From cb2d5d9ac39efdb38d8a301f7396ac1ab171efc1 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期四, 09 五月 2024 21:49:11 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 991 ++++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 791 insertions(+), 200 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 ce2dfb3..d2181a2 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -24,21 +24,22 @@
import com.zy.common.utils.News;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
+import com.zy.core.RgvThread;
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.Task;
+import com.zy.core.model.*;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
+import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.CrnProtocol;
+import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
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.ZyRgvThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -46,6 +47,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
+import java.io.IOException;
import java.util.*;
import java.util.stream.Collectors;
@@ -86,9 +88,15 @@
private BasErrLogService basErrLogService;
@Autowired
private BasCrnErrorMapper basCrnErrorMapper;
+ @Autowired
+ private EmptyBarrelInService emptyBarrelInService;
+ @Autowired
+ private WrkMastStaService wrkMastStaService;
@Value("${wms.url}")
private String wmsUrl;
+
+ public int workNo = 9900;
/**
* 缁勬墭
@@ -106,10 +114,54 @@
}
String barcode = barcodeThread.getBarcode();
- ////鍒ゆ柇101鍜�104鏄惁鏄嫞鏂欍�佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
- WrkMast wrkMast1=wrkMastMapper.selectpj(inSta.getStaNo(),barcode);
- if((inSta.getStaNo().equals(101) || inSta.getStaNo().equals(104)) &&!Cools.isEmpty(barcode)&&!Cools.isEmpty(wrkMast1)){
- log.error("101鎴�104鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱", wrkMast1.getWrkNo());
+
+
+ // 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();
+ }
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "寮傚父锛�";
+ if (staProtocol.isFrontErr()) {
+ errMsg = errMsg+"鍓嶈秴闄愶紱";
+ back = true;
+ }
+ if (staProtocol.isBackErr()) {
+ errMsg = errMsg+"鍚庤秴闄�";
+ back = true;
+ }
+ if (staProtocol.isHighErr()) {
+ errMsg = errMsg+"楂樿秴闄�";
+ back = true;
+ }
+ if (staProtocol.isLeftErr()) {
+ errMsg = errMsg+"宸﹁秴闄�";
+ back = true;
+ }
+ if (staProtocol.isRightErr()) {
+ errMsg = errMsg+"鍙宠秴闄�";
+ back = true;
+ }
+ if (staProtocol.isWeightErr()) {
+ errMsg = errMsg+"瓒呴噸";
+ back = true;
+ }
+ if (staProtocol.isBarcodeErr()) {
+ errMsg = errMsg+"鎵爜澶辫触";
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ if (ledThread != null) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
+ }
continue;
}
@@ -127,24 +179,6 @@
// }
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() == 101 && devpThread.ioModeOf1F1 == IoModeType.PAKOUT_MODE) {
- continue;
- }
- if (inSta.getStaNo() == 104 && devpThread.ioModeOf1F2 == IoModeType.PAKOUT_MODE) {
- continue;
- }
-
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing()
&& staProtocol.isLoading()
@@ -161,13 +195,13 @@
String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
}
- staProtocol.setWorkNo((short)9999);
- staProtocol.setStaNo((short)(staProtocol.getStaNo()-1));
- 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");
- }
+// staProtocol.setWorkNo((short)9999);
+// staProtocol.setStaNo((short)(staProtocol.getStaNo()-1));
+// 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;
}
@@ -194,7 +228,6 @@
param.setIoType(1);
param.setSourceStaNo(inSta.getStaNo());
param.setLocType1(locTypeDto.getLocType1());
- param.setFull(staProtocol.isFull());
String response = new HttpHandler.Builder()
.setUri(wmsUrl)
.setPath("/rpc/pakin/loc/v1")
@@ -216,11 +249,18 @@
throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
}
} else if(jsonObject.getInteger("code").equals(700)) {
- staProtocol.setWorkNo((short) 9999);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// staProtocol.setWorkNo((short) 9999);
+// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// // led 寮傚父鏄剧ず
+// if (ledThread != null) {
+// String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+// }
+ log.error(barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒");
