From c38c9d4ccc288c19a9a637ef022078016fcf38a0 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 11 八月 2020 12:47:56 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 428 ++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 422 insertions(+), 6 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 8ccdcaa..ff24995 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1,35 +1,76 @@
package com.zy.asrs.service.impl;
+import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
+import com.core.exception.CoolException;
+import com.zy.asrs.entity.*;
+import com.zy.asrs.mapper.WaitPakinMapper;
+import com.zy.asrs.mapper.WrkMastMapper;
+import com.zy.asrs.service.*;
+import com.zy.common.model.StartupDto;
+import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
+import com.zy.core.enums.CrnStatusType;
import com.zy.core.enums.SlaveType;
+import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
+import com.zy.core.model.Task;
+import com.zy.core.model.command.CrnCommand;
+import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
+import com.zy.core.thread.CrnThread;
import com.zy.core.thread.DevpThread;
+import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.jdbc.core.JdbcTemplate;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
+
+import java.util.Date;
+import java.util.List;
+import java.util.stream.Collectors;
/**
* Created by vincent on 2020/8/6
*/
+@Slf4j
@Service("mainService")
public class MainServiceImpl {
@Autowired
+ private CommonService commonService;
+ @Autowired
private SlaveProperties slaveProperties;
+ @Autowired
+ private WrkMastMapper wrkMastMapper;
+ @Autowired
+ private WrkDetlService wrkDetlService;
+ @Autowired
+ private WaitPakinMapper waitPakinMapper;
+ @Autowired
+ private LocMastService locMastService;
+ @Autowired
+ private StaDescService staDescService;
+ @Autowired
+ private BasCrnpService basCrnpService;
+ @Autowired
+ private BasDevpService basDevpService;
+ @Autowired
+ private JdbcTemplate jdbcTemplate;
/**
- * 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
+ * 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
*/
@Transactional
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.InSta inSta : devp.getInSta()) {
+ for (DevpSlave.Sta inSta : devp.getInSta()) {
// 鑾峰彇鏉＄爜
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
String barcode = barcodeThread.getBarcode();
@@ -38,17 +79,392 @@
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInreq1()
- && !staProtocol.isEmptyMk() && staProtocol.isInreq1() && staProtocol.getWorkNO() ==0
- && !Cools.isEmpty(barcode)) {
- // 鐢熸垚宸ヤ綔妗�
+ && !staProtocol.isEmptyMk() && staProtocol.isInreq1() && staProtocol.getWorkNo() ==0
+ && staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
+ if (wrkMast != null) {
+ log.warn("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负1鐨勬暟鎹�,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("barcode", barcode));
+ // 宸ヤ綔鍙�
+ int workNo = commonService.getWorkNo(0);
+ // 妫�绱㈠簱浣�
+ List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
+ StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos);
+ String locNo = startupDto.getLocNo();
+ if (!waitPakins.isEmpty()) {
+ // 鎻掑叆宸ヤ綔鏄庣粏妗�
+ wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);
+ } else {
+ log.warn("鏃犳鍏ュ簱鏉＄爜鏁版嵁---{}", barcode);
+ continue;
+ }
+
+ // 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");
+// 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�");
+ }
+
+ // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ barcodeThread.setBarcode("");
+ staProtocol.setWorkNo(workNo);
+ staProtocol.setStaNo(startupDto.getStaNo());
+ staProtocol.setPakMk(false);
+ staProtocol.setInreq1(false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task<>(4, staProtocol));
+ if (!result) {
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ }
}
}
-
}
}
+
+ /**
+ * 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
+ */
+ public void stnToCrnStnPick(){
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta pickSta : devp.getPickSta()) {
+ // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
+
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInreq1()
+ && staProtocol.getWorkNo() > 0 && staProtocol.isPakMk()){
+ WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
+ if (wrkMast == null) {
+ // 鏃犳嫞鏂欐暟鎹�
+ continue;
+ }
+ if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 1070)
+ || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
+ continue;
+ }
+ // 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�");
+ }
+ // 鑾峰彇鐩爣绔�
+ Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
+ .eq("type_no", wrkMast.getIoType() - 50)
+ .eq("stn_no", wrkMast.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)) {
+ throw new CoolException("鍏ュ簱璺緞涓嶅瓨鍦�");
+ }
+ // 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�");
+ }
+
+ // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(wrkMast.getStaNo());
+ staProtocol.setPakMk(false);
+ staProtocol.setInreq1(false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task<>(4, staProtocol));
+ if (!result) {
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ }
+
+ }
+
+ }
+
+ }
+ }
+
+ /**
+ * 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
+ */
+ public void crnStnToOutStn() {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta outSta : devp.getOutSta()) {
+ // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(outSta.getStaNo());
+ 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;
+ }
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触 todo:luxiaotao
+ if (crnProtocol.mode == 3 && crnProtocol.getTaskNo() == wrkMast.getWrkNo()
+ && crnProtocol.statusType == CrnStatusType.IDLE
+ && crnProtocol.forkPos==0) {
+ wrkMast.setWrkSts(14L);
+ wrkMast.setCrnEndTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ throw new CoolException("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛屽伐浣滃彿"+wrkMast.getWrkNo());
+ }
+ }
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+
+ // 1.澶嶄綅鍫嗗灈鏈� 鏇存柊鍫嗗灈鏈轰俊鎭� 涓� 涓嬪彂plc鍛戒护 todo:luxiaotao
+ crnProtocol.setStatus(CrnStatusType.IDLE);
+ crnProtocol.setTaskNo((short)0);
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task<>(4, crnProtocol))) {
+ throw new CoolException("鏇存柊鍫嗗灈鏈轰俊鎭け璐�");
+ }
+
+ // 2.涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(wrkMast.getStaNo());
+ if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task<>(4, staProtocol))) {
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ }
+ }
+ }
+ }
+ }
+
+ /**
+ * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈虹珯鍒板簱浣� 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
+ */
+ public 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();
+ BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
+ if (basCrnp == 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) {
+ // 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); // 鍏ュ簱
+ crnProtocol.setLastIo("O");
+ } else if (basCrnp.getOutEnable().equals("Y")) {
+ this.locToCrnStn(crn); // 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); // 鍑哄簱
+ crnProtocol.setLastIo("I");
+ } else if (basCrnp.getInEnable().equals("Y")) {
+ this.crnStnToLoc(crn); // 鍏ュ簱
+ crnProtocol.setLastIo("O");
+ }
+ }
+ }
+ // 搴撲綅绉昏浆
+ this.locToLoc();
+
+ }
+ }
+
+ /**
+ * 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
+ */
+ private void crnStnToLoc(CrnSlave slave){
+ 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());
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ log.error("鍏ュ簱搴� ===>> 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 && 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());
+ 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;
+ }
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, slave.getId());
+// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+ crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 鎺�
+ crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鍒�
+ crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 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));
+ }
+ }
+ }
+
+ /**
+ * 鍑哄簱 ===>> 搴撲綅鍒板爢鍨涙満绔�
+ */
+ private void locToCrnStn(CrnSlave slave){
+ 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());
+ 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
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+ // 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().equals("Y")
+ && staProtocol.getWorkNo() == 0) {
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+ crnCommand.setAckFinish((short) 1); // 浠诲姟瀹屾垚纭浣�
+
+ 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));
+ }
+ }
+ }
+ }
+
+ /**
+ * 搴撲綅绉昏浆
+ */
+ private void locToLoc(){
+
+ }
+
+ /**
+ * 鎵ц瀵瑰伐浣滄。鐨勫叆搴撳畬鎴�
+ */
+ 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();
+
+ }
+ }
+
+ /**
+ * 鏇存柊鍫嗗灈鏈虹Щ鍔ㄦ椂宸ヤ綔妗ｇ姸鎬�
+ */
+ public void updateCrnMove() {
+ 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();
+ // todo
+ if (crnProtocol.getStatusType() == CrnStatusType.FETCH_POSITION) {
+
+ WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
+
+
+ }
+
+
+ }
+ }
}
--
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