From bb6bc1f4030cf813e128f021ccecd42420f35628 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期五, 06 六月 2025 13:38:10 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 2281 ++++++++++++++++-----------------------------------------
1 files changed, 656 insertions(+), 1,625 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 5bd0614..9841de2 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3,1697 +3,728 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
-import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
-import com.core.common.DateUtils;
+import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
-import com.zy.asrs.mapper.BasCrnErrorMapper;
-import com.zy.asrs.mapper.WaitPakinMapper;
-import com.zy.asrs.mapper.WrkMastMapper;
-import com.zy.asrs.service.*;
-import com.zy.asrs.utils.Utils;
-import com.zy.asrs.utils.VersionUtils;
-import com.zy.common.model.LocTypeDto;
-import com.zy.common.model.MatDto;
-import com.zy.common.model.SearchLocParam;
-import com.zy.common.model.StartupDto;
+import com.zy.asrs.service.BasCircularShuttleService;
+import com.zy.asrs.service.BasDevpPositionService;
+import com.zy.asrs.service.WrkMastService;
+import com.zy.asrs.task.core.ReturnT;
+import com.zy.asrs.task.escalationParam.RgvTaskReportingParam;
+import com.zy.asrs.utils.PostMesDataUtils;
+import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
+import com.zy.asrs.utils.TimeCalculatorUtils;
+import com.zy.common.CodeRes;
import com.zy.common.service.CommonService;
-import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
-import com.zy.core.CrnThread;
-import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
-import com.zy.core.model.CrnSlave;
-import com.zy.core.model.DevpSlave;
-import com.zy.core.model.LedSlave;
+import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
-import com.zy.core.model.command.CrnCommand;
-import com.zy.core.model.command.LedCommand;
-import com.zy.core.model.protocol.CrnProtocol;
-import com.zy.core.model.protocol.StaProtocol;
+import com.zy.core.model.command.RgvCommand;
+import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.properties.SlaveProperties;
-import com.zy.core.thread.BarcodeThread;
-import com.zy.core.thread.LedThread;
-import com.zy.core.thread.SiemensDevpThread;
+import com.zy.core.thread.RgvThread;
+import com.zy.system.entity.license.LicenseVerify;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
-import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
-import org.springframework.transaction.interceptor.TransactionAspectSupport;
-import java.util.ArrayList;
-import java.util.Date;
-import java.util.List;
-import java.util.Set;
-import java.util.stream.Collectors;
+import java.util.*;
/**
* 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
- * Created by vincent on 2020/8/6
+ * Created by IX on 2024/10/01
*/
@Slf4j
@Service("mainService")
@Transactional
public class MainServiceImpl {
- public static final long COMMAND_TIMEOUT = 5 * 1000;
-
- @Autowired
- private CommonService commonService;
@Autowired
private SlaveProperties slaveProperties;
@Autowired
- private WrkMastMapper wrkMastMapper;
+ private BasRgvServiceImpl basRgvService;
@Autowired
- private WrkDetlService wrkDetlService;
+ private BasDevpPositionService basDevpPositionService;
@Autowired
- private WaitPakinMapper waitPakinMapper;
+ private BasCircularShuttleService basCircularShuttleService;
@Autowired
- private LocMastService locMastService;
+ private WrkMastService wrkMastService;
@Autowired
- private StaDescService staDescService;
- @Autowired
- private BasCrnpService basCrnpService;
- @Autowired
- private BasDevpService basDevpService;
- @Autowired
- private LocDetlService locDetlService;
- @Autowired
- private BasErrLogService basErrLogService;
- @Autowired
- private BasCrnErrorMapper basCrnErrorMapper;
+ private CommonService commonService;
+
+ @Value("${constant-parameters.taskRunPerimeter}")
+ private Long taskRunPerimeter;
+ @Value("${constant-parameters.perimeter}")
+ private Long perimeter;
+ @Value("${constant-parameters.proportion}")
+ private Long proportion;
+ @Value("${constant-parameters.acceleration}")
+ private Long acceleration;
+ @Value("${constant-parameters.rgvCount}")
+ private Long rgvCount;
+ @Value("${constant-parameters.rgvDate}")
+ private Double rgvDate;
@Value("${wms.url}")
private String wmsUrl;
+ @Value("${wms.reportOutPath}")
+ private String wmsOutPath;
+ @Value("${wms.reportSwitch}")
+ private boolean reportSwitch;
+ @Value("${wms.reportSwitchAuto}")
+ private boolean reportSwitchAuto;
- /**
- * 缁勬墭
- * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 2
- */
- public void generateStoreWrkFile() {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鍏ュ簱鍙�
- for (DevpSlave.Sta inSta : devp.getInSta()) {
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
- if (barcodeThread == null) {
- continue;
- }
- String barcode = barcodeThread.getBarcode();
- if(!Cools.isEmpty(barcode)) {
- log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
- if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
- continue;
- }
- } else {
- continue;
- }
-
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
-
-// // 鍏ュ嚭搴撴ā寮忓垽鏂�
-// if ( inSta.getStaNo()==180 && devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
-
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading()
- && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
- && staProtocol.isPakMk()){// && !Cools.isEmpty(barcode)) {
-
-// if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
-// log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
-// //鏉＄爜涓虹┖鎴栬�呬笉绗﹀悎锛岄��搴撳埌172绔欑偣
-// staProtocol.setWorkNo((short)9999);
-// staProtocol.setStaNo((short)172);
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-// if (!result) {
-// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
-// }
-// continue;
-// }
-
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
- if (wrkMast != null) {
- log.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
- continue;
- }
-// // 鑾峰彇鍏ュ簱閫氱煡妗�
-// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
-// if (waitPakins.isEmpty()) {
-// log.error("鏃犳鍏ュ簱鏉＄爜鏁版嵁銆傛潯鐮佸彿={}", barcode);
-// continue;
-// }
-
- try {
-
- LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-
- SearchLocParam param = new SearchLocParam();
- param.setBarcode(barcode);
- param.setIoType(1);
- param.setSourceStaNo(inSta.getStaNo());
- param.setLocType1(locTypeDto.getLocType1());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/pakin/loc/v1")
- .setJson(JSON.toJSONString(param))
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- StartupDto dto = jsonObject.getObject("data", StartupDto.class);
-
- barcodeThread.setBarcode("");
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
- } else {
- log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
- }
-
-
-// // 妫�绱㈠簱浣�
-// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-// List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
-// StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos, locTypeDto, 0);
-// // 宸ヤ綔鍙�
-// int workNo = startupDto.getWorkNo();
-// // 鎻掑叆宸ヤ綔鏄庣粏妗�
-// wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);
-//
-// // 鎻掑叆宸ヤ綔涓绘。
