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
- News.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
- continue;
- }
-
- List<LocMast> locMasts = null;
- boolean sign=false;
- if (locMast.getRow1()>=5){
- locMasts=locMastService.selectList(new EntityWrapper<LocMast>().ge("row1", 5)
- .eq("bay1",locMast.getBay1()).eq("lev1",locMast.getLev1()));
- for (LocMast locMast1:locMasts){
- if (locMast1.getRow1()>locMast.getRow1()){
- if (!locMast1.getLocSts().equals("F") && !locMast1.getLocSts().equals("D")){
- if (!locMast1.getLocSts().equals("X")){
- sign=true;
- break;
- }
- }
- }else if (locMast1.getRow1()<locMast.getRow1()){
- if (locMast1.getLocSts().equals("F") || locMast1.getLocSts().equals("D")){
- News.error("褰撳墠宸ヤ綔妗ｇ洰鏍囧簱浣嶆墍鍦ㄦ帓鍓嶈竟瀛樺湪璐х墿锛�", wrkMast.getWrkNo());
- sign=true;
- break;
- }
- }
- }
- }else {
- locMasts=locMastService.selectList(new EntityWrapper<LocMast>().le("row1", 4)
- .eq("bay1",locMast.getBay1()).eq("lev1",locMast.getLev1()));
- for (LocMast locMast1:locMasts){
- if (locMast1.getRow1()>locMast.getRow1()){
- if (locMast1.getLocSts().equals("F") || locMast1.getLocSts().equals("D")){
- News.error("褰撳墠宸ヤ綔妗ｇ洰鏍囧簱浣嶆墍鍦ㄦ帓鍓嶈竟瀛樺湪璐х墿锛�", wrkMast.getWrkNo());
- sign=true;
- break;
- }
- }else if (locMast1.getRow1()<locMast.getRow1()){
- if (!locMast1.getLocSts().equals("F") && !locMast1.getLocSts().equals("D")){
- if (!locMast1.getLocSts().equals("X")){
- sign=true;
- break;
- }
- }
- }
- }
- }
- if (sign){
- continue;
- }
-
- // 妫�娴嬫槸鍚﹀瓨鍦ㄥ嚭搴撲换鍔�
- if (null != wrkMastMapper.selectPakout(slave.getId(), null)) {
- News.error("{}鍏ュ簱浠诲姟鏃犳硶浣滀笟锛屽洜瀛樺湪鍑哄簱涓换鍔�!", wrkMast.getWrkNo());
- continue;
- }
-
- // 缃《浠诲姟
- if (wrkMast.getIoPri()<8000){
- wrkMast.setIoPri(wrkMast.getIoPri()+9000d);
- }
- wrkMastMapper.updateById(wrkMast);
-
- // 鐩爣搴撲綅 ===>> 鏈�澶栧眰搴撲綅
- if (locMastService.isOutMost(wrkMast.getLocNo(), true)) {
- // 鍒ゆ柇灏忚溅鏄惁鍦ㄦ渶澶栧眰搴撲綅锛屽鏋滄槸鍒欐惉璧帮紝濡傛灉涓嶆槸锛屽垯鐩存帴鍫嗗灈鏈哄叆搴�
- Integer steNo = this.hasCar(wrkMast.getLocNo());
- // 鏈夊皬杞�
- if (steNo != null) {
- // 灏忚溅琛岃蛋鍒板爢鍨涙満寰呮惉绉荤偣
- if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
- // 娌℃湁鍏朵粬浠诲姟
- if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
- this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo());
- return true;
- }
- }
- // 灏忚溅鎼蛋
- if (wrkMast.getWrkSts() == 3L) {
- this.carMoveOut(wrkMast, steNo, crnProtocol);
- return true;
- }
- // 娌℃湁灏忚溅
- } else {
-
- // 褰撳墠鍏ュ簱搴撲綅缁勬病鏈夊皬杞� 鍫嗗灈鏈哄垯鍘荤珯鐐瑰彇璐у叆搴�
- // case 1锛氫粠濮嬭嚦缁堝簱浣嶇粍閮芥病鏈夊皬杞︼紝娌℃湁杩佸嚭灏忚溅鍔ㄤ綔锛屾墍浠ュ伐浣滅姸鎬� = 2
- // case 2锛氬爢鍨涙満宸茬粡鎼嚭灏忚溅锛屾湁杩佸嚭灏忚溅鍔ㄤ綔锛屾墍浠ュ伐浣滅姸鎬� = 6
- if ((wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) || wrkMast.getWrkSts() == 6L) {
-
- // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (wrkMastMapper.selectWorking(slave.getId()) != null) {
- continue;
- }
-
- // 鍫嗗灈鏈哄叆搴� 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkMast.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.getRow().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
- News.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�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 7.鍚婅溅鍏ュ簱涓�
- Date now = new Date();
- wrkMast.setWrkSts(7L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� {} => 7.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
- } else {
- return true;
- }
- }
- }
-
- }
-
- // 鐩爣搴撲綅 ===>> 闈炴渶澶栧眰搴撲綅
- } else {
- // 鍒ゆ柇灏忚溅鏄惁鍦ㄥ綋鍓嶇粍搴撲綅锛屽鏋滄槸鍒欏皢绌挎杞︾Щ鑷虫渶澶栧眰锛岀瓑寰呭爢鍨涙満鏀捐揣锛涘鏋滀笉鏄紝鍒欏爢鍨涙満瀵绘壘绌挎杞︼紝骞舵斁缃綋鍓嶇粍鏈�澶栧眰
- Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
- // 鏈夊皬杞�
- if (steNo != null) {
- // 灏忚溅琛岃蛋鍒板緟鏈轰綅
- if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
- // 娌℃湁鍏朵粬浠诲姟
- if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
- this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
- } else {
- return true;
- }
- }
- // 鍫嗗灈鏈哄皢璐ф斁鑷冲皬杞︿笂 3.灏忚溅寰呮惉锛堝皬杞︿笉鐢ㄦ惉杩愶紝宸茬粡鍦ㄥ綋鍓嶇粍搴撲綅锛� / 6.灏忚溅寰呭叆 ===>> 7.鍚婅溅鍏ュ簱涓�
- if (wrkMast.getWrkSts() == 3L || wrkMast.getWrkSts() == 6L) {
- // 灏忚溅澶勪簬绌洪棽
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (steProtocol.isIdle()) {
-
- // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (wrkMastMapper.selectWorking(slave.getId()) != null) {
- continue;
- }
- // 鍫嗗灈鏈哄叆搴� 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkMast.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.getRow().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
- News.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�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 3.灏忚溅寰呮惉 ===>> 7.鍚婅溅鍏ュ簱涓�
- Date now = new Date();
- wrkMast.setWrkSts(7L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 3.灏忚溅寰呮惉/6.灏忚溅寰呭叆 => 7.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- } else {
- return true;
- }
- }
- }
- }
- // 娌℃湁灏忚溅
- } else {
- if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
- // 瀵绘壘褰撳墠鍫嗗灈鏈哄搴旂殑灏忚溅
- SteThread steThread = queryIdleCar(wrkMast);
- if (steThread != null) {
- // 娌℃湁鍏朵粬浠诲姟
- if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
- // 璁╁皬杞︾瓑寰呮惉杩愬緟缁�
- this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo());
- return true;
- }
- }
- }
- // 鍫嗗灈鏈烘惉杩愬皬杞�
- if (wrkMast.getWrkSts() == 3L) {
- this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
- return true;
- }
- }
- }
- }
- return false;
- }
-
- /**
- * 鍑哄簱 ===>> 搴撲綅鍒板爢鍨涙満绔�
- */
- public synchronized boolean locToCrnStn(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锛夌殑鍑哄簱宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakOutStep111215(slave.getId(), crnStn.getStaNo());
- if (wrkMast == null) {
- continue;
- }
- // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
- if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
- News.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�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
- continue;
- }
- // 鑾峰彇婧愬簱浣嶄俊鎭�
- LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
- if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
- News.error("鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), sourceSta.getLocSts());
- continue;
- }
- List<LocMast> locMasts = null;
- boolean sign=false;
- if (sourceSta.getRow1()>=5){
