From ccc39836716ba323c946cddc78a62049731ebb46 Mon Sep 17 00:00:00 2001
From: dubin <bindu_bean@163.com>
Date: 星期二, 07 十月 2025 08:43:33 +0800
Subject: [PATCH] 联调
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 1409 ++++++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 1,030 insertions(+), 379 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 44d3135..1af808d 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -4,6 +4,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
+import com.baomidou.mybatisplus.plugins.Page;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.exception.CoolException;
@@ -26,7 +27,10 @@
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
-import com.zy.core.model.*;
+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.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.command.RgvCommand;
@@ -94,13 +98,16 @@
private WrkMastService wrkMastService;
@Autowired
private BasRgvMapService basRgvMapService;
+ @Autowired
+ private BasCrnOptService crnOptService;
@Value("${wms.url}")
private String wmsUrl;
@Value("${wcs-slave.isToOrigin}")
private boolean isToOrigin;
- public Integer wrkNo = 10000;
+ public Integer wrkNo = 9998;
+ public Integer emptyWrkNo = 9999;
/**
* 缁勬墭
@@ -150,7 +157,7 @@
errMsg = "鍙宠秴闄�";
back = true;
}
- if (!back && staProtocol.getWeight() > 1000) {
+ if (!back && staProtocol.isWeightErr()) {
errMsg = "瓒呴噸鎴栨湭璇诲彇";
back = true;
}
@@ -158,20 +165,10 @@
errMsg = "鎵爜澶辫触";
back = true;
}
-// if(staProtocol.getWeight() <= 0 ){
-// continue;
-// }
-// if (!back && staProtocol.getWeight() == 0.0) {
-// errMsg = "閲嶉噺鑾峰彇澶辫触";
-// back = true;
-// }
-
-// News.info("{}閲嶉噺", staProtocol.getWeight());
// 閫�鍥�
- if (back) {
+ if (back && !staProtocol.isEmptyMk()) {
log.info("errmsg: " + errMsg);
-// 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);
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
if (!staProtocol.isLoading()) {
@@ -180,68 +177,46 @@
if (!staProtocol.isPakMk()) {
continue;
}
- staProtocol.setWorkNo(wrkNo);
+ if (!staProtocol.isInEnable()){
+ continue;
+ }
+ staProtocol.setWorkNo(wrkNo);//閫�鍥� 宸ヤ綔鍙�:9998
News.info("{}PLC鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg, wrkNo);
- wrkNo++;
staProtocol.setStaNo(inSta.getBackSta().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- log.error("杈撻�佺嚎涓嬪彂1锛�" + wrkNo + "," + inSta.getBackSta());
+ log.error("杈撻�佺嚎涓嬪彂锛堝叆搴擄級锛�" + wrkNo + "," + inSta.getBackSta());
+ break;//瓒呴檺鎵樼洏閫�鍥炰笉鐢熸垚宸ヤ綔妗�
}
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing()
- && staProtocol.isLoading()
- && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk()
- && staProtocol.isPakMk()) {
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && staProtocol.isPakMk() && staProtocol.getWorkNo() > 9990) {
if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
staProtocol.setWorkNo(wrkNo);
News.info("{}barcode鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg, wrkNo);
- wrkNo++;
staProtocol.setStaNo(inSta.getBackSta().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- log.error("杈撻�佺嚎涓嬪彂1锛�" + wrkNo + "," + inSta.getBackSta());
+ log.error("杈撻�佺嚎涓嬪彂锛堝叆搴擄級锛�" + wrkNo + "," + inSta.getBackSta());
continue;
}
// 鍒ゆ柇閲嶅宸ヤ綔妗�
WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
if (wrkMast != null) {
-// int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
-// if (wrkNo1 != 0){
-// if (ledThread != null) {
-// News.error(methodName + ":鎵爜澶辫触锛岃閲嶈瘯");
-// }
-//
-// }
News.error(barcode + "鏉＄爜宸插瓨鍦ㄧ姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,璇锋煡鐪媁CS杈撻�佺嚎鐣岄潰,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "鏉＄爜宸插瓨鍦ㄧ姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑浠诲姟,宸ヤ綔鍙�=" + wrkMast.getWrkNo()));