-// wrkMast = new WrkMast();
-// wrkMast.setWrkNo(workNo);
-// wrkMast.setIoTime(new Date());
-// wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
-// wrkMast.setIoType(1); // 鍏ュ嚭搴撶姸鎬侊細1.鍏ュ簱
-// wrkMast.setIoPri(10D); // 浼樺厛绾э細10
-// wrkMast.setCrnNo(startupDto.getCrnNo());
-// wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
-// wrkMast.setStaNo(startupDto.getStaNo());
-// wrkMast.setLocNo(startupDto.getLocNo());
-// wrkMast.setBarcode(barcode); // 鎵樼洏鐮�
-// wrkMast.setFullPlt("Y"); // 婊℃澘锛歒
-// wrkMast.setPicking("N"); // 鎷ｆ枡
-// wrkMast.setExitMk("N"); // 閫�鍑�
-// wrkMast.setEmptyMk("N"); // 绌烘澘
-// wrkMast.setLinkMis("N");
-// // 鎿嶄綔浜哄憳鏁版嵁
-// wrkMast.setAppeTime(new Date());
-// wrkMast.setModiTime(new Date());
-// Integer insert = wrkMastMapper.insert(wrkMast);
-// if (insert == 0) {
-// throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
-// }
-// // 鏇存柊鐩爣搴撲綅鐘舵��
-// LocMast locMast = locMastService.selectById(startupDto.getLocNo());
-// locMast.setLocSts("S"); // S.鍏ュ簱棰勭害
-// locMast.setModiTime(new Date());
-// if (!locMastService.updateById(locMast)){
-// throw new CoolException("鏀瑰彉搴撲綅鐘舵�佸け璐�");
-// }
-// // 灏嗗叆搴撻�氱煡妗ｄ慨鏀逛负宸插惎鍔�
-// if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
-// throw new CoolException("淇敼鍏ュ簱閫氱煡妗ｇ姸鎬佷负宸插惎鍔ㄥけ璐�");
-// }
-//
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-//
-// // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
-// barcodeThread.setBarcode("");
-// staProtocol.setWorkNo((short) workNo);
-// staProtocol.setStaNo(startupDto.getStaNo().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-// if (!result) {
-// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
-// }
-
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
-
- }
-
-
- }
+ /*
+ * 楠岃瘉璁稿彲璇佹槸鍚︽湁鏁�
+ * */
+ public synchronized boolean licenseVerify() {
+ try{
+// if (true) {
+// return true;
+// }
+ return new LicenseVerify().verify();
+ } catch (Exception e){
+ log.info("璁稿彲璇侀獙璇佸け璐ワ紒锛佸紓甯革細{}",e.getMessage());
}
-
+ return false;
}
- /**
- * wms鍏ュ簱
- * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 1 ==>> 2
- */
- public void generateStoreWrkFile0() {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鍏ュ簱鍙�
- for (DevpSlave.Sta inSta : devp.getInSta()) {
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
-
-// // 鍏ュ嚭搴撴ā寮忓垽鏂�
-// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
-
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
- && staProtocol.isPakMk()) {
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
- if (wrkMast == null) { continue; }
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (result) {
- // 鏇存柊宸ヤ綔涓绘。
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
- }
- } else {
- log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
- }
-
- }
-
-
- }
- }
-
- }
/**
- * 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
+ * 绔欑偣浠诲姟妫�娴� 鏇存柊灏忚溅浣嶇疆淇℃伅
*/
- public synchronized void stnToCrnStnPick(){
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
- for (DevpSlave.Sta pickSta : devp.getPickSta()) {
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
- if (barcodeThread == null) {
- continue;
- }
- String barcode = barcodeThread.getBarcode();
- if(!Cools.isEmpty(barcode)) {
- log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
- if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
- continue;
- }
- } else {
- continue;
- }
-
- // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
-
-// // 鍏ュ嚭搴撴ā寮忓垽鏂�
-// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
-
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){
-
-// if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
-// log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
-// //鏉＄爜涓虹┖鎴栬�呬笉绗﹀悎锛岄��搴撳埌172绔欑偣
-// staProtocol.setWorkNo((short)9999);
-// staProtocol.setStaNo((short)172);
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-// if (!result) {
-// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
-// }
-// continue;
-// }
-
- WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
- if (wrkMast == null) {
- // 鏃犳嫞鏂欐暟鎹�
- continue;
- }
- if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
- || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
- continue;
- }
-
- // 鎷ｃ�佺洏銆佸苟 浣滀笟绔欒浆鎹�
-// int stnNo = 0;
-// if (wrkMast.getStaNo() == 109) {
-// stnNo = 127;
-// } else if (wrkMast.getStaNo() == 113) {
-// stnNo = 128;
-// } else {
-// log.error("{}鍙蜂换鍔℃暟鎹紓甯革紒", wrkMast.getWrkNo());
-// }
- // 鑾峰彇鐩爣绔�
- Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
- .eq("type_no", wrkMast.getIoType() - 50)
- .eq("stn_no", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
- .eq("crn_no", wrkMast.getCrnNo()); // 鍫嗗灈鏈哄彿
- StaDesc staDesc = staDescService.selectOne(wrapper);
- if (Cools.isEmpty(staDesc)) {
- log.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
- continue;
- }
-
- try {
- // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
- if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
- }
- // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
- if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
- }
-
- // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
- Integer staNo = staDesc.getCrnStn();
- // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
- wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
- wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 婧愮珯
- wrkMast.setStaNo(staNo); // 鐩爣绔�
- wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
- wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
- }
- // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
- LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
- locMast.setLocSts("Q");
- locMast.setModiTime(new Date());
- if (!locMastService.updateById(locMast)) {
- throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
- }
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- continue;
- }
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- log.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
- }
-
- }
-
- }
-
- }
- }
-
- /**
- * 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
- */
- @Async
- public void crnStnToOutStn() {
- for (CrnSlave crnSlave : slaveProperties.getCrn()) {
- // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
- for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
- // 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();
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
- // 鏌ヨ宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(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14澶辫触
- wrkMast.setWrkSts(14L);
- wrkMast.setCrnEndTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) != 0) {
- // 澶嶄綅鍫嗗灈鏈�
- crnThread.setResetFlag(true);
- } else {
- log.error("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
- }
-
- }
-
- }
- }
- }
- }
-
- /**
- * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
- */
- public synchronized void crnIoExecute(){
- for (CrnSlave crn : slaveProperties.getCrn()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) { continue; }
- BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
- if (basCrnp == null) {
- log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
- 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")) {