- locMasts=locMastService.selectList(new EntityWrapper<LocMast>().ge("row1", 5)
- .eq("bay1",sourceSta.getBay1()).eq("lev1",sourceSta.getLev1()));
- for (LocMast locMast1:locMasts){
- if (locMast1.getRow1()<sourceSta.getRow1()){
- if (!locMast1.getLocSts().equals("O")){
- News.error("褰撳墠宸ヤ綔妗ｆ簮搴撲綅鎵�鍦ㄦ帓鍓嶈竟瀛樺湪璐х墿锛�", wrkMast.getWrkNo());
- sign=true;
- break;
- }
- }
- }
- }else {
- locMasts=locMastService.selectList(new EntityWrapper<LocMast>().le("row1", 4)
- .eq("bay1",sourceSta.getBay1()).eq("lev1",sourceSta.getLev1()));
- for (LocMast locMast1:locMasts){
- if (locMast1.getRow1()>sourceSta.getRow1()){
- if (!locMast1.getLocSts().equals("O")){
- News.error("褰撳墠宸ヤ綔妗ｇ洰鏍囧簱浣嶆墍鍦ㄦ帓鍓嶈竟瀛樺湪璐х墿锛�", wrkMast.getWrkNo());
- sign=true;
- break;
- }
- }
- }
- }
- if (sign){
- continue;
- }
-
- // 鍚屽簱浣嶇粍杩涜鏍￠獙
- List<String> groupLocNo = Utils.getGroupLocNo(wrkMast.getSourceLocNo());
- if (!Cools.isEmpty(groupLocNo)) {
- if (null != wrkMastMapper.selectPakinWorkingByGroupLoc(groupLocNo)) {
- continue;
- }
- }
-
- // 鍒ゆ柇鏄惁鏈夊悓搴撲綅缁勭殑鍑哄簱浠诲姟锛屽鏋滄湁锛屽垯鏆傚仠
- List<String> outsideLoc = Utils.getGroupOutsideLoc(wrkMast.getSourceLocNo());
- if (!Cools.isEmpty(outsideLoc)) {
- if (!Cools.isEmpty(wrkMastMapper.selectWorkingOfPakOutBySource(outsideLoc))) {
-// News.warn("{}宸ヤ綔妗ｅ嚭搴撳け璐ワ紝鍘熷洜锛氬灞傚簱浣峽}姝ｅ湪鎵ц鍑哄簱浠诲姟锛�", wrkMast.getWrkNo(), JSON.toJSONString(outsideLoc));
- continue;
- }
- }
-
- // 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());
- 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) {
- News.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());
- continue;
- }
- // 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) {
- continue;
- }
-
- // 杩囨护
- if (null != wrkMastMapper.selectPakin(slave.getId(), null)) {
- News.error("{}鍑哄簱浠诲姟鏃犳硶浣滀笟锛屽洜瀛樺湪鍏ュ簱涓换鍔�!", wrkMast.getWrkNo());
- continue;
- }
-
- // 缃《浠诲姟
- if (wrkMast.getIoPri()<8000){
- wrkMast.setIoPri(wrkMast.getIoPri()+8999d);
- }
- wrkMastMapper.updateById(wrkMast);
-
- // 鏈�澶栧眰搴撲綅锛岀洿鎺ュ爢鍨涙満鍑哄簱
- if (locMastService.isOutMost(wrkMast.getSourceLocNo(), false)) {
- // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (wrkMastMapper.selectWorking(slave.getId()) != null) {
- continue;
- }
-
- // 鍫嗗灈鏈哄嚭搴� 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkMast.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(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
- News.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�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 16.鍚婅溅鍑哄簱涓�
- Date now = new Date();
- wrkMast.setWrkSts(16L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 16.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- } else {
- return true;
- }
- }
- // 涓嶆槸鏈�澶栧眰搴撲綅锛岄渶瑕佷娇鐢ㄧ┛姊溅鎼繍鍚庯紝鍐嶅爢鍨涙満鍑哄簱
- } else {
- // 褰撳墠缁勫簱浣嶆槸鍚︽湁绌挎杞�
- Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo());
- // 鏈夊皬杞�
- if (steNo != null) {
- if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
-
- // 缁欑┛姊溅涓嬪彂鍛戒护 璁╁叾灏嗚揣鐗╂尓鑷冲爢鍨涙満鎼繍鐐�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (steProtocol.isIdle()) {
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkMast.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
-
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 14.灏忚溅鎼嚭搴�
- Date now = new Date();
- wrkMast.setWrkSts(14L);
- wrkMast.setSteNo(steNo);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
- Integer outCrnNo = locMastService.getOutCrnNo(locMast);
- wrkMast.setCrnNo(outCrnNo);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 14.灏忚溅鎼嚭搴� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- } else {
- return true;
- }
- }
- }
- }
- if (wrkMast.getWrkSts() == 15L) {
- // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (wrkMastMapper.selectWorking(slave.getId()) != null) {
- continue;
- }
-
- // 鍫嗗灈鏈哄嚭搴� 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkMast.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.getGroupRow(sourceSta.getRow1(), false).shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
- News.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�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 15.绛夊緟鍚婅溅 => 16.鍚婅溅鍑哄簱涓�
- Date now = new Date();
- wrkMast.setWrkSts(16L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 15.绛夊緟鍚婅溅 => 16.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- } else {
- return true;
- }
- }
- }
-
- // 娌℃湁灏忚溅
- } else {
- if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
- // 瀵绘壘鏈�杩戠殑灏忚溅
- SteThread steThread = queryIdleCar(wrkMast);
- if (steThread != null) {
- // 娌℃湁鍏朵粬浠诲姟
- if (null == wrkMastMapper.selectPakout(slave.getId(), steNo)) {
- // 璁╁皬杞︾瓑寰呮惉杩愬緟缁�
- this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo());
- return true;
- }
- }
- }
- // 鍫嗗灈鏈烘惉杩愬皬杞�
- if (wrkMast.getWrkSts() == 12L) {
- this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
- return true;
- }
- }
- }
- }
- }
- return false;
- }
-
- /**
- * 搴撲綅绉昏浆
- */
- @Deprecated
- public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
- // 鑾峰彇宸ヤ綔妗ｄ俊鎭�
- WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
- if (null == wrkMast) {
- return;
- }
- // 鑾峰彇婧愬簱浣嶄俊鎭�
- LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo());
- if (null == sourceLoc) {
- News.error("宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈡簮搴撲綅澶辫触锛佸伐浣滃彿={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
- return;
- }
- // 婧愬簱浣� 搴撲綅鐘舵�佸垽鏂�
- if (!sourceLoc.getLocSts().equals("R") && !sourceLoc.getLocSts().equals("S")) {
- return;
- }
- // 鑾峰彇鐩爣搴撲綅淇℃伅
- LocMast loc = locMastService.selectById(wrkMast.getLocNo());
- if (null == loc) {
- News.error("宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈢洰鏍囧簱浣嶅け璐ワ紒宸ヤ綔鍙�={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
- return;
- }
- // 鑾峰彇鍫嗗灈鏈轰俊鎭� 骞� 鍒ゆ柇鏄惁鍙叆鍑�
- BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
- if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
- return;
- }
-
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
- return;
- }
-
- // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (wrkMastMapper.selectWorking(slave.getId()) != null) {
- return;
- }
-
- // 缃《浠诲姟