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(wrkMast.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");
+ }
continue;
-// barcodeThread.setBarcode("");
-// staProtocol.setWorkNo(wrkMast.getWrkNo());
-// staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-// log.info("杈撻�佺嚎涓嬪彂(瀛樺湪璁惧涓婅蛋鐨勫伐浣滄。锛岀洿鎺ヤ笅鍙戯紒))锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
-//
-// ledThread.errorReset();
-// log.info("缁勬墭璇锋眰鍚嶭ED閿欒娓呴櫎");
-//
-// if (!result) {
-// News.error(methodName + ":鏇存柊plc绔欑偣淇℃伅澶辫触");
-// log.error("杈撻�佺嚎涓嬪彂(瀛樺湪璁惧涓婅蛋鐨勫伐浣滄。锛岀洿鎺ヤ笅鍙戯紒)==>鏇存柊plc绔欑偣淇℃伅澶辫触");
-//
-//// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
-// continue;
-// }
-
}
- WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
- .eq("barcode", barcode)
- .in("io_type", 107, 103, 57));
+ WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode).in("io_type", 107, 103, 57));
if (!Cools.isEmpty(checkPick)) {
continue;
}
@@ -249,29 +224,34 @@
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
SearchLocParam param = new SearchLocParam();
- locTypeDto.setLocType1((short) 1);
+ if (staProtocol.isHigh()){
+ locTypeDto.setLocType1((short) 6);
+ }else if (staProtocol.isLow()){
+ locTypeDto.setLocType1((short) 5);
+ }else if (staProtocol.isMid()){
+ locTypeDto.setLocType1((short) 2);
+ }else if (staProtocol.isLower()){
+ locTypeDto.setLocType1((short) 1);
+ }else{
+ throw new CoolException("搴撲綅绫诲瀷閿欒");
+ }
+// locTypeDto.setLocType1((short) 1);
param.setBarcode(barcode);
param.setIoType(1);
param.setSourceStaNo(inSta.getStaNo());
param.setLocType1(locTypeDto.getLocType1());
param.setWeight(staProtocol.getWeight());
- String response = new HttpHandler.Builder()
- .setTimeout(30,TimeUnit.SECONDS)
- .setUri(wmsUrl)
- .setPath("/rpc/pakin/loc/v1")
- .setJson(JSON.toJSONString(param))
- .build()
- .doPost();
+ String response = new HttpHandler.Builder().setTimeout(30, TimeUnit.SECONDS).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());
- //staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
+// staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
staProtocol.setStaNo(dto.getStaNo().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- log.error("杈撻�佺嚎涓嬪彂2锛�" + dto.getWorkNo() + "," + dto.getStaNo());
+ log.error("杈撻�佺嚎涓嬪彂锛堝叆搴擄級锛�" + dto.getWorkNo() + "," + dto.getStaNo());
ledThread.errorReset();
log.error("缁勬墭璇锋眰鍚嶭ED閿欒娓呴櫎");
@@ -283,43 +263,18 @@
}
} else {
if (jsonObject.getString("msg").equals("宸ヤ綔妗ｅ凡瀛樺湪")) {
-
- //宸ヤ綔妗ｅ凡瀛樺湪 鍐嶆杩涘幓
-// wrkMast = wrkMastMapper.selectPakInStepBarcode(barcode);
-// if (wrkMast != null) {
-// barcodeThread.setBarcode("");
-// staProtocol.setWorkNo(9999);
-// //staProtocol.setWorkNo(wrkMast.getWrkNo());
-// //staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
-// staProtocol.setStaNo(inSta.getBackSta().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-// log.error("杈撻�佺嚎涓嬪彂2锛�" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
-// ledThread.errorReset();
-// log.error("缁勬墭璇锋眰鍚嶭ED閿欒娓呴櫎");
-// if (!result) {
-// News.error(methodName + ":鏇存柊plc绔欑偣淇℃伅澶辫触");
-//
-// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
-// }
-// }
-
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));
- log.error("杈撻�佺嚎涓嬪彂2锛�" + staProtocol.getWorkNo() + "," + staProtocol.getStaNo());
-
-// if (ledThread != null) {
+ log.error("杈撻�佺嚎涓嬪彂锛堝叆搴擄級锛�" + staProtocol.getWorkNo() + "," + staProtocol.getStaNo());
String errorMsg = jsonObject.getString("msg");
if (!Cools.isEmpty(errorMsg)) {
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
}
-// }
-// News.error(methodName + ":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);