- this.crnStnToLoc(crn, crnProtocol); // 鍏ュ簱
- crnProtocol.setLastIo("O");
- } else if (basCrnp.getOutEnable().equals("Y")) {
- this.locToCrnStn(crn, crnProtocol); // 鍑哄簱
- crnProtocol.setLastIo("I");
- }
- }
- // 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
- else if (crnProtocol.getLastIo().equals("O")) {
- if (basCrnp.getOutEnable().equals("Y")) {
- this.locToCrnStn(crn, crnProtocol); // 鍑哄簱
- crnProtocol.setLastIo("I");
- } else if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc(crn, crnProtocol); // 鍏ュ簱
- crnProtocol.setLastIo("O");
- }
- }
- }
- // 搴撲綅绉昏浆
- this.locToLoc(crn, crnProtocol);
- }
- }
-
- /**
- * 鍥炲師鐐癸紝鍫嗗灈鏈烘病鏈夋墽琛屼腑浠诲姟锛岃澶囧瓨鍦ㄥ叆搴撲换鍔℃椂鍙洖鍘熺偣
- */
- public void crnRebackHp(){
- for (CrnSlave crn : slaveProperties.getCrn()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) {
- continue;
- }
- BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
- if (basCrnp == null) {
- log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
- continue;
- }
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (wrkMastMapper.selectWorking(crn.getId()) != null) {
- return;
- }
-
- //鍫嗗灈鏈烘湁鎵ц涓换鍔★紝杩囨护
- if (wrkMastMapper.selectCrnWorking(crn.getId()) != null) {
- return;
- }
-
- //杈撻�佺嚎娌℃湁鍏ュ簱浠诲姟锛岃繃婊�
- if (wrkMastMapper.selectDevWorking(crn.getId()) == null) {
- return;
- }
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(crn.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo((short) 1); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡: 鍥炲師鐐�
- crnCommand.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY((short) 0); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ((short) 0); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY((short) 0); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
- log.error("鍫嗗灈鏈哄洖鍘熺偣鍛戒护涓嬪彂澶辫触锛屽爢鍨涙満鍙�={}锛屼换鍔℃暟鎹�={}", crn.getId(), JSON.toJSON(crnCommand));
- }
- }
- }
- }
-
- /**
- * 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
- */
- public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
- for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
- boolean flag = false;
- // 鑾峰彇鍫嗗灈鏈哄叆搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- // 鏌ヨ绔欑偣璇︾粏淇℃伅
- BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
- if (staDetl == null) {
- log.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
- continue;
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
- && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
- flag = true;
- }
- if (!flag) {
- continue;
- }
- // 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級鐨勫叆搴撳伐浣滄。
- WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
- if(null == wrkMast) {
-// log.error("鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
- continue;
- }
- // 鑾峰彇搴撲綅淇℃伅
- LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
- if (locMast == null) {
- log.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")) {
- log.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;
- }
-
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
- continue;
- }
-
- // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (wrkMastMapper.selectWorking(slave.getId()) != null) {
+ public synchronized void updateStePositionNearby() {
+ try {
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L));
+ if (wrkMasts.isEmpty()) {
return;
}
-
- // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
- if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
- String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
- LocMast shallowLoc = locMastService.selectById(shallowLocNo);
- // O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
- if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
- WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
- if (null == waitWrkMast) {
- log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
- } else {
- waitWrkMast.setIoPri(15D);
- waitWrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(waitWrkMast) == 0) {
- log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
- }
- }
- continue;
- } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
- // 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
- if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
- wrkMast.setUpdMk("Y");
- wrkMast.setIoPri(14D);
- wrkMastMapper.updateById(wrkMast);
- // 鐢熸垚宸ヤ綔妗ｃ�佹敼鍙樻祬搴撲綅鐨勬簮搴�/鐩爣搴� 搴撲綅鐘舵�併�佷笅鍙戝爢鍨涙満鍛戒护锛堢珛椹墽琛�)
- moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
- }
- continue;
- } else if (shallowLoc.getLocSts().equals("Q")){
- WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
- if (null != waitWrkMast && waitWrkMast.getWrkSts()==4) {
- continue;
- }
- }
+ List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
+ if (basDevpPositions.isEmpty()) {
+ log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�");
+ return;
}
-
- // 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))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
-
-// long startTime = System.currentTimeMillis();
-// while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
-//
-// if (true) {
-// break;
-// }
-//
-// try{
-// Thread.sleep(500);
-// }catch(Exception ignore){}
-// }
-
- // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
- Date now = new Date();
- wrkMast.setWrkSts(3L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
-
- /**
- * 鍑哄簱 ===>> 搴撲綅鍒板爢鍨涙満绔�
- */
- public void 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.selectPakOutStep1(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){
- log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", 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")) {
- log.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;
- }
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
-
-// // 鍏ュ嚭搴撴ā寮忓垽鏂�
-// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
-
-
- // 鏌ヨ绔欑偣璇︾粏淇℃伅
- BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
- if (staDetl == null) {
- log.error("鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
- 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;
- }
-
- // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
- if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
- String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
- LocMast shallowLoc = locMastService.selectById(shallowLocNo);
- // O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
- if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
- WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
- if (null == waitWrkMast) {
- log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
- } else {
- if(waitWrkMast.getWrkSts() == 11) {
- waitWrkMast.setIoPri(15D);
- waitWrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(waitWrkMast) == 0) {
- log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
- }
- continue;
- } else {
-
- }
- }
- } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
- // 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
- if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
- wrkMast.setUpdMk("Y");
- wrkMastMapper.updateById(wrkMast);
- // 鐢熸垚宸ヤ綔妗ｃ�佹敼鍙樻祬搴撲綅鐨勬簮搴�/鐩爣搴� 搴撲綅鐘舵�併�佷笅鍙戝爢鍨涙満鍛戒护锛堢珛椹墽琛�)
- moveLocForDeepLoc(slave, shallowLoc);
- }
- log.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛�", wrkMast.getWrkNo());
- continue;
- }
- }
-