- wrkMast.setIoPri((double) 9999);
- wrkMastMapper.updateById(wrkMast);
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkMast.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(sourceLoc.getRow1().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(loc.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
- News.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�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 16.鍚婅溅鍑哄簱涓�
- Date now = new Date();
- wrkMast.setWrkSts(16L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("銆愬簱浣嶇Щ杞�� 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 16.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
-
}
/**
@@ -2284,584 +1663,11 @@
}
/**
- * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈烘惉鍏ュ皬杞�
- */
- public void carMoveIn(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { return; }
- if (steProtocol.isIdle()) {
- // 鍫嗗灈鏈虹┖闂�
- if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
- LocMast locMast;
- // 鍏ュ簱鎼�
- if (wrkMast.getWrkSts() <= 10) {
-
- // 鍒ゆ柇琚Щ搴撲綅鏄惁瀛樺湪鍏朵粬灏忚溅
- Integer otherSte = existOtherSte(wrkMast.getLocNo(), steNo);
- if (otherSte != null) {
- News.warn("{}鍙峰皬杞︾Щ鍏}搴撲綅缁勫け璐ワ紝鍘熷洜锛氬瓨鍦▄}鍙风┛姊溅锛�", steNo, wrkMast.getLocNo(), otherSte);
- return;
- }
-
- locMast = locMastService.selectById(wrkMast.getLocNo());
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
- News.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�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
- steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 3.灏忚溅寰呮惉 => 4.杩佸叆灏忚溅
- Date now = new Date();
- wrkMast.setWrkSts(4L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 3.灏忚溅寰呮惉 => 4.杩佸叆灏忚溅 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- // 鍑哄簱鎼�
- } else {
- // 鍒ゆ柇琚Щ搴撲綅鏄惁瀛樺湪鍏朵粬灏忚溅
- Integer otherSte = existOtherSte(wrkMast.getSourceLocNo(), steNo);
- if (otherSte != null) {
- News.warn("{}鍙峰皬杞︾Щ鍏}搴撲綅缁勫け璐ワ紝鍘熷洜锛氬瓨鍦▄}鍙风┛姊溅锛�", steNo, wrkMast.getSourceLocNo(), otherSte);
- return;
- }
-
- locMast = locMastService.selectById(wrkMast.getSourceLocNo());
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
- News.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�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
- steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 12.灏忚溅寰呮惉 => 13.杩佸叆灏忚溅
- Date now = new Date();
- wrkMast.setWrkSts(13L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 12.灏忚溅寰呮惉 => 13.杩佸叆灏忚溅 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
-
- }
- }
-
- /**
- * 鍏ュ簱 ===>> 鍫嗗灈鏈烘惉鍑哄皬杞�
- */
- public void carMoveOut(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { return; }
- // 绌挎杞︾┖闂�
- if (steProtocol.isIdle()) {
- // 鍫嗗灈鏈虹┖闂�
- if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
-
- BasSte basSte = basSteService.selectById(steNo);
- if (basSte == null) {
- News.error("{}鍙风┛姊溅鍦ㄦ暟鎹簱涓嶅瓨鍦紒锛侊紒", steNo);
- return;
- }
-
- String idleLocNo = basSte.getIdleLoc();
-
- // 鍒ゆ柇琚Щ搴撲綅鏄惁瀛樺湪鍏朵粬灏忚溅
- Integer otherSte = existOtherSte(idleLocNo, steNo);
- if (otherSte != null) {
- News.warn("{}鍙峰皬杞︾Щ鍏}搴撲綅缁勫け璐ワ紝鍘熷洜锛氬瓨鍦▄}鍙风┛姊溅锛�", steNo, idleLocNo, otherSte);
- return;
- }
-
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(idleLocNo, true).shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY((short) Utils.getBay(idleLocNo)); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ((short) Utils.getLev(idleLocNo)); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
- News.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�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
- steThread.modifyPos(Utils.getGroupRow(idleLocNo, true), Utils.getBay(idleLocNo), Utils.getLev(idleLocNo));
- // 淇敼宸ヤ綔妗ｇ姸鎬� 3.灏忚溅寰呮惉 => 5.杩佸嚭灏忚溅
- Date now = new Date();
- wrkMast.setWrkSts(5L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 3.灏忚溅寰呮惉 => 5.杩佸嚭灏忚溅 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
- }
-
-
- /**
- * 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
- */
- @Transactional
- 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.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
- // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
- WrkMast wrkMast = wrkMastMapper.selectCrnWaiting(crnProtocol.getTaskNo().intValue());
- if (wrkMast == null) {
-
- // 鍏呯數浠诲姟
- WrkCharge wrkCharge = wrkChargeService.selectById(crnProtocol.getTaskNo());
- if (wrkCharge == null) {
- News.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());
- wrkMast = wrkMastMapper.selectCrnWaiting2(crnProtocol.getTaskNo().intValue());
- if (wrkMast.getIoType() != 11) {
- // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- News.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵��,澶嶄綅锛屼絾鏈壘鍒板伐浣滄。銆傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
- } else {
- News.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵��,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
- }
- }
- continue;
- } else {
- // 灏忚溅鎼嚦鎸囧畾搴撲綅瀹屾垚
- if (wrkCharge.getWrkSts() == 23) {
- // 23.鍚婅溅鎼繍 ===>> 24.灏忚溅鍒拌揪
- wrkCharge.setWrkSts(24L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼鍏呯數浠诲姟鐘舵�� 23.鍚婅溅鎼繍 ===>> 24.灏忚溅鍒拌揪 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- } else {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- // 绌挎杞﹂噸鏂板畾浣嶆帓鍒楀眰
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
- if (!steThread.confirmPos()) {
- News.error("{}鍙风┛姊溅閲嶆柊瀹氫綅澶辫触锛佷綔涓氬厖鐢典换鍔″彿锛歿}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
- }
- }
- } else if (wrkCharge.getWrkSts() == 27) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- // 绌挎杞﹂噸鏂板畾浣嶆帓鍒楀眰
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
- if (steThread.confirmPos()) {
- // 27.鏀捐嚦鍏呯數浣� ===>> 28.鍏呯數灏辩华
- wrkCharge.setWrkSts(28L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼鍏呯數浠诲姟鐘舵�� 27.鏀捐嚦鍏呯數浣� ===>> 28.鍏呯數灏辩华 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- } else {
- News.error("{}鍙风┛姊溅閲嶆柊瀹氫綅澶辫触锛佷綔涓氬厖鐢典换鍔″彿锛歿}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
- }
- } else if (wrkCharge.getWrkSts() == 34) {
- // 34.鍚婅溅鎼繍 ===>> 35.灏忚溅灏辩华