+ News.error(methodName + ":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);
}
@@ -333,7 +288,7 @@
}
}
-// News.infoNoLog(""+mark+" - 0"+" - 缁勬墭 ===銆嬫墽琛屽畬鎴�");
+ News.infoNoLog("" + mark + " - 0" + " - 缁勬墭 ===銆嬫墽琛屽畬鎴�");
}
@@ -355,7 +310,7 @@
staProtocol = staProtocol.clone();
}
-// // 鍏ュ嚭搴撴ā寮忓垽鏂�
+ // 鍏ュ嚭搴撴ā寮忓垽鏂�
if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
continue;
}
@@ -364,9 +319,7 @@
if (!staProtocol.isLoading()) {
continue;
}
- if (staProtocol.isAutoing() && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
- && staProtocol.isPakMk()) {
+ if (staProtocol.isAutoing() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999) && staProtocol.isPakMk()) {
News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛�");
// 鍒ゆ柇閲嶅宸ヤ綔妗�
WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
@@ -394,9 +347,7 @@
}
} else {
- News.errorNoLog("" + mark + " - 6" + " - 绔欑偣淇℃伅涓嶇鍚堝叆搴撴潯浠讹紒锛侊紒" + " 鑷姩淇″彿锛�" + staProtocol.isLoading() + "銆佸彲鍏ヤ俊鍙凤細" + staProtocol.isInEnable()
- + "銆佺┖鏉夸俊鍙凤細" + staProtocol.isEmptyMk() + "銆佸伐浣滃彿锛�" + staProtocol.getWorkNo()
- + "銆侀攣瀹氭爣璁�" + staProtocol.isPakMk() + "銆佸叆搴撳嵃璁帮細" + staProtocol.getStamp());
+ News.errorNoLog("" + mark + " - 6" + " - 绔欑偣淇℃伅涓嶇鍚堝叆搴撴潯浠讹紒锛侊紒" + " 鑷姩淇″彿锛�" + staProtocol.isLoading() + "銆佸彲鍏ヤ俊鍙凤細" + staProtocol.isInEnable() + "銆佺┖鏉夸俊鍙凤細" + staProtocol.isEmptyMk() + "銆佸伐浣滃彿锛�" + staProtocol.getWorkNo() + "銆侀攣瀹氭爣璁�" + staProtocol.isPakMk() + "銆佸叆搴撳嵃璁帮細" + staProtocol.getStamp());
}
}
}
@@ -422,14 +373,14 @@
StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
- if(staProtocol == null) {
+ if (staProtocol == null) {
// News.error("绔欑偣淇℃伅鏈幏寰�");
continue;
}
// 灏哄妫�娴嬪紓甯�
boolean back = false;
String errMsg = "";
- if (!back && staProtocol.isFrontErr()) {
+ if (staProtocol.isFrontErr()) {
errMsg = "鍓嶈秴闄�";
back = true;
}
@@ -457,14 +408,11 @@
errMsg = "鎵爜澶辫触";
back = true;
}
- if(staProtocol.getSiteId() > 400){
- back = false;
- }
+
// 閫�鍥�
- if (back) {
+ if (back & !staProtocol.isEmptyMk()) {
log.info("errmsg: " + errMsg);
-// 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);
MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
if (!staProtocol.isLoading()) {
continue;
@@ -472,91 +420,55 @@
if (!staProtocol.isPakMk()) {
continue;
}
+ if (!staProtocol.isInEnable()) {
+ continue;
+ }
staProtocol.setWorkNo(wrkNo);
- News.info("{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", pickSta.getStaNo(), errMsg, wrkNo);
- wrkNo++;
+ News.info("{}鐩樼偣/鎷ｆ枡鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", pickSta.getStaNo(), errMsg, wrkNo);
staProtocol.setStaNo(pickSta.getBackSta().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- log.error("杈撻�佺嚎涓嬪彂1锛�" + 9999 + "," + pickSta.getBackSta());
+ log.error("杈撻�佺嚎涓嬪彂锛堢洏鐐�/鎷ｆ枡锛夛細" + wrkNo + "," + pickSta.getBackSta());
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
// led 寮傚父鏄剧ず
if (ledThread != null) {
- MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
+ MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errMsg));
}
continue;
}
- if(staProtocol.getSiteId() < 400){
- if (!Cools.isEmpty(barcode)) {
- News.infoNoLog("" + mark + " - 1" + " - {}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 {
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && !staProtocol.isEmptyMk()) {
+ if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
+ News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
+
+ staProtocol.setWorkNo(wrkNo);
+ News.info("{}barcode鐩樼偣/鎷ｆ枡鍥為��锛歿}锛屼换鍔″彿锛歿}", pickSta.getStaNo(), errMsg, wrkNo);
+ staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ log.error("杈撻�佺嚎涓嬪彂锛堢洏鐐�/鎷ｆ枡锛夛細" + wrkNo + "," + pickSta.getBackSta());