- // 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;
- }
-
- // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(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))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
- Date now = new Date();
- wrkMast.setWrkSts(12L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
- }
-
- /**
- * 搴撲綅绉昏浆
- */
- 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 sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
- if (null == sourceSta) {
- log.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 (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) {
- return;
- }
- // 鑾峰彇鐩爣搴撲綅淇℃伅
- LocMast sta = locMastService.selectById(wrkMast.getLocNo());
- if (null == sta) {
- log.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;
- }
-
- // 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(sta.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
- Date now = new Date();
- wrkMast.setWrkSts(12L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.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 => 12.鍚婅溅鍑哄簱涓� 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�
- */
- @Async
- public void storeFinished() {
- for (CrnSlave crn : slaveProperties.getCrn()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) { continue; }
- // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
- if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
- // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
- WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
- if (wrkMast == null) {
- log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
- continue;
- }
- // 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
- if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)){
- wrkMast.setWrkSts(4L);
- } else {
- continue;
- }
- 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);
- }
-
- }
- }
- }
-
- /**
- * 鍫嗗灈鏈哄紓甯镐俊鎭褰�
- */
- @Async
- public 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;
- }
- if (true) {
-// if (crnProtocol.getModeType() != CrnModeType.STOP) {
- // 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? String.valueOf(crnProtocol.getAlarm()):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)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
- }
- }
- } else {
- // 寮傚父淇
- if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
- latest.setEndTime(now);
- latest.setUpdateTime(now);
- latest.setStatus(2);
- if (!basErrLogService.updateById(latest)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
- }
- }
- }
- // 鏃犱换鍔�
- } 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? String.valueOf(crnProtocol.getAlarm()):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)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
- }
- }
- // 鏃犲紓甯�
- } else {
- // 寮傚父淇
- if (latest != null && latest.getStatus() == 1) {
- latest.setEndTime(now);
- latest.setUpdateTime(now);
- latest.setStatus(2);
- if (!basErrLogService.updateById(latest)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
- }
- }
- }
- }
- }
-
- }
- }
-
-
- // -------------------------------------------------------------------------------
-
- /**
- * 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
- */
- @Async
- public void storeEmptyPlt(){
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻绌烘澘鍏ュ簱鍙�
- for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
- // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
-
-// // 鍏ュ嚭搴撴ā寮忓垽鏂�
-// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
-
- // 绔欑偣鏉′欢鍒ゆ柇
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
- && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999 || staProtocol.getWorkNo() == 9990 || staProtocol.getWorkNo() == 9997) && staProtocol.isPakMk()) {
-
- try {
- LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-
- SearchLocParam param = new SearchLocParam();
- param.setIoType(10);
- param.setSourceStaNo(emptyInSta.getStaNo());
- param.setLocType1(locTypeDto.getLocType1());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/pakin/loc/v1")
- .setJson(JSON.toJSONString(param))
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- StartupDto dto = jsonObject.getObject("data", StartupDto.class);
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
- } else {
- log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
- }
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
-
-
-
-
-// // 妫�绱㈠簱浣�
-// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-// StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null, locTypeDto, 0);
-// // 宸ヤ綔鍙�
-// int workNo = startupDto.getWorkNo();
-//
-// try {
-// // 鎻掑叆宸ヤ綔涓绘。
-// WrkMast wrkMast = new WrkMast();
-// wrkMast.setWrkNo(workNo);
-// wrkMast.setIoTime(new Date());
-// wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
-// wrkMast.setIoType(10); // 鍏ュ嚭搴撶姸鎬侊細10.绌烘澘鍏ュ簱
-// wrkMast.setIoPri(10D); // 浼樺厛绾э細10
-// wrkMast.setCrnNo(startupDto.getCrnNo());
-// wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
-// wrkMast.setStaNo(startupDto.getStaNo());
-// wrkMast.setLocNo(startupDto.getLocNo());
-// wrkMast.setFullPlt("N"); // 婊℃澘
-// wrkMast.setPicking("N"); // 鎷ｆ枡
-// wrkMast.setExitMk("N"); // 閫�鍑�
-// wrkMast.setEmptyMk("Y"); // 绌烘澘
-// wrkMast.setLinkMis("N");
-//// wrkMast.setCtnType(sourceStaNo.getCtnType()); // 瀹瑰櫒绫诲瀷
-// // 鎿嶄綔浜哄憳鏁版嵁
-// wrkMast.setAppeTime(new Date());
-// wrkMast.setModiTime(new Date());
-// Integer insert = wrkMastMapper.insert(wrkMast);
-// if (insert == 0) {
-// throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
-// }
-// // 鏇存柊鐩爣搴撲綅鐘舵��
-// LocMast locMast = locMastService.selectById(startupDto.getLocNo());
-// locMast.setLocSts("S"); // S.鍏ュ簱棰勭害
-// locMast.setModiTime(new Date());
-// if (!locMastService.updateById(locMast)){
-// throw new CoolException("鏀瑰彉搴撲綅鐘舵�佸け璐�");
-// }
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-//
-// // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
-// staProtocol.setWorkNo((short) workNo);
-// staProtocol.setStaNo(startupDto.getStaNo().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-// if (!result) {
-// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
-// }
-// } catch (Exception e) {
-// e.printStackTrace();
-// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
-// }
-
- }
-
-
- }
- }
- }
-
- /**
- * 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
- */
- @Async
- public void ledExecute() {
- for (LedSlave led : slaveProperties.getLed()) {
- // 鑾峰彇杈撻�佺嚎plc绾跨▼
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
- // 鍛戒护闆嗗悎
- List<LedCommand> commands = new ArrayList<>();
- // 宸ヤ綔妗ｉ泦鍚�
- List<WrkMast> wrkMasts = new ArrayList<>();
- for (Integer staNo : led.getStaArr()) {
- // 鑾峰彇鍙夎溅绔欑偣
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- // 鑾峰彇宸ヤ綔妗ｆ暟鎹�
- WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
- if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
- wrkMasts.add(wrkMast);
- // 缁勮鍛戒护
- LedCommand ledCommand = new LedCommand();
- ledCommand.setWorkNo(wrkMast.getWrkNo());
- // 鍑哄簱妯″紡
- switch (wrkMast.getIoType()) {
- case 101:
- ledCommand.setTitle("鍏ㄦ澘鍑哄簱");
- break;
- case 103:
- ledCommand.setTitle("鎷ｆ枡鍑哄簱");
- break;
- case 104:
- ledCommand.setTitle("骞舵澘鍑哄簱");