- wrkCharge.setWrkSts(35L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼鍏呯數浠诲姟鐘舵�� 34.鍚婅溅鎼繍 ===>> 35.灏忚溅灏辩华 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- } else {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- // 绌挎杞﹂噸鏂板畾浣嶆帓鍒楀眰
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
- if (!steThread.confirmPos()) {
- News.error("{}鍙风┛姊溅閲嶆柊瀹氫綅澶辫触锛佷綔涓氬厖鐢典换鍔″彿锛歿}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
- }
- }
- } else if (wrkCharge.getWrkSts() == 42) {
- // 42.鍚婅溅鎼繍 ===>> 43.灏忚溅鍒拌揪
- wrkCharge.setWrkSts(43L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼澶嶄綅浠诲姟鐘舵�� 42.鍚婅溅鎼繍 ===>> 43.灏忚溅鍒拌揪 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- } else {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- // 绌挎杞﹂噸鏂板畾浣嶆帓鍒楀眰
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
- if (!steThread.confirmPos()) {
- News.error("{}鍙风┛姊溅閲嶆柊瀹氫綅澶辫触锛佷綔涓氬浣嶄换鍔″彿锛歿}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
- }
- }
- } else if (wrkCharge.getWrkSts() == 46) {
- // 46.鏀捐嚦寰呮満浣� ===>> 47.澶嶄綅鎴愬姛
- wrkCharge.setWrkSts(47L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼澶嶄綅浠诲姟鐘舵�� 46.鏀捐嚦寰呮満浣� ===>> 47.澶嶄綅鎴愬姛 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- } else {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- // 绌挎杞﹂噸鏂板畾浣嶆帓鍒楀眰
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
- if (!steThread.confirmPos()) {
- News.error("{}鍙风┛姊溅閲嶆柊瀹氫綅澶辫触锛佷綔涓氬浣嶄换鍔″彿锛歿}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
- }
- }
- }
- }
-
- }
- if (wrkMast == null) { continue; }
- if (wrkMast.getIoType() != 11) {
- // 鍏ュ簱 ==>> 璐х墿鎼叆搴�
- if (wrkMast.getWrkSts() == 7){
- // 鍒ゆ柇鏄惁闇�瑕佸皬杞﹀叆搴�
- if (locMastService.isOutMost(wrkMast.getLocNo(), true)) {
- // ==> 9.鍏ュ簱瀹屾垚
- wrkMast.setWrkSts(9L);
- Date now = new Date();
- wrkMast.setCrnEndTime(now);
- wrkMast.setModiTime(now);
- // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- } else {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 7.鍚婅溅鍏ュ簱涓� => 9.鍏ュ簱瀹屾垚 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- } else {
- // 缁欑┛姊溅涓嬪彂鍛戒护
- Integer steNo = wrkMast.getSteNo();
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (steProtocol.isIdle()) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkMast.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 浠诲姟妯″紡: 鎼叆搴�
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 7.鍚婅溅鍏ュ簱涓� => 8.灏忚溅鎼叆搴�
- wrkMast.setWrkSts(8L);
- Date now = new Date();
- wrkMast.setCrnEndTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- } else {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 7.鍚婅溅鍏ュ簱涓� => 8.灏忚溅鎼叆搴� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
- // 鍏ュ簱 ===>> 杩佸叆灏忚溅 瀹屾垚
- } else if (wrkMast.getWrkSts() == 4) {
- // 4.杩佸叆灏忚溅 ==> 6.灏忚溅寰呭叆
- wrkMast.setWrkSts(6L);
- Date now = new Date();
- wrkMast.setCrnEndTime(now);
- wrkMast.setModiTime(now);
- // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- // 绌挎杞﹂噸鏂板畾浣嶆帓鍒楀眰
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo());
- if (!steThread.confirmPos()) {
- News.error("{}鍙风┛姊溅閲嶆柊瀹氫綅澶辫触锛佷綔涓氬伐浣滄。浠诲姟鍙凤細{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
- }
- // 绌挎杞﹀幓寰呮満浣�
- BasSte basSte = basSteService.selectById(wrkMast.getSteNo());
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(wrkMast.getSteNo()); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(9999); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
-// steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
-// steCommand.setBay(steProtocol.getBay());
-// steCommand.setLev(steProtocol.getLev());
- if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) {
- News.error("绌挎杞﹀緟鏈轰綅鍛戒护涓嬪彂澶辫触锛岀┛姊溅鍙�={}锛屼换鍔℃暟鎹�={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
- }
- } else {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 4.杩佸叆灏忚溅 => 6.灏忚溅寰呭叆 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- // 鍏ュ簱 ===>> 杩佸嚭灏忚溅 瀹屾垚
- } else if (wrkMast.getWrkSts() == 5) {
- // 5.杩佸嚭灏忚溅 ==> 6.灏忚溅寰呭叆
- wrkMast.setWrkSts(6L);
- Date now = new Date();
- wrkMast.setCrnEndTime(now);
- wrkMast.setModiTime(now);
- // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- // 绌挎杞﹂噸鏂板畾浣嶆帓鍒楀眰
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo());
- if (!steThread.confirmPos()) {
- News.error("{}鍙风┛姊溅閲嶆柊瀹氫綅澶辫触锛佷綔涓氬伐浣滄。浠诲姟鍙凤細{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
- }
- // 绌挎杞﹀幓寰呮満浣�
- BasSte basSte = basSteService.selectById(wrkMast.getSteNo());
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(wrkMast.getSteNo()); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(9999); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
-// steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
-// steCommand.setBay(steProtocol.getBay());
-// steCommand.setLev(steProtocol.getLev());
- if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) {
- News.error("绌挎杞﹀緟鏈轰綅鍛戒护涓嬪彂澶辫触锛岀┛姊溅鍙�={}锛屼换鍔℃暟鎹�={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
- }
- } else {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 5.杩佸嚭灏忚溅 => 6.灏忚溅寰呭叆 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- // 鍑哄簱 ===>> 杩佸叆灏忚溅 瀹屾垚
- } else if (wrkMast.getWrkSts() == 13) {
- // 缁欑┛姊溅涓嬪彂鍛戒护
- Integer steNo = wrkMast.getSteNo();
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- // 绌挎杞﹂噸鏂板畾浣嶆帓鍒楀眰
- if (!steThread.confirmPos()) {
- News.error("{}鍙风┛姊溅閲嶆柊瀹氫綅澶辫触锛佷綔涓氬伐浣滄。浠诲姟鍙凤細{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
- }
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkMast.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 浠诲姟妯″紡: 鎼嚭搴�
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 13.杩佸叆灏忚溅 ==> 14.灏忚溅鎼嚭搴�
- wrkMast.setWrkSts(14L);
- Date now = new Date();
- wrkMast.setCrnEndTime(now);
- wrkMast.setModiTime(now);
- LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
- Integer outCrnNo = locMastService.getOutCrnNo(locMast);
- wrkMast.setCrnNo(outCrnNo);
- // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- } else {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 13.杩佸叆灏忚溅 ==> 14.灏忚溅鎼嚭搴� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- // 绉诲簱 ===>> 鍫嗗灈鏈烘惉鑷崇洰鏍囧簱浣嶇粍 瀹屾垚