// led 寮傚父鏄剧ず
+ ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
if (ledThread != null) {
String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
@@ -229,71 +269,11 @@
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();
}
-
}
-
}
}
@@ -397,7 +377,7 @@
&& staProtocol.isLoading()
&& staProtocol.isInEnable()
&& staProtocol.isPakMk()
- && staProtocol.getWorkNo() == 9991) {
+ && staProtocol.getWorkNo() == 9999) {
// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
if (barcode.equals("") || barcode.equals("99999999")) {
@@ -417,8 +397,9 @@
continue;
}
- WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
- ledThread.errorReset();
+// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode));
+
if (wrkMast == null) {
wrkMast = wrkMastMapper.selectPickStep(barcode);
}
@@ -502,6 +483,8 @@
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());
+ }else {
+ ledThread.errorReset();
}
}
@@ -516,6 +499,9 @@
*/
public synchronized void crnStnToOutStn() {
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+ if (crnSlave.getId() ==5){
+ continue;
+ }
// 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
@@ -549,16 +535,23 @@
&& 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;
+ if (crnProtocol.getCrnNo() !=5){
+ // 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);
+
+ if (crnStn.getStaNo() == 1016 || crnStn.getStaNo() == 1019) {
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负13.RGV鎼繍涓�
+ wrkMast.setWrkSts(13L);
+ }else {
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14
+ wrkMast.setWrkSts(14L);
+ }
wrkMast.setCrnEndTime(new Date());
if (wrkMastMapper.updateById(wrkMast) != 0) {
// 澶嶄綅鍫嗗灈鏈�
@@ -579,6 +572,9 @@
*/
public synchronized void crnIoExecute() {
for (CrnSlave crn : slaveProperties.getCrn()) {
+ if (crn.getId() == 5){
+ continue;
+ }
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
@@ -602,6 +598,9 @@
// 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
if (crnProtocol.getLastIo().equals("I")) {
if (basCrnp.getInEnable().equals("Y")) {
+ if (crn.getId() == 5){
+ continue;
+ }
this.crnStnToLoc(crn, crnProtocol); // 鍏ュ簱
crnProtocol.setLastIo("O");
} else if (basCrnp.getOutEnable().equals("Y")) {
@@ -615,6 +614,10 @@
this.locToCrnStn(crn, crnProtocol); // 鍑哄簱
crnProtocol.setLastIo("I");
} else if (basCrnp.getInEnable().equals("Y")) {
+ if (crn.getId() == 5){
+ continue;
+ }
+
this.crnStnToLoc(crn, crnProtocol); // 鍏ュ簱
crnProtocol.setLastIo("O");
}
@@ -738,15 +741,6 @@
continue;
}
- //鍒ゆ柇鍫嗗灈鏈哄拰褰撳墠浠诲姟鏄惁澶勪簬涓�涓贩閬�
- if (Utils.getLaneByLocNo(wrkMast.getLocNo()) != crnProtocol.getCrnLane()) {
- //鍒ゆ柇鍫嗗灈鏈烘墍鍦ㄥ贩閬撴槸鍚﹀瓨鍦ㄥ叾浠栦换鍔★紝濡傚瓨鍦ㄥ垯浼樺厛鎵ц
- List<WrkMast> wrkMasts = wrkMastService.selectLaneWrkMast(crnProtocol.getCrnLane(), true);
- if (!wrkMasts.isEmpty()) {
- continue;//褰撳墠鍫嗗灈鏈烘墍鍦ㄥ贩閬撳瓨鍦ㄤ换鍔�
- }
- }
-
// 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());
@@ -865,14 +859,6 @@
staProtocol = staProtocol.clone();
}
-// // 鍏ュ嚭搴撴ā寮忓垽鏂�
- if (wrkMast.getStaNo() == 100 && devpThread.ioModeOf1F1 != IoModeType.PAKOUT_MODE) {
- continue;
- }
- if (wrkMast.getStaNo() == 103 && devpThread.ioModeOf1F2 != IoModeType.PAKOUT_MODE) {
- continue;
- }
-
// 鏌ヨ绔欑偣璇︾粏淇℃伅
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
if (staDetl == null) {
@@ -897,7 +883,7 @@
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);
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(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 {
@@ -928,7 +914,7 @@
log.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛佹祬搴撲綅鍙�:{}", wrkMast.getWrkNo(), shallowLocNo);
continue;
} else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
- WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
if (null != waitWrkMast && (waitWrkMast.getWrkSts() == 4 || waitWrkMast.getWrkSts() == 5)) {
continue;
}
@@ -939,15 +925,6 @@
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
break;
// return;
- }
-
- //鍒ゆ柇鍫嗗灈鏈哄拰褰撳墠浠诲姟鏄惁澶勪簬涓�涓贩閬�
- if (Utils.getLaneByLocNo(wrkMast.getLocNo()) != crnProtocol.getCrnLane()) {
- //鍒ゆ柇鍫嗗灈鏈烘墍鍦ㄥ贩閬撴槸鍚﹀瓨鍦ㄥ叾浠栦换鍔★紝濡傚瓨鍦ㄥ垯浼樺厛鎵ц
- List<WrkMast> laneWrkMasts = wrkMastService.selectLaneWrkMast(crnProtocol.getCrnLane(), false);