- break;
- case 107:
- ledCommand.setTitle("鐩樼偣鍑哄簱");
- break;
- case 110:
- ledCommand.setTitle("绌烘澘鍑哄簱");
- ledCommand.setEmptyMk(true);
- break;
- default:
- log.error("浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
- break;
- }
- ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
- ledCommand.setStaNo(wrkMast.getStaNo());
- if (wrkMast.getIoType() != 110) {
- List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
- wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatNo(), wrkDetl.getMatName(), wrkDetl.getQty())));
- }
- commands.add(ledCommand);
- }
- Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
- // 鑾峰彇LED绾跨▼
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
- // 鐩稿悓宸ヤ綔鍙烽泦鍚堝垯杩囨护
- if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
- continue;
- }
- // 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
- if (!commands.isEmpty()) {
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
- log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
- continue;
- } else {
- ledThread.setLedMk(false);
- }
- }
-
- try {
- // 淇敼涓绘。led鏍囪
- for (WrkMast wrkMast : wrkMasts) {
- wrkMast.setOveMk("Y");
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｅけ璐�");
- }
- }
-
- // 鏇存柊绾跨▼褰撳墠宸ヤ綔鍙烽泦鍚�
- ledThread.setWorkNos(workNos);
-
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
-
- }
- }
-
- /**
- * 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
- */
- @Async
- public void ledReset() {
-// for (LedSlave led : slaveProperties.getLed()) {
-// // 鑾峰彇杈撻�佺嚎plc绾跨▼
-// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
-// // 鍛戒护闆嗗悎
-// boolean reset = true;
-// for (Integer staNo : led.getStaArr()) {
-// // 鑾峰彇鍙夎溅绔欑偣
-// StaProtocol staProtocol = devpThread.getStation().get(staNo);
-// if (staProtocol == null) {
-// continue;
-// } else {
-// staProtocol = staProtocol.clone();
-// }
-// if (staProtocol.getWorkNo() != 0) {
-// reset = false;
-// break;
-// }
+// List<Integer> siteList = SortTheExecutionOfTheCarUtil.WrkMastExtractSites(wrkMasts);
+// List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
+// Integer siteNo = SortTheExecutionOfTheCarUtil.ObtainDenseAreasFirstPlace(siteList, devpList);
+// if (siteNo == null) {
+// log.error("灏辫繎瀵嗛泦鍘熷垯鑾峰彇绔欑偣澶辫触");
+// return;
// }
-// // 鑾峰彇led绾跨▼
-// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
-// // led鏄剧ず榛樿鍐呭
-// if (reset) {
-// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
-// log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
-// }
-// }
-// }
- for (LedSlave led : slaveProperties.getLed()) {
- // 鑾峰彇杈撻�佺嚎plc绾跨▼
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
- // 鍛戒护闆嗗悎
- boolean reset = true;
- for (Integer staNo : led.getStaArr()) {
- // 鑾峰彇鍙夎溅绔欑偣
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if (staProtocol == null) {
- continue;
- }
- if (staProtocol.getWorkNo() != 0) {
- reset = false;
+ Integer siteNo = 110;
+ Long sitePosition = 0L;
+ for (BasDevpPosition basDevpPosition : basDevpPositions) {
+ if (basDevpPosition.getDevNo().equals(siteNo)) {
+ sitePosition = basDevpPosition.getPlcPosition();
break;
}
}
- // 鑾峰彇led绾跨▼
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
- // led鏄剧ず榛樿鍐呭
- if (reset && !ledThread.isLedMk()) {
- ledThread.setLedMk(true);
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
- log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
- } else {
-
+ List<List<Long>> rgvPositionList = new ArrayList<>();
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
}
+ List<Long> rgvPosition = new ArrayList<>();
+ rgvPosition.add(rgvProtocol.getRgvNo().longValue());
+ rgvPosition.add(rgvProtocol.getRgvPos());
+ rgvPositionList.add(rgvPosition);
}
- }
- }
+ Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition, perimeter);
+ if (rgvNo == -1) {
+ log.info("鏇存柊灏忚溅鎺掑簭淇℃伅寮傚父={}", rgvNo);
+ return;
+ }
+ List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0).orderBy("rgv_id", true));
+ if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)) {
+ return;
+ }
- /**
- * 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叆搴撶増)
- * tip锛氬悓姝�
- */
- @Transactional
- public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast){
- LocMast loc = locMastService.selectById(pakinWrkMast.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(15D);
- 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.setCtnNo("Y"); // 鍏ュ簱闃诲搴撲綅绉昏浆鏍囪
- wrkMast.setAppeTime(new Date());
- wrkMast.setModiTime(new Date());
- int res = wrkMastMapper.insert(wrkMast);
- if (res == 0) {
- 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.setWrkNo(workNo);
- wrkDetl.setIoTime(new Date());
- wrkDetl.setQty(locDetl.getQty());
- VersionUtils.setWrkDetl(wrkDetl, locDetl); // 鐗堟湰鎺у埗
- wrkDetl.setAppeTime(new Date());
- wrkDetl.setModiTime(new Date());
- if (!wrkDetlService.insert(wrkDetl)) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
- }
+ int[][] ints = new int[basCircularShuttleList.size()][2];
+ for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+ ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
}
- }
- // 淇敼婧愬簱浣嶇姸鎬�
- if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
- shallowLoc.setLocSts("S"); // S.鍏ュ簱棰勭害锛屽叆搴撻樆濉炲簱浣嶇Щ杞�
- shallowLoc.setModiTime(new Date());
- if (!locMastService.updateById(shallowLoc)){
- throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
- }
- } else {
- 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)) {
-// throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
+// String[] oldList = new String[ints.length];
+// for (int[] rgv : ints){
+// oldList[rgv[0]-1] = Arrays.toString(rgv);
// }
-// } else {
-// throw new CoolException("绉昏浆澶辫触");
-// }
- wrkMast.setLocNo(shallowLoc.getLocNo());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("淇敼闃诲鍏ュ簱浠诲姟澶辫触");
+ int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
+// String[] newList = new String[rgvList.length];
+// for (int[] rgv : rgvList){
+// newList[rgv[0]-1] = Arrays.toString(rgv);
+// }
+
+// log.info("鏇存柊灏忚溅鎺掑簭淇℃伅锛氬師濮嬪皬杞﹀彿rgvNo={},灏忚溅閲嶆柊鎺掑簭淇℃伅={},灏忚溅鍘熷鎺掑簭淇℃伅={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
+ for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+ int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
+ basCircularShuttle.setRgvId(rgv[1]);
+ basCircularShuttleService.updateById(basCircularShuttle);
+ }
+
+ } catch (Exception e) {
+ log.error("鑷姩鏇存柊灏忚溅鎺掑簭淇℃伅澶辫触锛屽紓甯革細" + e);
}
}
/**
- * 鍥犲弻娣卞簱浣嶉樆濉烇紝瀵规祬搴撲綅杩涜绉昏浆锛堢珛鍗虫墽琛岀増)
- * tip锛氬悓姝�
+ * 绔欑偣浠诲姟妫�娴� 鏇存柊灏忚溅浣嶇疆淇℃伅
*/
- private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){
- 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 (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) { break; }
- }
- }
- }
- if (null == loc) {
- 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(13D);
- 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) {
- 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.setWrkNo(workNo);
- wrkDetl.setIoTime(new Date());
- wrkDetl.setQty(locDetl.getQty());
- VersionUtils.setWrkDetl(wrkDetl, locDetl); // 鐗堟湰鎺у埗
- wrkDetl.setAppeTime(new Date());
- wrkDetl.setModiTime(new Date());
- if (!wrkDetlService.insert(wrkDetl)) {
- 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)){
- throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