continue;
}
-
-
- if (!Cools.isEmpty(barcode)) {
-// News.info(""+mark+" - 1"+" - {}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;
- }
-
- }
-
-
- 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()) {
- News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛�");
+ News.warnNoLog("" + mark + " - 0" + " - 鐩樼偣/鎷ｆ枡寮�濮嬫墽琛�");
WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
- if(staProtocol.getSiteId() > 400){
- wrkMast = wrkMastMapper.selectPickStep3(staProtocol.getWorkNo());
- }
-// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
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())) {
+ 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
+ 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)) {
- News.error("" + mark + " - 2" + " - 鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
- staProtocol.setWorkNo(wrkNo++);
- staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue() - (short) 1));
+ News.error("" + mark + " - 2" + " - 鐩樼偣/鎷ｆ枡鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
+ staProtocol.setWorkNo(wrkNo);
+ staProtocol.setStaNo((pickSta.getStaNo().shortValue()));
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- log.error("杈撻�佺嚎涓嬪彂4锛�" + 9989 + "," + (pickSta.getStaNo().shortValue() - (short) 1));
+ log.error("杈撻�佺嚎涓嬪彂锛堢洏鐐�/鎷ｆ枡锛夛細" + wrkNo + "," + (pickSta.getStaNo()));
//LED
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
// led 寮傚父鏄剧ず
@@ -609,25 +521,24 @@
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
staProtocol.setWorkNo(wrkMast.getWrkNo());
- if(staProtocol.getSiteId() < 400){
- staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
- }
+
+ staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
+
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- log.error("杈撻�佺嚎涓嬪彂5锛�" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
+ log.error("杈撻�佺嚎涓嬪彂锛堢洏鐐�/鎷ｆ枡锛夛細" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
if (!result) {
News.error("" + mark + " - 3" + " - 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 {
- News.errorNoLog("" + mark + " - 6" + " - 绔欑偣淇℃伅涓嶇鍚堝叆搴撴潯浠讹紒锛侊紒" + " 鑷姩淇″彿锛�" + staProtocol.isLoading() + "銆佸彲鍏ヤ俊鍙凤細" + staProtocol.isInEnable()
- + "銆佺┖鏉夸俊鍙凤細" + staProtocol.isEmptyMk());
+ News.errorNoLog("" + mark + " - 6" + " - 绔欑偣淇℃伅涓嶇鍚堝叆搴撴潯浠讹紒锛侊紒" + " 鑷姩淇″彿锛�" + staProtocol.isLoading() + "銆佸彲鍏ヤ俊鍙凤細" + staProtocol.isInEnable() + "銆佺┖鏉夸俊鍙凤細" + staProtocol.isEmptyMk());
}
}
}
-// News.infoNoLog(""+mark+" - 0"+" - 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱 ===銆嬫墽琛屽畬鎴�");
+ News.infoNoLog("" + mark + " - 0" + " - 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱 ===銆嬫墽琛屽畬鎴�");
}
@@ -644,10 +555,7 @@
} else {
staProtocol = staProtocol.clone();
}
- if (staProtocol.isAutoing()
- && staProtocol.isLoading()
- && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk()
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk()
// && staProtocol.getWorkNo() > 0
&& staProtocol.isPakMk()) {
@@ -720,13 +628,9 @@
String response = "";
log.info("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
try {
- response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/pakin2/loc/v1")
- .setJson(JSON.toJSONString(param))
+ response = new HttpHandler.Builder().setUri(wmsUrl).setPath("/rpc/pakin2/loc/v1").setJson(JSON.toJSONString(param))
// .setTimeout(15, TimeUnit.SECONDS)
- .build()
- .doPost();
+ .build().doPost();
} catch (Exception e) {
log.error("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
log.error("stnToCrnStnPick2===>>鐩樼偣鏌ュ簱浣嶅叆搴撴帴鍙ｅけ璐�", e);
@@ -828,9 +732,7 @@
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) {