- if (!laneWrkMasts.isEmpty()) {
- continue;//褰撳墠鍫嗗灈鏈烘墍鍦ㄥ贩閬撳瓨鍦ㄤ换鍔�
- }
}
// 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
@@ -1342,6 +1319,7 @@
// 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());
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
if (staProtocol == null) {
continue;
} else {
@@ -1352,6 +1330,13 @@
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
&& staProtocol.isEmptyMk() && (staProtocol.getWorkNo() >= 9990
&& staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ .eq("sta_no", emptyInSta.getStaNo())
+ .eq("io_type", 10)
+ .eq("wrk_sts", 2));
+ if (!Cools.isEmpty(wrkMasts)){
+ continue;
+ }
try {
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -1368,7 +1353,7 @@
JSONObject jsonObject = JSON.parseObject(response);
if (jsonObject.getInteger("code").equals(200)) {
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
-
+ ledThread.errorReset();
// 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());
@@ -1384,60 +1369,6 @@
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();
-// }
}
@@ -1563,7 +1494,7 @@
// 鑾峰彇鍙夎溅绔欑偣
StaProtocol staProtocol = devpThread.getStation().get(staNo);
if (staProtocol == null) { continue; }
- if (staProtocol.getWorkNo() != 0) {
+ if (staProtocol.getWorkNo() != 0 || staProtocol.isErr()) {
reset = false;
break;
}
@@ -2104,17 +2035,677 @@
}
- public synchronized void outOfDevp() {
- List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
- for (WrkMast wrkMast : wrkMasts) {
- if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
- wrkMast.setCtnNo("Y");
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼{}宸ヤ綔妗ｅけ璐ワ紝ctn_no", wrkMast.getWrkNo());
+
+
+
+
+
+
+ /**
+ * 鎵弿纰熺洏鏈鸿嚜鍔ㄥ叆搴撶┖鎵樼洏
+ */
+ public synchronized void autoEmptyIn() {
+ for (DevpSlave slave : slaveProperties.getDevp()) {
+ for (DevpSlave.Sta sta : slave.getAutoEmptyIn()) {
+ // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, slave.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ // 绔欑偣鏉′欢鍒ゆ柇
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
+ && staProtocol.isEmptyInPalletRequire() && staProtocol.getWorkNo() == 0) {
+ List<StaDesc> staDescs = staDescService.selectList(new EntityWrapper<StaDesc>().eq("type_no", 10).eq("stn_no", sta.getStaNo()));
+ for (StaDesc staDesc:staDescs){
+
+ BasDevp basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", staDesc.getCrnStn()));
+
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("crn_no", staDesc.getCrnNo()).gt("io_type", 100));
+ if (!Cools.isEmpty(wrkMast)){
+ continue;
+ }
+
+ if (basDevp.getAutoing().equals("Y") && basDevp.getLoading().equals("N")
+ && basDevp.getWrkNo() == 0 && basDevp.getCanining().equals("Y")){
+// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ staProtocol.setWorkNo((short) 9997);
+ staProtocol.setStaNo(basDevp.getDevNo().shortValue());
+// staProtocol.setStaNo((short) 1013);
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
+ if (!result) {
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ }
+ return;
+ }
+
+ }
+
+
+// try {
+// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+//
+// SearchLocParam param = new SearchLocParam();
+// param.setIoType(10);
+// param.setSourceStaNo(sta.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, devpThread.getSlave().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();
+// }
+ }
+ }
+ }
+ }
+
+ /**
+ * 鎵弿鎷嗙洏鏈鸿嚜鍔ㄥ嚭搴撶┖鎵樼洏
+ */
+ public synchronized void autoEmptyOut() {
+ for (DevpSlave slave : slaveProperties.getDevp()) {
+ for (DevpSlave.Sta sta : slave.getAutoEmptyOut()) {
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, slave.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo());
+ if (staProtocol == null) {
+ return;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ if (staProtocol.isAutoing() //鑷姩
+ && !staProtocol.isLoading() //鏃犵墿
+ && staProtocol.isEmptyOutPalletRequire() //绌烘墭鐩橀渶姹備俊鍙�
+// && staProtocol.isEmptyMk()
+ && staProtocol.getWorkNo() == 0
+ ) {
+ WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(sta.getStaNo());
+ if (null != pakoutEmpty) {
+ return;
+ }
+ List<StaDesc> staDescs = staDescService.selectList(new EntityWrapper<StaDesc>().eq("stn_no", sta.getStaNo()));