- }
- } else {
- 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)) {
- throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
- }
- } else {
- throw new CoolException("绉昏浆澶辫触");
- }
-
- }
-
- /**
- * 鍫嗗灈鏈烘紨绀� ===>> 搴撲綅绉昏浆
- */
- public synchronized void crnDemoOfLocMove1(){
- for (CrnSlave crn : slaveProperties.getCrn()) {
- if (!crn.getDemo()) { continue; } // 蹇呴』涓烘紨绀虹姸鎬�
-
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) { 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) {
- // 鑾峰彇绉诲簱宸ヤ綔妗ｄ俊鎭�
- WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
- if (null != wrkMast) { continue; }
-
- LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
- LocMast loc = locMastService.queryDemoLoc(crn.getId());
- if (null == sourceLoc || null == loc) { continue; }
-
- String sourceLocNo = sourceLoc.getLocNo();
- String locNo = loc.getLocNo();
-
- // 鑾峰彇宸ヤ綔鍙�
- int workNo = commonService.getWorkNo(0);
- // 淇濆瓨宸ヤ綔妗�
- 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(13D);
- wrkMast.setCrnNo(crn.getId());
- wrkMast.setSourceLocNo(sourceLocNo); // 婧愬簱浣�
- wrkMast.setLocNo(locNo); // 鐩爣搴撲綅
- wrkMast.setFullPlt("N"); // 婊℃澘锛歒
- wrkMast.setPicking("N"); // 鎷ｆ枡
- wrkMast.setExitMk("N"); // 閫�鍑�
- wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D")?"Y":"N"); // 绌烘澘
- wrkMast.setBarcode(sourceLoc.getBarcode()); // 鎵樼洏鐮�
- wrkMast.setLinkMis("N");
- wrkMast.setAppeTime(new Date());
- wrkMast.setModiTime(new Date());
- int res = wrkMastMapper.insert(wrkMast);
- if (res == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
- }
- // 宸ヤ綔妗ｆ槑缁嗕繚瀛�
-// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
-// for (LocDetl locDetl : locDetls) {
-// WrkDetl wrkDetl = new WrkDetl();
-// wrkDetl.setWrkNo(workNo);
-// wrkDetl.setIoTime(new Date());
-// wrkDetl.setAnfme(locDetl.getAnfme());
-// VersionUtils.setWrkDetl(wrkDetl, locDetl); // 鐗堟湰鎺у埗
-// wrkDetl.setAppeTime(new Date());
-// wrkDetl.setModiTime(new Date());
-// if (!wrkDetlService.insert(wrkDetl)) {
-// 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 (sourceLoc.getLocSts().equals("D")) {
- sourceLoc.setLocSts("R"); // R.鍑哄簱棰勭害
- sourceLoc.setModiTime(new Date());
- if (!locMastService.updateById(sourceLoc)){
- throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
- }
- } else {
- 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)) {
- throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
- }
- } else {
- throw new CoolException("绉昏浆澶辫触");
- }
-
- }
-
- }
- }
-
- /**
- * 鍫嗗灈鏈哄懡浠や笅鍙戝悗锛屽紓姝ヤ慨鏀瑰伐浣滄。鐘舵��
- */
- public synchronized void crnIoWrkMast(){
- 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;
- }
- Date now = new Date();
- // 鍫嗗灈鏈烘鍦ㄨ繍琛�
- if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- // 鑾峰彇宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
- if (wrkMast == null) { continue; }
- // 鍏ュ簱
- if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 2) {
- log.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
- wrkMast.setWrkSts(3L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- log.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
- }
- // 鍑哄簱銆佺Щ搴�
- if (wrkMast.getWrkSts() == 11) {
- log.warn("鍫嗗灈鏈洪潪绌洪棽鎯呭喌涓嬶紝寮�濮嬩慨鏀瑰伐浣滄。鐘舵�併�俒id:{},鏃堕棿锛歿}] >>>>> 鍫嗗灈鏈哄綋鍓嶇姸鎬佷负锛歿}銆備换鍔″彿:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
- wrkMast.setWrkSts(12L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- log.warn("淇敼宸ヤ綔妗ｇ姸鎬佹垚鍔熴�俒鏃堕棿锛歿}] >>>>> 浠诲姟鍙�:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
- }
-
-
- }
-
- }
- }
-
- /**
- * 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
- */
- public void ioConvert() {
+ public synchronized void updateStePosition() {
try {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
-
- WrkMast pakout = wrkMastMapper.selectWorkingPakout();
- if (pakout != null) {
- if (devpThread.ioMode != IoModeType.PAKOUT_MODE) {
- // 鍑哄簱鍒囨崲涓�
- devpThread.ioMode = IoModeType.PAKOUT_BOOTING;
-
- WrkMast pakin = wrkMastMapper.selectWorkingPakin();
- if (pakin == null) {
- // 鍑哄簱妯″紡
- devpThread.ioMode = IoModeType.PAKOUT_MODE;
- }
- }
+ boolean sign = false;
+ Integer rgvNo = 0;
+ List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
+ for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+ if (basCircularShuttle.getStatus() != 0){
+ sign = true;
+ continue;
+ }
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ sign = true;
+ } else if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM && rgvProtocol.getStatusType() != RgvStatusType.WALK)) {
+ sign = true;
} else {
- // 鍏ュ簱妯″紡
- devpThread.ioMode = IoModeType.PAKIN_MODE;
+ rgvNo = basCircularShuttle.getRgvNo();
+ break;
+ }
+ }
+ if (sign && rgvNo != 0) {
+ int[][] ints = new int[basCircularShuttleList.size()][2];
+ for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+ ints[basCircularShuttle.getRgvNo() - 1] = new int[]{basCircularShuttle.getRgvNo(), basCircularShuttle.getRgvId()};
+ }
+// String[] oldList = new String[ints.length];
+// for (int[] rgv : ints){
+// oldList[rgv[0]-1] = Arrays.toString(rgv);
+// }
+ int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
+// String[] newList = new String[rgvList.length];
+// for (int[] rgv : rgvList){
+// newList[rgv[0]-1] = Arrays.toString(rgv);
+// }
+
+// log.info("鏇存柊灏忚溅鎺掑簭淇℃伅锛氬師濮嬪皬杞﹀彿rgvNo={},灏忚溅閲嶆柊鎺掑簭淇℃伅={},灏忚溅鍘熷鎺掑簭淇℃伅={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
+ for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+ int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
+ basCircularShuttle.setRgvId(rgv[1]);
+ basCircularShuttleService.updateById(basCircularShuttle);
}
}
} catch (Exception e) {
- e.printStackTrace();
+ log.error("鑷姩鏇存柊灏忚溅鎺掑簭淇℃伅澶辫触锛屽紓甯革細" + e);
}
-
-
}
+ /**
+ * 绔欑偣浠诲姟妫�娴� 涓嬪彂灏忚溅鍙栨斁浠诲姟
+ */
+ public synchronized void DevpTaskNoRun() {
+ try {
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time", true));
+ if (wrkMasts.isEmpty()) {
+ return;
+ }
+ long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMasts.get(0).getModiTime(), new Date());
+ if (differenceInSeconds <= 1000) {
+ return;
+ }
+ BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ return;
+ }
+ List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
+ List<BasDevpPosition> basDevpPositionDevRegion = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("dev_region", true));
+ Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos(), perimeter);
+ BasDevpPosition[] basDevpPositionsList = SortTheExecutionOfTheCarUtil.devpNoSort(basDevpPositions, devNo);
+ BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
+ List<List<Integer>> siteListAll = SortTheExecutionOfTheCarUtil.siteListAll(basDevpPositionDevRegion);
+// List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
+ List<List<List<WrkMast>>> wrkMastListAll = getWrkMastListAll(siteListAll,basDevpPositionsListUN);
+ //涓嬪彂浠诲姟
+// taskDown(wrkMastLists);
+ taskDown(wrkMastListAll);
+ } catch (Exception e) {
+ log.error("鑷姩涓嬪彂灏忚溅鍙栨斁浠诲姟澶辫触锛屽紓甯革細" + e);
+ }
+ }
+
+ //鑾峰彇灏忚溅鍙栨斁浠诲姟鍒楄〃澶辫触
+ public synchronized List<List<List<WrkMast>>> getWrkMastListAll(List<List<Integer>> siteListAll ,BasDevpPosition[] basDevpPositionsListUN) {
+ List<List<List<WrkMast>>> wrkMastListAll = new ArrayList<>();
+ List<Integer> sourceStaNoList = new ArrayList<>();
+