- } else if (wrkMast.getWrkSts() == 16) {
- // 16.鍚婅溅鍑哄簱涓� ==> 17.鍑哄簱瀹屾垚
- wrkMast.setWrkSts(17L);
- Date now = new Date();
- wrkMast.setCrnEndTime(now);
- wrkMast.setModiTime(now);
- LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
- Integer outCrnNo = locMastService.getOutCrnNo(locMast);
- wrkMast.setCrnNo(outCrnNo);
- // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- } else {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 16.鍚婅溅鍑哄簱涓� ==> 17.鍑哄簱瀹屾垚 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
- }
- }
-
- /**
- * 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
- */
- public synchronized void carGenerateStore() {
- Date now = new Date();
- for (SteSlave ste : slaveProperties.getSte()) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0) {
- if (steProtocol.getTaskNo() == 9999) {
- steThread.setResetFlag(true);
- } else {
- // 鏌ヨ鏄惁鏈夊緟鍏ュ簱鐨勪换鍔�
- WrkMast wrkMast = wrkMastMapper.selectCarWaiting(steProtocol.getTaskNo().intValue());
- if (wrkMast == null) {
- // 鍏呯數浠诲姟
- WrkCharge wrkCharge = wrkChargeService.selectById(steProtocol.getTaskNo());
- if (wrkCharge == null) {
- continue;
- } else {
- if (wrkCharge.getWrkSts() == 21) {
- // 21.鍑嗗鍏呯數 ===>> 22.灏忚溅寰呮惉
- wrkCharge.setWrkSts(22L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼鍏呯數浠诲姟鐘舵�� 21.鍑嗗鍏呯數 ===>> 22.灏忚溅寰呮惉 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- } else {
- steThread.setResetFlag(true);
- }
- } else if (wrkCharge.getWrkSts() == 25) {
- // 25.灏忚溅璧拌 ===>> 26.绛夊緟鍏呯數
- wrkCharge.setWrkSts(26L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼鍏呯數浠诲姟鐘舵�� 25.灏忚溅璧拌 ===>> 26.绛夊緟鍏呯數 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- } else {
- steThread.setResetFlag(true);
- }
- }
-// else if (wrkCharge.getWrkSts() == 29) {
-// // 29.寮�濮嬪厖鐢� ===>> 30.瀹屾垚鍏呯數
-// wrkCharge.setWrkSts(30L);
-// if (!wrkChargeService.updateById(wrkCharge)) {
-// News.error("淇敼鍏呯數浠诲姟鐘舵�� 29.寮�濮嬪厖鐢� ===>> 30.瀹屾垚鍏呯數 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
-// } else {
-// steThread.setResetFlag(true);
-// }
-// }
- else if (wrkCharge.getWrkSts() == 32) {
- // 32.灏忚溅璧拌 ===>> 33.灏忚溅寰呮惉
- wrkCharge.setWrkSts(33L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼婕旂ず浠诲姟鐘舵�� 32.灏忚溅璧拌 ===>> 33.灏忚溅寰呮惉 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- } else {
- steThread.setResetFlag(true);
- }
- } else if (wrkCharge.getWrkSts() == 36) {
- // 36.灏忚溅璧拌 ===>> 37.婕旂ず瀹屾垚
- wrkCharge.setWrkSts(37L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼婕旂ず浠诲姟鐘舵�� 36.灏忚溅璧拌 ===>> 37.婕旂ず瀹屾垚 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- } else {
- steThread.setResetFlag(true);
- }
- } else if (wrkCharge.getWrkSts() == 44) {
- // 44.灏忚溅璧拌 ===>> 45.灏忚溅寰呮惉
- wrkCharge.setWrkSts(45L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼婕旂ず浠诲姟鐘舵�� 44.灏忚溅璧拌 ===>> 45.灏忚溅寰呮惉 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- } else {
- steThread.setResetFlag(true);
- }
- }
- }
- }
-
- if (wrkMast == null) { continue; }
- switch (wrkMast.getWrkSts().intValue()) {
- case 2:
- // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.灏忚溅寰呮惉
- wrkMast.setWrkSts(3L);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.灏忚溅寰呮惉 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- } else {
- steThread.setResetFlag(true);
- }
- break;
- case 8:
- // 淇敼宸ヤ綔妗ｇ姸鎬� 8.灏忚溅鎼叆搴� => 9.鍏ュ簱瀹屾垚
- wrkMast.setWrkSts(9L);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 8.灏忚溅鎼叆搴� => 9.鍏ュ簱瀹屾垚 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- } else {
- steThread.setResetFlag(true);
- }
- break;
- case 11:
- if (wrkMast.getIoType() != 11) {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.灏忚溅寰呮惉
- wrkMast.setWrkSts(12L);
- } else {
- if (Cools.isEmpty(wrkMast.getMk())) {
- News.error("绉诲簱宸ヤ綔妗ｆ病鏈夋祦绋嬫爣璁帮紒锛侊紝宸ヤ綔鍙�={}", wrkMast.getWrkNo());
- } else {
- if (wrkMast.getMk().equals("I")) {
- String locNo = wrkMast.getLocNo();
- if (Utils.getGroupRow(locNo, false).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), false))
- && steProtocol.getBay() == Utils.getBay(locNo)
- && steProtocol.getLev() == Utils.getLev(locNo)) {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 6.灏忚溅寰呭叆
- wrkMast.setWrkSts(6L);
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 3.灏忚溅寰呮惉
- wrkMast.setWrkSts(3L);
- }
- } else if (wrkMast.getMk().equals("O")) {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.灏忚溅寰呮惉
- wrkMast.setWrkSts(12L);
- }
- }
- }
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.灏忚溅寰呮惉 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- } else {
- steThread.setResetFlag(true);
- }
- break;
- case 14:
- // 淇敼宸ヤ綔妗ｇ姸鎬� 14.灏忚溅鎼嚭搴� => 15.绛夊緟鍚婅溅
- wrkMast.setWrkSts(15L);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 14.灏忚溅鎼嚭搴� => 15.绛夊緟鍚婅溅 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- } else {
- steThread.setResetFlag(true);
- }
- break;
- }
- }
- }
- }
- }
-
- /**
* 寮傚父淇℃伅璁板綍
*/
public void recErr() {
try {
this.recShuttleErr();
- this.recCrnErr();
- this.recSteErr();
} catch (Exception e) {
News.error("recErr fail", e);
}
@@ -2984,235 +1790,6 @@
}
}
}
-
- /**
- * 鍫嗗灈鏈哄紓甯镐俊鎭褰�
- */
- private 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;
- }
- // 鏈変换鍔�
- if (crnProtocol.getTaskNo() != 0) {
- BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
- // 鏈夊紓甯�
- if (latest == null) {
- if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
- WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
- if (wrkMast == null) {
- continue;
- }
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
- String errName = crnError==null? "鏈煡寮傚父":crnError.getErrName();
- BasErrLog basErrLog = new BasErrLog(
- 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�
- crn.getId(), // 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.getAlarm(), // 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 (!basErrLogService.insert(basErrLog)) {
- News.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.getAlarm() == null || crnProtocol.getAlarm() == 0) {
- latest.setEndTime(now);
- latest.setUpdateTime(now);
- latest.setStatus(2);
- if (!basErrLogService.updateById(latest)) {
