From bdf490f12fa38c99593fdace907fa5379cc04413 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期日, 07 一月 2024 15:17:42 +0800
Subject: [PATCH] #输送报警对接+回退
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 298 ++++++++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 271 insertions(+), 27 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 9d66bd9..4b31eb4 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -39,16 +39,14 @@
import com.zy.core.thread.LedThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
+import net.bytebuddy.asm.Advice;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
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.*;
import java.util.stream.Collectors;
/**
@@ -92,6 +90,8 @@
@Value("${wms.url}")
private String wmsUrl;
+ public short wrkNo = 10000;
+
/**
* 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
@@ -118,23 +118,51 @@
continue;
}
String barcode = barcodeThread.getBarcode();
- //9998閫�鍥烇紝9996绌烘澘
- if (!Cools.isEmpty(barcode) && (staProtocol.getWorkNo() != 9998 || staProtocol.getWorkNo() != 9996)) {
- 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)) {
- String errorMsg = "15绔欐壂鐮佸け璐ワ紝宸查��鍥�14绔�";
- staProtocol.setWorkNo((short) 9998);
- staProtocol.setStaNo((short) 14);
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- News.error(methodName + ":鎵爜澶辫触锛岃閲嶈瘯");
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
- }
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "";
+ if (staProtocol.isFrontErr()) {
+ errMsg = "鍓嶈秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isBackErr()) {
+ errMsg = "鍚庤秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isHighErr()) {
+ errMsg = "楂樿秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isLeftErr()) {
+ errMsg = "宸﹁秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isRightErr()) {
+ errMsg = "鍙宠秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isWeightErr()) {
+ errMsg = "瓒呴噸";
+ back = true;
+ }
+ if (!back && staProtocol.isBarcodeErr()) {
+ errMsg = "鎵爜澶辫触";
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+// News.warn("鎵爜鍏ュ簱澶辫触锛寋}鍏ュ簱绔欏洜{}寮傚父锛屾墭鐩樺凡琚��鍥�", inSta.getStaNo(), errMsg);
+ if (!staProtocol.isLoading()){
continue;
}
- } else {
- continue;
+ if (!staProtocol.isPakMk()) {
+ continue;
+ }
+ staProtocol.setWorkNo(wrkNo);
+ wrkNo++;
+ staProtocol.setStaNo(inSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
@@ -382,7 +410,7 @@
String barcode = barcodeThread.getBarcode();
if (!Cools.isEmpty(barcode) && (staProtocol.getWorkNo() != 9998 || staProtocol.getWorkNo() != 9996)) {
- log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), 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)) {
staProtocol.setWorkNo((short) 9998);
staProtocol.setStaNo((short) 14);
@@ -691,8 +719,230 @@
/**
* 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
+ * 鏍规嵁鍏ュ簱鏃堕棿杩涜鎺掑簭鍏ュ簱,鍚屼竴鍫嗗灈鏈哄厛鏌ヨ鎵�鏈夊伐浣滄。浠诲姟鍙凤紝鍐嶆牴鎹紭鍏堢骇銆佹椂闂存帓搴忥紝纭繚鍏堣繘鍏堝嚭
*/
public synchronized 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;
+ }
+ CrnThread crnThreadNow = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
+ CrnProtocol crnProtocolNow = crnThreadNow.getCrnProtocol();
+
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocolNow.getStatusType().equals(CrnStatusType.IDLE) || crnProtocolNow.getTaskNo() != 0) {
+ continue;
+ }
+
+ // 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.PAKIN); // 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�
+ log.error("1"+crnCommand+crnProtocol);
+ 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 {
+ System.err.println("鍏ュ簱鍒板簱浣嶅懡浠や笅鍙�");
+ // 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());
+ }
+ }
+ }
+
+ }
+
+ /**
+ * 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
+ * 鏍规嵁鍏ュ簱鏃堕棿杩涜鎺掑簭鍏ュ簱
+ */
+ public synchronized void crnStnToLoc2(CrnSlave slave, CrnProtocol crnProtocol) {
+ String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
+ List<WrkMast> wrkMasts= new ArrayList<>();
+ //鎸囬拡
+ int count=-1;
+ int i=0;
+
+ WrkMast wrkMast=null;
+ CrnSlave.CrnStn crnStn1=null;
+ 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(methodName + ":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;
+ // 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 = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
+ if (null == wrkMast) {
+// News.error("鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ continue;
+ }
+ //鎵撴搨鍙�
+ wrkMasts.add(wrkMast);
+ count++;
+ if(count==0) continue;
+ if(wrkMast.getWrkDate().getTime()<wrkMasts.get(i).getWrkDate().getTime() && wrkMast.getIoPri()>=wrkMasts.get(i).getIoPri())
+ i=count;
+ crnStn1=crnStn;
+ }
+ if (!flag) {
+ continue;
+ }
+ }
+
+
+ if(!Cools.isEmpty(wrkMasts)){
+ wrkMast=wrkMasts.get(i);
+ // 鑾峰彇搴撲綅淇℃伅
+ LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
+ if (locMast != null) {
+ if (locMast.getLocSts().equals("S") && locMast.getLocSts().equals("Q")) {
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() == 0) {
+ // 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) {
+ // 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) {
+// News.error(methodName + ":{}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) {
+// News.error(methodName + ":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�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
+// moveLocForDeepLoc(slave, shallowLoc);
+// // 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;
+// }
+// }
+// }
+ // 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(crnStn1.getRow().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(crnStn1.getBay().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(crnStn1.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(methodName + ":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) {
+ News.error(methodName + ":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());
+ }
+ }
+ }
+ }
+ }else News.error(methodName + ":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());
+ }else News.error(methodName + ":鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
+ }
+ }
+
+ public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
@@ -830,12 +1080,7 @@
public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
//鎸夌収宸ヤ綔妗ｅ嚭搴�
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
- .eq("crn_no", slave.getId())
- .and()
- .gt("io_type", 100)
- .orderBy("appe_time")
- );
+ List<WrkMast> wrkMasts = wrkMastService.selectWrkIoType(slave.getId());
if (!Cools.isEmpty(wrkMasts)) {
for (WrkMast wrkMast : wrkMasts) {
CrnSlave.CrnStn crnStn = null;
@@ -1399,7 +1644,6 @@
&& staProtocol.isLoading()
&& staProtocol.isInEnable()
&& staProtocol.isEmptyMk()
- && (staProtocol.getWorkNo() == 9996)
&& staProtocol.isPakMk()) {
try {
--
Gitblit v1.9.1