+ for (List<Integer> siteList : siteListAll){
+ List<List<WrkMast>> wrkMastLists = new ArrayList<>();
+ try {
+ List<WrkMast> wrkMastlistA = new ArrayList<>();
+ List<WrkMast> wrkMastlistB = new ArrayList<>();
+ List<WrkMast> wrkMastlistC = new ArrayList<>();
+ List<WrkMast> wrkMastlistD = new ArrayList<>();
+ for (BasDevpPosition basDevpPosition : basDevpPositionsListUN) {
+ List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts", 1L).orderBy("modi_time", true));
+ for (WrkMast wrkMast : wrkMastList) {
+ if (!Cools.isEmpty(wrkMast)) {
+ if (siteList.contains(wrkMast.getSourceStaNo())){
+ if (!sourceStaNoList.contains(wrkMast.getSourceStaNo())){
+ List<WrkMast> wrkMastListS = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("source_sta_no", wrkMast.getSourceStaNo()).eq("wrk_sts", 1L).orderBy("modi_time", true));
+ if (wrkMastListS.isEmpty()){
+ continue;
+ }
+ } else {
+ continue;
+ }
+ long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(wrkMast.getModiTime(), new Date());
+
+ if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
+ sourceStaNoList.add(wrkMast.getSourceStaNo());
+ if (differenceInSeconds>600000){
+ wrkMastlistA.add(wrkMast);
+ } else {
+ wrkMastlistC.add(wrkMast);
+ }
+ } else {
+ sourceStaNoList.add(wrkMast.getSourceStaNo());
+ if (differenceInSeconds>600000){
+ wrkMastlistB.add(wrkMast);
+ } else {
+ wrkMastlistD.add(wrkMast);
+ }
+ }
+ }
+ }
+ }
+ }
+ wrkMastLists.add(wrkMastlistA);
+ wrkMastLists.add(wrkMastlistB);
+ wrkMastLists.add(wrkMastlistC);
+ wrkMastLists.add(wrkMastlistD);
+// return wrkMastLists;
+ wrkMastListAll.add(wrkMastLists);
+ } catch (Exception e) {
+ log.error("鑾峰彇灏忚溅鍙栨斁浠诲姟鍒楄〃澶辫触锛屽紓甯革細" + e);
+ }
+ }
+ return wrkMastListAll;
+ }
+
+ //鑾峰彇灏忚溅鍙栨斁浠诲姟鍒楄〃澶辫触
+ public synchronized List<List<WrkMast>> getWrkMastLists(BasDevpPosition[] basDevpPositionsListUN) {
+ List<List<WrkMast>> wrkMastLists = new ArrayList<>();
+ try {
+ List<WrkMast> wrkMastlistA = new ArrayList<>();
+ List<WrkMast> wrkMastlistB = new ArrayList<>();
+ for (BasDevpPosition basDevpPosition : basDevpPositionsListUN) {
+ List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts", 1L).orderBy("modi_time", true));
+ for (WrkMast wrkMast : wrkMastList) {
+ if (!Cools.isEmpty(wrkMast)) {
+ if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN, wrkMast.getSourceStaNo(), wrkMast.getStaNo())) {
+ wrkMastlistA.add(wrkMast);
+ } else {
+ wrkMastlistB.add(wrkMast);
+ }
+ }
+ }
+ }
+ wrkMastLists.add(wrkMastlistA);
+ wrkMastLists.add(wrkMastlistB);
+ return wrkMastLists;
+ } catch (Exception e) {
+ log.error("鑾峰彇灏忚溅鍙栨斁浠诲姟鍒楄〃澶辫触锛屽紓甯革細" + e);
+ return wrkMastLists;
+ }
+ }
+
+// public synchronized void taskDown(List<List<WrkMast>> wrkMastLists) {
+// long rgvId = 0;
+// runRgv:
+// for (List<WrkMast> wrkMastList : wrkMastLists) {
+// for (WrkMast wrkMast : wrkMastList) {
+// while (rgvId <= rgvCount) {
+// rgvId++;
+//// log.info("瀛樺湪浠诲姟锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(wrkMast));
+// if (rgvId > rgvCount) {
+// break runRgv;
+// }
+// BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
+// if (basCircularShuttle.getStatus() != 0){
+// continue ;
+// }
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
+// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+// if (rgvProtocol == null) {
+// continue;
+// }
+//
+// List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 2L));
+// if (!wrkMasts.isEmpty()) {
+// continue;
+// }
+// if (rgvProtocol != null
+// && rgvProtocol.modeType == RgvModeType.AUTO
+// && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
+// && rgvProtocol.getTaskNo1() == 0
+// && rgvProtocol.getAlarm() == 0) {
+// if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) {
+// double finalVelocity = 0.0; // 鏈�缁堥�熷害 (m/s)
+// double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration);
+// BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
+// if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
+//// List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
+//// if (basDevpPositions.isEmpty()) {
+//// log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�,RGV浠诲姟涓嬪彂澶辫触锛岃鑱旂郴绠＄悊鍛橈紒锛侊紒");
+//// break runRgv;
+//// }
+//// List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
+////
+//// if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
+// continue;
+//// }
+// }
+// }
+// RgvCommand rgvCommand = new RgvCommand();
+// rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
+// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+// rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
+// rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+// rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue()); //宸ヤ綅1璧风偣
+// rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+// rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0);
+// if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
+// //
+// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+// break runRgv;
+// }
+// log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+//
+// wrkMast.setWrkSts(2L);
+// wrkMast.setRgvNo(rgvProtocol.getRgvNo());
+// Date now = new Date();
+// wrkMast.setAppeTime(now);
+// wrkMast.setCrnStrTime(now);
+// try {
+// wrkMastService.updateById(wrkMast);
+// break;
+// } catch (Exception e) {
+// log.error("鏇存柊灏忚溅浠诲姟澶辫触,浠诲姟鍙凤細" + wrkMast.getWrkNo());
+// }
+// break runRgv;
+// } else if (rgvProtocol != null
+// && rgvProtocol.modeType == RgvModeType.AUTO
+// && rgvProtocol.getStatusType() == RgvStatusType.WALK
+// && rgvProtocol.getTaskNo1() == 0
+// && rgvProtocol.getAlarm() == 0) {
+// if (rgvProtocol.getStatusType() == RgvStatusType.WALK) {
+// double finalVelocity = 0.0; // 鏈�缁堥�熷害 (m/s)
+// double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration);
+// BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
+// if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
+//// List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
+//// if (basDevpPositions.isEmpty()) {
+//// log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�,RGV浠诲姟涓嬪彂澶辫触锛岃鑱旂郴绠＄悊鍛橈紒锛侊紒");
+//// break runRgv;
+//// }
+//// List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
+////
+//// if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
+// continue;
+//// }
+// }
+// }
+// RgvCommand rgvCommand = new RgvCommand();
+// rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
+// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+// rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
+// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+// rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue()); //宸ヤ綅1璧风偣
+// rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+// rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0);
+// if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(3, rgvCommand))) {
+// //
+// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+// break runRgv;
+// }
+// log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+//
+// wrkMast.setWrkSts(2L);
+// wrkMast.setRgvNo(rgvProtocol.getRgvNo());
+// Date now = new Date();
+// wrkMast.setAppeTime(now);
+// wrkMast.setCrnStrTime(now);
+// try {
+// wrkMastService.updateById(wrkMast);
+// break;
+// } catch (Exception e) {