- News.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�
- } else {
- BasErrLog latest = basErrLogService.findLatest(crn.getId());
- // 鏈夊紓甯�
- if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
- // 璁板綍鏂板紓甯�
- if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
- String errName = crnError==null? "鏈煡寮傚父":crnError.getErrName();
- BasErrLog basErrLog = new BasErrLog(
- 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�
- crn.getId(), // 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.getAlarm(), // 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 (!basErrLogService.insert(basErrLog)) {
- News.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�
- } else {
- // 寮傚父淇
- if (latest != null && latest.getStatus() == 1) {
- latest.setEndTime(now);
- latest.setUpdateTime(now);
- latest.setStatus(2);
- if (!basErrLogService.updateById(latest)) {
- News.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
- }
- }
- }
- }
- }
- }
-
- /**
- * 绌挎杞﹀紓甯镐俊鎭褰�
- */
- private void recSteErr(){
- Date now = new Date();
- for (SteSlave ste : slaveProperties.getSte()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) {
- continue;
- }
- // 鏈変换鍔�
- if (steProtocol.getTaskNo() != 0) {
- BasSteErrLog latest = basSteErrLogService.findLatestByTaskNo(ste.getId(), steProtocol.getTaskNo().intValue());
- // 鏈夊紓甯�
- if (latest == null) {
- if (steProtocol.getAlarm() != null && steProtocol.isAlarm()) {
- WrkMast wrkMast = wrkMastMapper.selectById(steProtocol.getTaskNo());
- if (wrkMast == null) {
- continue;
- }
- BasSteErr steErr = basSteErrService.selectById(steProtocol.getAlarm());
- String errName = steErr==null? "鏈煡寮傚父":steErr.getErrName();
- BasSteErrLog basSteErrLog = new BasSteErrLog(
- 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�
- ste.getId(), // 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) steProtocol.getAlarm(), // 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 (!basSteErrLogService.insert(basSteErrLog)) {
- News.error("绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", ste.getId(), errName);
- }
- }
- } else {
- // 寮傚父淇
- if (steProtocol.getAlarm() == null || !steProtocol.isAlarm()) {
- latest.setEndTime(now);
- latest.setUpdateTime(now);
- latest.setStatus(2);
- if (!basSteErrLogService.updateById(latest)) {
- News.error("绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", ste.getId(), latest.getId());
- }
- }
- }
- // 鏃犱换鍔�
- } else {
- BasSteErrLog latest = basSteErrLogService.findLatest(ste.getId());
- // 鏈夊紓甯�
- if (steProtocol.getAlarm() != null && steProtocol.isAlarm()) {
- // 璁板綍鏂板紓甯�
- if (latest == null || (latest.getErrCode() != steProtocol.getAlarm().intValue())) {
- BasSteErr steErr = basSteErrService.selectById(steProtocol.getAlarm());
- String errName = steErr==null? "鏈煡寮傚父":steErr.getErrName();
- BasSteErrLog basSteErrLog = new BasSteErrLog(
- 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�
- ste.getId(), // 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)steProtocol.getAlarm(), // 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 (!basSteErrLogService.insert(basSteErrLog)) {
- News.error("绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", ste.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 (!basSteErrLogService.updateById(latest)) {
- News.error("绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", ste.getId(), latest.getId());
- }
- }
- }
- }
- }
- }
-
// -------------------------------------------------------------------------------
@@ -3572,22 +2149,21 @@
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
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
//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);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
//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);
+ ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//寮�濮嬪厖鐢�
commands.add(command);
//鎸囦护闆嗗垎閰�
@@ -3601,12 +2177,14 @@
}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
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
//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);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
//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());
@@ -3652,42 +2230,23 @@
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�
+ //鑾峰彇鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)鍛戒护
+ LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), currentLev.shortValue());
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�
-
+ //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵(姝ｈ浆)
+ LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
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�
-
+ //鑾峰彇鍏呯數搴撲綅鐩爣妤煎眰鍛戒护
+ LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev.shortValue());
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�
-
+ //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩鍑哄幓(鍙嶈浆)
+ LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
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
@@ -3714,11 +2273,7 @@
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);
+ ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//鏂紑鍏呯數
commands.add(command);
//鎸囦护闆嗗垎閰�
@@ -3734,310 +2289,6 @@
}
}
- }
-
- /**
- * 灏忚溅鐢甸噺妫�娴� ===>> 鍙戣捣鍏呯數
- */
- @SuppressWarnings("serial")
- public synchronized void loopSteCharge() {
- if (!Cools.isEmpty(wrkMastMapper.selectAllC())){
- return;
- }
- if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) {
- return;
- }
- if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) {
- return;
- }
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- for (SteSlave ste : slaveProperties.getSte()) {
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
- SteProtocol steProtocol = steThread.getSteProtocol();
- BasSte basSte = basSteService.selectById(ste.getId());
- if (Cools.isEmpty(steProtocol, basSte)) { continue; }
- try {
- // 鍦ㄧ嚎 绌洪棽 鏃犱綔涓氭爣璁� 涓嶅湪鍏呯數
- if (steProtocol.getMode() == 0
- || !steProtocol.statusType.equals(SteStatusType.IDLE)
- || basSte.getPakMk().equals("Y")
- || basSte.getAutoCharge().equals("N")