+ for (StaDesc staDesc: staDescs){
+ BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", staDesc.getCrnNo()));
+ if (!basCrnp.getCrnSts().equals(3) || basCrnp.getCrnErr() != 0){
+ continue;
+ }
+ try {
+ HashMap<String, Object> map = new HashMap<>();
+ map.put("crnNo", staDesc.getCrnNo());//鐩爣绔�
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setParams(map)
+ .setPath("/rpc/auto/emptyOut/v1")
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ JSONObject data = (JSONObject) jsonObject.get("data");
+ log.info((String) data.get("msg"));
+ return;
+ } 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/auto/emptyOut/v1","", response);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+
}
}
}
+
+ }
+
+ public synchronized void crn5InTask(){
+ for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+ if (crnSlave.getId() != 5){
+ continue;
+ }
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ continue;
+ }
+ BasCrnp basCrnp = basCrnpService.selectById(crnSlave.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�", crnSlave.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
+ && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
+
+// Crn5InTaskSta(crnSlave,crnProtocol);
+
+ // 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.Crn5InTaskSta(crnSlave,crnProtocol);
+ crnProtocol.setLastIo("O");
+ } else if (basCrnp.getOutEnable().equals("Y")) {
+ this.locToCrn5Stn(crnSlave, 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.locToCrn5Stn(crnSlave, crnProtocol); // 鍑哄簱
+ crnProtocol.setLastIo("I");
+ } else if (basCrnp.getInEnable().equals("Y")) {
+
+ this.Crn5InTaskSta(crnSlave,crnProtocol);
+ crnProtocol.setLastIo("O");
+ }
+ }
+
+ }
+
+ }
+ }
+ public void Crn5InTaskSta(CrnSlave slave, CrnProtocol crnProtocol){
+ for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
+ // 鏌ヨ宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastMapper.selectCrn5Task2();
+ if (wrkMast == null) {
+ return;
+ }
+ // 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());
+ return;
+ }
+ 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());
+ return;
+ }
+ // 鍫嗗灈鏈烘帶鍒惰繃婊�
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+ 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()==9?(short)4:(short)5); // 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�
+ crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 璐х墿绫诲瀷
+ 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� 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());
+ }
+ }
+ }
+
+
+
+
+ }
+
+
+ public synchronized void crn5StnToOutStn() {
+ for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+ if (crnSlave.getId() != 5){
+ continue;
+ }
+ // 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.isInEnable()) {
+ // 鏌ヨ宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(crnStn.getStaNo());
+ 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) {
+
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14
+ 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());
+ }
+
+ }
+
+// }
+ }
+ }
+ }
+
+
+ public synchronized void locToCrn5Stn(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());
+ List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
+ // 鑾峰彇宸ヤ綔鐘舵�佷负14鐨勫伐浣滄。
+ WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep14(slave.getId(), crnStn.getStaNo());
+ if ( wrkMast1 !=null) {
+ continue;
+ }
+ for (WrkMast wrkMast : wrkMasts) {
+ 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 locMast = locMastService.selectById(wrkMast.getSourceLocNo());
+ if (!locMast.getLocSts().equals("R") && !locMast.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(), locMast.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) {
+ break;
+// 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("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());
+ break;
+// continue;
+ }
+ // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && 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;
+ break;
+ }
+
+
+ // 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) {
+ break;