+// log.error("鏇存柊灏忚溅浠诲姟澶辫触,浠诲姟鍙凤細" + wrkMast.getWrkNo());
+// }
+// break runRgv;
+// } else {
+// break runRgv;
+// }
+// }
+// }
+// }
+// }
+ public synchronized void taskDown(List<List<List<WrkMast>>> wrkMastListAll) {
+
+ List<Integer> rgvNoM = new ArrayList<>();
+ List<Integer> rgvNoR = new ArrayList<>();
+ int wrkMastRunCount = 0;
+ long devperimeter = 0L;
+ for (List<List<WrkMast>> wrkMastLists : wrkMastListAll) {
+ long rgvId = 0;
+ runRgv:
+ for (List<WrkMast> wrkMastList : wrkMastLists) {
+ for (WrkMast wrkMast : wrkMastList) {
+ while (rgvId <= rgvCount) {
+ rgvId++;
+// log.info("瀛樺湪浠诲姟锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(wrkMast));
+ if (rgvId > rgvCount) {
+ break runRgv;
+ }
+ BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", rgvId));
+ if (basCircularShuttle.getStatus() != 0){
+ continue ;
+ }
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 2L));
+ if (!wrkMasts.isEmpty()) {
+ continue;
+ }
+ if (rgvProtocol != null
+ && rgvProtocol.modeType == RgvModeType.AUTO
+ && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
+ && rgvProtocol.getTaskNo1() == 0
+ && rgvProtocol.getAlarm() == 0) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast.getSourceStaNo()));
+ if (basDevpPosition.getPlcPosition()>rgvProtocol.getRgvPos()){
+ if (basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos()>taskRunPerimeter){
+ if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
+ rgvNoM.add(rgvProtocol.getRgvNo());
+ if (wrkMastRunCount == 0){
+ devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
+ }
+ wrkMastRunCount++;
+ break;
+ }
+ continue ;
+ }
+ } else {
+ if (rgvProtocol.getRgvPos()+ perimeter -basDevpPosition.getPlcPosition()>taskRunPerimeter){
+ if (!rgvNoM.contains(rgvProtocol.getRgvNo())){
+ rgvNoM.add(rgvProtocol.getRgvNo());
+ if (wrkMastRunCount == 0){
+ devperimeter = basDevpPosition.getPlcPosition()-taskRunPerimeter+10000>perimeter? 10000:basDevpPosition.getPlcPosition()-taskRunPerimeter+10000;
+ }
+ wrkMastRunCount++;
+ break;
+ }
+ continue ;
+ }
+ }
+
+ if (rgvProtocol.getStatusType() == RgvStatusType.ROAM) {
+ double finalVelocity = 0.0; // 鏈�缁堥�熷害 (m/s)
+ double distance = (Math.pow(finalVelocity, 2) - Math.pow(rgvProtocol.instantaneousSpeed / 60, 2)) / (2 * acceleration);
+ if ((distance * proportion + (rgvProtocol.instantaneousSpeed / 60) * proportion * rgvDate) > (SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPosition.getPlcPosition(), rgvProtocol.getRgvPos(), perimeter) )) {
+// List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position", true));
+// if (basDevpPositions.isEmpty()) {
+// log.error("鑾峰彇鎵�鏈夌珯鐐逛俊鎭紓甯�,RGV浠诲姟涓嬪彂澶辫触锛岃鑱旂郴绠＄悊鍛橈紒锛侊紒");
+// break runRgv;
+// }
+// List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
+//
+// if (!SortTheExecutionOfTheCarUtil.calculateShortestDistanceDirection(devpList,rgvProtocol.getEndStaM(),wrkMast.getSourceStaNo())){
+ continue;
+// }
+ }
+ }
+
+ if (!rgvNoR.contains(rgvProtocol.getRgvNo())){
+ rgvNoR.add(rgvProtocol.getRgvNo());
+ } else {
+ continue ;
+ }
+
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
+ rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
+ rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue()); //宸ヤ綅1璧风偣
+ rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+ rgvCommand.setRgvSome(basCircularShuttle.getRgvSome()==1 ? (short) 1 : (short) 0);
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
+ //
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+ break runRgv;
+ }
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
+
+ wrkMast.setWrkSts(2L);
+ wrkMast.setRgvNo(rgvProtocol.getRgvNo());
+ Date now = new Date();
+ wrkMast.setAppeTime(now);
+ wrkMast.setCrnStrTime(now);
+ try {
+ wrkMastService.updateById(wrkMast);
+ break;
+ } catch (Exception e) {
+ log.error("鏇存柊灏忚溅浠诲姟澶辫触,浠诲姟鍙凤細" + wrkMast.getWrkNo());
+ }
+ break runRgv;
+ }
+ }
+ }
+ }
+ }
+ try{
+ for (Integer rgvNo : rgvNoM){
+ if (wrkMastRunCount==0){
+ break;
+ }
+ if (rgvNoR.contains(rgvNo)){
+ continue;
+ }
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ wrkMastRunCount--;
+ if (rgvProtocol != null
+ && rgvProtocol.modeType == RgvModeType.AUTO
+ && rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getTaskNo1() == 0
+ && rgvProtocol.getAlarm() == 0) {
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(5,devperimeter))) {
+ log.error("RGV婕父鍚姩鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvNo, "婕父鎸囦护");
+ break;
+ }
+ }
+ }
+ } catch (Exception e){
+
+ }
+ }
+
+ //浠诲姟瀹屾垚
+ public synchronized void rgvCompleteWrkMastSta(int[] autoZ) {
+ try {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ continue;
+ }
+ if (rgvProtocol.getStatusType() == RgvStatusType.WAITING) {
+ log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}", rgvProtocol.getRgvNo(), rgvProtocol.getStatusType(), rgvProtocol);
+ }
+ // 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
+ if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() != 0
+ ) {
+// log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
+ if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)) {
+ log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�" + wrkMast);
+ continue;
+ }
+ boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
+ if (!rgvComplete) {
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+ break;
+ }
+ wrkMast.setWrkSts(3L);
+ Date now = new Date();
+ wrkMast.setAppeTime(now);
+ wrkMast.setCrnEndTime(now);
+ try{
+ try{
+ if (reportSwitch){
+ RgvTaskReportingParam rgvTaskReportingParam = new RgvTaskReportingParam(wrkMast);
+ ReturnT<String> result = new PostMesDataUtils().postMesDataWcs(wmsUrl, wmsOutPath, rgvTaskReportingParam);
+ if (result.getCode()==200){
+ wrkMast.setWrkSts(4L);
+ wrkMast.setAppeTime(now);
+ wrkMastService.updateById(wrkMast);
+ continue;
+ }else {
+ log.error("宸ヤ綔鍙�"+wrkMast.getWrkNo()+"浠诲姟瀹屾垚淇℃伅涓婁紶澶勭悊澶辫触1");
+ }
+ } else {
+ //娴嬭瘯鐢�
+ wrkMast.setWrkSts(4L);
+ wrkMast.setAppeTime(now);
+ wrkMastService.updateById(wrkMast);
+ if (reportSwitchAuto) {
+ WrkMast wrkMast1 = new WrkMast();
+ int workNo = commonService.getWorkNo(0);
+ wrkMast1.setWrkNo((long) workNo);
+ wrkMast1.setSourceStaNo(wrkMast.getSourceNoCs(autoZ));
+ wrkMast1.setStaNo(wrkMast.getStaNoCs(autoZ));
+ wrkMast1.setWrkSts(1L);
+ wrkMast1.setIoType(1);
+ wrkMast1.setModiTime(now);
+ wrkMast1.setAppeTime(now);
+ wrkMast1.setMemo("娴嬭瘯鏁版嵁");
+ wrkMastService.insert(wrkMast1);
+ }
+ continue;
+ }
+ } catch (Exception e){
+ log.error("宸ヤ綔鍙�"+wrkMast.getWrkNo()+"浠诲姟瀹屾垚淇℃伅涓婁紶澶勭悊澶辫触锛屽紓甯镐俊鎭細"+e);
+ }
+ } catch (Exception e){}
+ wrkMastService.updateById(wrkMast);
+ }
+ }
+ } catch (Exception e) {
+ log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
+ }
+ }
+
+ /*
+ * 灏忚溅澶嶄綅
+ * */
+ public synchronized boolean rgvComplete(Integer rgvNo) {
+ try {
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(3, new RgvCommand()))) {
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}", rgvNo);
+ return false;
+ } else {
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}", rgvNo);
+ return true;
+ }
+ } catch (Exception e) {
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}銆傚紓甯革細" + e, rgvNo);
+ return false;
+ }
+ }
}
--
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