-// || steProtocol.getChargeStatus() == 1
- ) {
- continue;
- }
- if (!steProtocol.isEnable()) {
- continue;
- }
- if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) {
- continue;
- }
- WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
-
- if (wrkCharge == null && steProtocol.getChargeStatus() == 0) {
- // 瀵绘壘绌洪棽鍏呯數妗�
- SteChargeType steCharge = null;
- do {
- String locNo;
- if (devpThread.charge0) {
- SteChargeType first = SteChargeType.FIRST;
- locNo = first.locNo;
- if (basSteService.hasCarOfLocNo(locNo) == null
- && wrkChargeService.selectWorkingOfCharge(first.ssbm) == null) {
- steCharge = first;
- break;
- }
- }
-// if (!devpThread.charge1) {
-// SteChargeType second = SteChargeType.SECOND;
-// locNo = second.locNo;
-// if (basSteService.hasCarOfLocNo(locNo) == null
-// && wrkChargeService.selectWorkingOfCharge(second.ssbm) == null) {
-// steCharge = second;
-// break;
-// }
-// }
-// if (!devpThread.charge2) {
-// SteChargeType third = SteChargeType.THIRD;
-// locNo = third.locNo;
-// if (basSteService.hasCarOfLocNo(locNo) == null
-// && wrkChargeService.selectWorkingOfCharge(third.ssbm) == null) {
-// steCharge = third;
-// break;
-// }
-// }
- break;
- } while (false);
-
- if (steCharge == null) {
-// News.warn("{}鍙峰皬杞︺�愮數閲忥細{}銆戝厖鐢靛け璐ワ紝鍘熷洜锛氭病鏈夌┖闂插厖鐢垫々銆�", ste.getId(), steProtocol.getCharge());
- continue;
- }
- String chargeLocNo = steCharge.locNo;
- wrkCharge = new WrkCharge();
- wrkCharge.setSteNo(ste.getId());
- wrkCharge.setCharge(steCharge.ssbm);
- wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
- wrkCharge.setWrkSts(21L); // 21.鍑嗗鍏呯數
- wrkCharge.setCrnNo(1); // 鍥哄畾1鍙峰爢鍨涙満
- wrkCharge.setIoPri((double) 10);
- wrkCharge.setLocNo(chargeLocNo);
- wrkCharge.setMemo("charge");
- wrkCharge.setAppeTime(new Date());
- if (!wrkChargeService.insert(wrkCharge)) {
- News.error("淇濆瓨{}鍙风┛姊溅鍏呯數浠诲姟澶辫触!!!", ste.getId());
- continue;
- }
-
- // 澶勪簬鍏呯數搴撲綅缁�
- if ( 0<steProtocol.getRow().intValue() && steProtocol.getRow().intValue()<=4
- && steProtocol.getBay().intValue() == Utils.getBay(chargeLocNo)
- && steProtocol.getLev().intValue() == Utils.getLev(chargeLocNo)) {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 21.鍑嗗鍏呯數 => 24.灏忚溅鍒拌揪
- wrkCharge.setWrkSts(24L);
- wrkCharge.setModiTime(new Date());
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼鍏呯數浠诲姟鐘舵�� 21.鍑嗗鍏呯數 => 24.灏忚溅鍒拌揪 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- } else {
- this.letCarBeWaiting(wrkCharge, ste.getId());
- }
-
- break;
- }
- } catch (Exception e) {
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- News.error("loopSteCharge fail", e);
- }
- }
- }
-
- /**
- * 鎵ц灏忚溅鍏呯數浠诲姟
- */
- public synchronized void executeSteCharge() {
- WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, 1);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (null == wrkCharge) {
- try{
- if (steProtocol.getChargeStatus()==(short)0 && steProtocol.isBrushConnect()){
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(1); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(10060); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 浠诲姟妯″紡: 鏂紑鍏呯數
- if (!MessageQueue.offer(SlaveType.Ste, 1, new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
- }
- }
- }catch (Exception e){
- return;
- }
- return;
- }
- Integer steNo = wrkCharge.getSteNo();
-
- BasSte basSte = basSteService.selectById(steNo);
- if (Cools.isEmpty(steProtocol, basSte)) { return; }
- if (steProtocol.getMode() == 0
- || !steProtocol.statusType.equals(SteStatusType.IDLE)
- || basSte.getPakMk().equals("Y")
- || basSte.getAutoCharge().equals("N")
-// || steProtocol.getChargeStatus() == 1
- ) {
- return;
- }
- if (!steProtocol.isEnable()) {
- return;
- }
- if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())+40) {
- MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 999));//涓柇鍏呯數鏍囪
- wrkCharge.setWrkSts(30L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼鍏呯數浠诲姟鐘舵�� 29.寮�濮嬪厖鐢� ===>> 30.瀹屾垚鍏呯數 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }else {
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(wrkCharge.getSteNo()); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 浠诲姟妯″紡: 鏂紑鍏呯數
- if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
- }
- }
- return;
- }else if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine()) && steProtocol.getChargeStatus()==(short)0 && steProtocol.isBrushConnect()) {
- MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 999));//涓柇鍏呯數鏍囪
- wrkCharge.setWrkSts(30L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼鍏呯數浠诲姟鐘舵�� 29.寮�濮嬪厖鐢� ===>> 30.瀹屾垚鍏呯數 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }else {
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(wrkCharge.getSteNo()); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 浠诲姟妯″紡: 鏂紑鍏呯數
- if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
- }
- }
- return;
- }
- try {
- // filter
- if (wrkCharge.getWrkSts() < 28 && steProtocol.getChargeStatus() == 1) {
- return;
- }
-
- // 22.灏忚溅寰呮惉
- if (wrkCharge.getWrkSts() == 22) {
-
- // 鍏ュ嚭搴撲换鍔′紭鍏�
- if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
- return;
- }
-
- LocMast locMast = locMastService.selectById(basSte.getIdleLoc());
-
- // 鎼皬杞﹁嚦灏忚溅璧板悜閫氶亾
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) { return; }
- // 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) {
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
- News.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�={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
- steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 22.灏忚溅寰呮惉 => 23.鍚婅溅鎼繍
- Date now = new Date();
- wrkCharge.setWrkSts(23L);
- wrkCharge.setCrnStrTime(now);
- wrkCharge.setModiTime(now);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 22.灏忚溅寰呮惉 => 23.鍚婅溅鎼繍 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
- }
-
- } else if (wrkCharge.getWrkSts() == 24L) {
- // 灏忚溅琛岄┒閫氶亾
- if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
- if (steProtocol.getChargeStatus() == 1) { return; }