+// 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(locMast.getRow1()==9?(short)4:(short)5); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(locMast.getBay1().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(locMast.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�
+ crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 璐х墿绫诲瀷
+ 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());
+ }
+ break;
+ }
+ }
+ }
+ }
+ }
+
+ public synchronized void crn5TaskCreate() throws IOException {
+ for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+ if (crnSlave.getId() != 5){
+ continue;
+ }
+ for (CrnSlave.CrnStn crnStn : crnSlave.getCrnInStn()) {
+ // 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) {
+ break;
+// continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){
+
+ EmptyBarrelIn emptyBarrelIn = emptyBarrelInService.selectOne(new EntityWrapper<>());
+ if (Cools.isEmpty(emptyBarrelIn)){
+ continue;
+ }
+
+ FullStoreParam fullStoreParam = new FullStoreParam();
+ fullStoreParam.setDevpNo(crnStn.getStaNo());
+ FullStoreParam.MatCodeStore matCodeStore = new FullStoreParam.MatCodeStore();
+ matCodeStore.setMatnr(emptyBarrelIn.getMatnr());
+ matCodeStore.setBatch(emptyBarrelIn.getBatch());
+ if (staProtocol.isForce()){
+ log.info("绌烘《寮哄埗鍏ュ簱锛�"+staProtocol.getAmount());
+ matCodeStore.setAnfme(Double.valueOf(staProtocol.getAmount()));
+ }else {
+ matCodeStore.setAnfme(8d) ;
+ }
+ ArrayList<FullStoreParam.MatCodeStore> matCodeStores = new ArrayList<>();
+ matCodeStores.add(matCodeStore);
+ fullStoreParam.setList(matCodeStores);
+ try {
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/full/store/put/start")
+ .setJson(JSON.toJSONString(fullStoreParam))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ devpThread.setPakMk(crnStn.getStaNo(),false);
+ }
+ }catch (CoolException e){
+
+ }
+
+ }
+
+ }
+ }
+ }
+
+ public synchronized void RGVTaskPut(){
+ for (RgvSlave rgvSlave:slaveProperties.getRgv()){
+ ZyRgvThread rgvThread = (ZyRgvThread)SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (Cools.isEmpty(rgvProtocol)){
+ continue;
+ }else {
+ rgvProtocol = rgvProtocol.clone();
+ }
+ if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getLoaded1() == 0){
+ boolean work1 = false;
+ boolean work2 = false;
+ int workNo1 = 0;
+ int workNo2 = 0;
+ short souSta1 = 0;
+ short sta1 = 0;
+ short souSta2 = 0;
+ short sta2 = 0;
+
+ //宸ヤ綅涓�浠诲姟
+ for (RgvSlave.Sta inStn : rgvSlave.getInStn()){
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
+ if (staProtocol == null) {
+ break;
+// continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){
+ if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() <9900){
+ WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
+ if (Cools.isEmpty(wrkMast)){
+ log.error("鏈壘鍒板伐浣滄。");
+ continue;
+ }
+ workNo1 = wrkMast.getWrkNo();
+ souSta1 = Utils.getRgvStaNo(rgvSlave.getId(),wrkMast.getSourceStaNo());
+ sta1 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
+ work1 = true;
+ devpThread.setPakMk(inStn.getSourceStaNo(),false);
+ break;
+ }
+ workNo1 = workNo++;
+ souSta1 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getSourceStaNo());
+ sta1 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getStaNo());
+ work1 = true;
+ devpThread.setPakMk(inStn.getSourceStaNo(),false);
+ break;
+ }
+ }
+
+
+ //宸ヤ綅浜屼换鍔�
+ for (RgvSlave.Sta inStn : rgvSlave.getInStn()){
+ if (souSta1 == inStn.getSourceStaNo()){
+ continue;
+ }
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
+ if (staProtocol == null) {
+ break;
+// continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()&& staProtocol.isPakMk()){
+ if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() <9900){
+ WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
+ if (Cools.isEmpty(wrkMast)){
+ log.error("鏈壘鍒板伐浣滄。");
+ continue;
+ }
+ workNo2 = wrkMast.getWrkNo();
+ souSta2 = inStn.getSourceStaNo().shortValue();
+ sta2 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
+ work2 = true;
+ devpThread.setPakMk(inStn.getSourceStaNo(),false);
+ break;
+ }
+ workNo2 = workNo++;
+ souSta2 = inStn.getSourceStaNo().shortValue();
+ sta2 = inStn.getStaNo().shortValue();
+ work2 = true;
+ devpThread.setPakMk(inStn.getSourceStaNo(),false);
+ break;
+ }
+ }