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(wrkCharge.getSteNo()); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.BACK_ORIGIN); // 鍘诲彸绔�
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
- if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 24.灏忚溅鍒拌揪 ===> 25.灏忚溅璧拌
- wrkCharge.setWrkSts(25L);
- Date now = new Date();
- wrkCharge.setCrnEndTime(now);
- wrkCharge.setModiTime(now);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼鍏呯數浠诲姟鐘舵�� 24.灏忚溅鍒拌揪 ===> 25.灏忚溅璧拌 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
- }
- } else if (wrkCharge.getWrkSts() == 26) {
- //26.绛夊緟鍏呯數 ===>
- // 绌挎杞︿笅鍙戝厖鐢典换鍔�
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(wrkCharge.getSteNo()); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.CHARGE_LEFT); // 浠诲姟妯″紡: 鍏呯數
- if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
- } else {
- // 28.鍏呯數灏辩华 ===>> 29.寮�濮嬪厖鐢�
- wrkCharge.setWrkSts(29L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼鍏呯數浠诲姟鐘舵�� 28.鍏呯數灏辩华 ===>> 29.寮�濮嬪厖鐢� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
- } else if (wrkCharge.getWrkSts() == 29) {
- Float idle2 = steProtocol.isIdle2();
- String chargeLine = SpringUtils.getBean(BasSteService.class).selectById(1).getChargeLine();
- if (idle2<(Float.parseFloat(chargeLine)+2)){
- MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 666));//鍏呯數鏍囪
- }else if (idle2 >= 100f){
- MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 999));//涓柇鍏呯數鏍囪
- // 29.寮�濮嬪厖鐢� ===>> 30.瀹屾垚鍏呯數
- wrkCharge.setWrkSts(30L);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼鍏呯數浠诲姟鐘舵�� 29.寮�濮嬪厖鐢� ===>> 30.瀹屾垚鍏呯數 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }else {
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(wrkCharge.getSteNo()); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 浠诲姟妯″紡: 鏂紑鍏呯數
- if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
- }
- }
- }
- }
- } catch (Exception e) {
- News.error("executeSteCharge fail", e);
- }
}
/**
@@ -4253,131 +2504,6 @@
}
}
- }
- }
-
-
- /**
- * 鍥犲弻娣卞簱浣嶉樆濉烇紝瀵规祬搴撲綅杩涜绉昏浆锛堝嚭搴撶増)
- * tip锛氬悓姝�
- */
- private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){
- try {
- List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
- LocMast loc = null;
- for (Integer row : rows) {
- if (Utils.isDeepLoc(slaveProperties, row)) {
- loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
-
- if (loc != null) {
- if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
- String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
- LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
- if (!shallowLoc1.getLocSts().equals("O")) {
- loc = null;
- }
- }
- }
-
- if (null != loc) {
- break;
- }
- }
- }
- if (null == loc) {
- for (Integer row : rows) {
- if (Utils.isShallowLoc(slaveProperties, row)) {
- loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
-
- if (null != loc) {//瀵瑰簲娣卞簱浣嶉潪鍦ㄥ簱鐘舵��,涓嶈兘绉诲簱
- String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
- LocMast deepLoc1 = locMastService.selectById(deepLoc);
- if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
- loc = null;
- }
- }
-
- if (null != loc) {
- break;
- }
- }
- }
- }
- if (null == loc) {
- News.error("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
- throw new CoolException("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
- }
-
- // 鑾峰彇宸ヤ綔鍙�
- int workNo = commonService.getWorkNo(0);
- // 淇濆瓨宸ヤ綔妗�
- WrkMast wrkMast = new WrkMast();
- wrkMast.setWrkNo(workNo);
- wrkMast.setIoTime(new Date());
- wrkMast.setWrkSts(11L); // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
- wrkMast.setIoType(11); // 鍏ュ嚭搴撶姸鎬侊細 11.搴撴牸绉昏浇
- wrkMast.setIoPri(20D);
- wrkMast.setCrnNo(crn.getId());
- wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 婧愬簱浣�
- wrkMast.setLocNo(loc.getLocNo()); // 鐩爣搴撲綅
- wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 婊℃澘
- wrkMast.setPicking("N"); // 鎷ｆ枡
- wrkMast.setExitMk("N"); // 閫�鍑�
- wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 绌烘澘
- wrkMast.setBarcode(shallowLoc.getBarcode()); // 鎵樼洏鐮�
- wrkMast.setLinkMis("N");
- wrkMast.setAppeTime(new Date());
- wrkMast.setModiTime(new Date());
- int res = wrkMastMapper.insert(wrkMast);
- if (res == 0) {
- News.error("鍙屾繁搴撲綅 --- 淇濆瓨宸ヤ綔妗ｅけ璐ワ紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
- throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
- }
- // 宸ヤ綔妗ｆ槑缁嗕繚瀛�
- if (shallowLoc.getLocSts().equals("F")) {
- List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
- for (LocDetl locDetl : locDetls) {
- WrkDetl wrkDetl = new WrkDetl();
- wrkDetl.sync(locDetl);
- wrkDetl.setWrkNo(workNo);
- wrkDetl.setIoTime(new Date());
- wrkDetl.setAnfme(locDetl.getAnfme());
- wrkDetl.setAppeTime(new Date());
- wrkDetl.setModiTime(new Date());
- if (!wrkDetlService.insert(wrkDetl)) {
- News.error("鍙屾繁搴撲綅 --- 淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐ワ紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
- throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
- }
- }
- }
- // 淇敼婧愬簱浣嶇姸鎬�
- if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
- shallowLoc.setLocSts("R"); // R.鍑哄簱棰勭害
- shallowLoc.setModiTime(new Date());
- if (!locMastService.updateById(shallowLoc)) {
- News.error("鍙屾繁搴撲綅 --- 鏇存柊婧愬簱浣嶇姸鎬佸け璐ワ紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
- throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
- }
- } else {
- News.error("鍙屾繁搴撲綅 --- 婧愬簱浣嶅嚭搴撳け璐ワ紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
- throw new CoolException("婧愬簱浣嶅嚭搴撳け璐�");
- }
- // 淇敼鐩爣搴撲綅鐘舵��
- if (loc.getLocSts().equals("O")) {
- loc.setLocSts("S"); // S.鍏ュ簱棰勭害
- loc.setModiTime(new Date());
- if (!locMastService.updateById(loc)) {
- News.error("鍙屾繁搴撲綅 --- 鏇存柊鐩爣搴撲綅鐘舵�佸け璐ワ紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
- throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
- }
- } else {
- News.error("鍙屾繁搴撲綅 --- 绉昏浆澶辫触锛� 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
- throw new CoolException("绉昏浆澶辫触");
- }
- } catch (Exception e) {
- News.error("鍙屾繁搴撲綅闃诲锛屽娴呭簱浣嶈繘琛岀Щ杞け璐�", e);
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
}
--
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