+
+ if (work1 || work2){
+ //rgv浠诲姟涓嬪彂--------------------------------------------------------------
+ RgvCommand command = new RgvCommand();
+ command.setRgvNo(rgvSlave.getId()); // RGV缂栧彿
+ //宸ヤ綅1
+ command.setTaskNo1(workNo1); // 宸ヤ綔鍙�
+ command.setSourceStaNo1(souSta1); // 婧愮珯
+ command.setDestinationStaNo1(sta1); // 鐩爣绔�
+ command.setAckFinish1(false); // 浠诲姟瀹屾垚纭浣�
+
+ //宸ヤ綅2
+ command.setTaskNo2(workNo2); // 宸ヤ綔鍙�
+ command.setSourceStaNo2(souSta2); // 婧愮珯
+ command.setDestinationStaNo2(sta2); // 鐩爣绔�
+ command.setAckFinish2(false); // 浠诲姟瀹屾垚纭浣�
+
+ if (workNo1 == 0 && workNo2 !=0){
+ command.setTaskMode(RgvTaskModeType.FETCH_PUT2); // 浠诲姟妯″紡: 鍙栨斁璐�
+ } else if (workNo1 != 0 && workNo2 ==0) {
+ command.setTaskMode(RgvTaskModeType.FETCH_PUT1); // 浠诲姟妯″紡: 鍙栨斁璐�
+ }else {
+ command.setTaskMode(RgvTaskModeType.FETCH_PUT_ALL); // 浠诲姟妯″紡: 鍙栨斁璐�
+ }
+ command.setCommand(false);
+ rgvTaskSave(command);
+ MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(2, command));
+ log.info("rgv浠诲姟涓嬪彂锛�"+JSON.toJSONString(command));
+ }
+ }
+
+
+
+
+
+ }
+ }
+
+
+ public synchronized void RGVTaskOver() {
+ for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (Cools.isEmpty(rgvProtocol)){
+ continue;
+ }else {
+ rgvProtocol = rgvProtocol.clone();
+ }
+
+ //宸ヤ綅涓�浠诲姟瀹屾垚
+ if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING && rgvProtocol.getLoaded1() == 1) {
+ WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo1());
+ if (Cools.isEmpty(wrkMastSta)){
+ log.error("鏈煡璇㈠埌rgv宸ヤ綔浠诲姟锛宺gv缂栧彿{},宸ヤ綔鍙穥}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
+ continue;
+ }
+ for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getSourcePlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(outStn.getSourceStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk()){
+// staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+// staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ if (!MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol))) {
+ continue;
+ }
+ }
+
+ }
+
+ MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(3,new RgvCommand()));
+ log.info("{}鍙穜gv宸ヤ綅涓�宸ヤ綔瀹屾垚澶嶄綅,宸ヤ綔鍙�:{}",rgvSlave.getId(),wrkMastSta.getWrkNo());
+ }
+
+ //宸ヤ綅浜屼换鍔″畬鎴�
+ if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING2 && rgvProtocol.getLoaded1() == 1) {
+ WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo2());
+ if (Cools.isEmpty(wrkMastSta)){
+ log.error("鏈煡璇㈠埌rgv宸ヤ綔浠诲姟锛宺gv缂栧彿{},宸ヤ綔鍙穥}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
+ continue;
+ }
+ for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getSourcePlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(outStn.getSourceStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk()){
+// staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+// staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ if (!MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol))) {
+ continue;
+ }
+ }
+
+ }
+
+ MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(4,new RgvCommand()));
+ log.info("{}鍙穜gv宸ヤ綅浜屽伐浣滃畬鎴愬浣�,宸ヤ綔鍙�:{}",rgvSlave.getId(),wrkMastSta.getWrkNo2());
+ }
+ }
+ }
+
+ public boolean rgvTaskSave(RgvCommand command){
+ Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", command.getRgvNo()).eq("wrk_no", command.getTaskNo1());
+ WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
+ if (!Cools.isEmpty(wrkMastSta1)){
+ wrkMastStaService.delete(wrkMastStaWrapper);
+ }
+ WrkMastSta wrkMastSta = new WrkMastSta();
+ wrkMastSta.setWrkNo(Long.valueOf(command.getTaskNo1()));
+ wrkMastSta.setWrkNo2(Long.valueOf(command.getTaskNo2()));
+ wrkMastSta.setWrkStart(command.getSourceStaNo1().intValue());
+ wrkMastSta.setWrkEnd(command.getDestinationStaNo1().intValue());
+ wrkMastSta.setStaStart(command.getSourceStaNo2().intValue());
+ wrkMastSta.setStaEnd(command.getDestinationStaNo2().intValue());
+ wrkMastSta.setWrkSts(1);
+ Date now = new Date();
+ wrkMastSta.setCreateTime(now);
+ wrkMastSta.setUpdateTime(now);
+ wrkMastSta.setWrkCrn(command.getRgvNo());
+ wrkMastSta.setWrkType(command.getTaskMode().intValue());
+ return wrkMastStaService.insert(wrkMastSta);
}
}
--
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