+ if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue()) && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.forkPosType == CrnForkPosType.HOME) {
log.info("鍫嗗灈鏈哄嚭搴撳畬鎴� - 寮�濮嬫墽琛�");
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
@@ -844,24 +746,57 @@
} else {
log.info(staProtocol.getWorkNo() + "," + staProtocol.getStaNo() + "杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂鎴愬姛");
}
+ Integer pltType = wrkMast.getPltType();
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
+ wrkMast.setWrkSts(14L);
+ wrkMast.setCrnEndTime(new Date());
+ wrkMast.setPltType(0);
+ if (wrkMastMapper.updateById(wrkMast) != 0) {
+ // 澶嶄綅鍫嗗灈鏈�
+ log.error("鍑哄簱浠诲姟瀹屾垚涓嬪彂鍫嗗灈鏈哄浣�,{},{}", wrkMast.getWrkNo(), wrkMast.getPltType());
+ if (pltType == 1) {
+ crnThread.setResetFlag(true);
+ } else if (pltType == 2) {
+ crnThread.setResetFlagTwo(true);
+ }
+ } else {
+ News.error("" + mark + " - 1" + " - 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());
+ }
+
+ } else if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNoTwo().equals(wrkMast.getWrkNo().shortValue()) && crnProtocol.statusTypeTwo == CrnStatusType.WAITING && crnProtocol.forkPosTypeTwo == CrnForkPosType.HOME) {
+ log.info("鍫嗗灈鏈哄嚭搴撳畬鎴� - 寮�濮嬫墽琛�");
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(), wrkMast.getSourceStaNo()));
+ if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ log.info(staProtocol.getWorkNo() + "," + staProtocol.getStaNo() + "杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂澶辫触");
+ continue;
+ } else {
+ log.info(staProtocol.getWorkNo() + "," + staProtocol.getStaNo() + "杈撻�佺嚎鍑哄簱鍛戒护涓嬪彂鎴愬姛");
+ }
+ Integer pltType = wrkMast.getPltType();
// 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
wrkMast.setWrkSts(14L);
wrkMast.setCrnEndTime(new Date());
+ wrkMast.setPltType(0);
if (wrkMastMapper.updateById(wrkMast) != 0) {
// 澶嶄綅鍫嗗灈鏈�
- log.error("鍑哄簱浠诲姟瀹屾垚涓嬪彂鍫嗗灈鏈哄浣�,{}", wrkMast.getWrkNo());
- crnThread.setResetFlag(true);
+ log.error("鍑哄簱浠诲姟瀹屾垚涓嬪彂鍫嗗灈鏈哄浣�,{},{}", wrkMast.getWrkNo(), wrkMast.getPltType());
+ if (pltType == 1) {
+ crnThread.setResetFlag(true);
+ } else if (pltType == 2) {
+ crnThread.setResetFlagTwo(true);
+ }
} else {
News.error("" + mark + " - 1" + " - 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());
}
} else {
- News.errorNoLog("" + mark + " - 6" + " - 鍫嗗灈鏈轰俊鎭笉绗﹀悎鍏ュ簱鏉′欢锛侊紒锛�"
- + " 鍫嗗灈鏈虹姸鎬侊細" + crnProtocol.modeType + "==鑷姩AUTO锛�" + CrnModeType.AUTO
- + "銆佸爢鍨涙満浠诲姟鍙凤細" + crnProtocol.getTaskNo() + "==宸ヤ綔妗ｄ换鍔″彿锛�" + wrkMast.getWrkNo().shortValue()
- + "銆佺姸鎬佹灇涓撅細" + crnProtocol.statusType + "==WAITING锛�90 //浠诲姟瀹屾垚绛夊緟WCS纭)锛�" + CrnStatusType.WAITING
- + "銆佽揣鍙変綅缃細" + crnProtocol.forkPosType + "==HOME锛�0 // 璐у弶鍘熶綅锛�" + CrnForkPosType.HOME);
+ News.errorNoLog("" + mark + " - 6" + " - 鍫嗗灈鏈轰俊鎭笉绗﹀悎鍏ュ簱鏉′欢锛侊紒锛�" + " 鍫嗗灈鏈虹姸鎬侊細" + crnProtocol.modeType + "==鑷姩AUTO锛�" + CrnModeType.AUTO + "銆佸爢鍨涙満浠诲姟鍙凤細" + crnProtocol.getTaskNo() + "==宸ヤ綔妗ｄ换鍔″彿锛�" + wrkMast.getWrkNo().shortValue() + "銆佺姸鎬佹灇涓撅細" + crnProtocol.statusType + "==WAITING锛�90 //浠诲姟瀹屾垚绛夊緟WCS纭)锛�" + CrnStatusType.WAITING + "銆佽揣鍙変綅缃細" + crnProtocol.forkPosType + "==HOME锛�0 // 璐у弶鍘熶綅锛�" + CrnForkPosType.HOME);
}
}
@@ -869,12 +804,13 @@
}
// News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯 ===銆嬫墽琛屽畬鎴�");
}
+
/**
* 鍫嗗灈鏈洪粯璁ゅ洖鍘熺偣
*/
public synchronized void crnToInStn(Integer mark) {
- if(isToOrigin){
- for (CrnSlave crn : slaveProperties.getCrn()){
+ if (isToOrigin) {
+ 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();
@@ -915,39 +851,605 @@
// }
// 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) {
+ if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getForkPos() == 0 && crnProtocol.getTaskNo() == 0 && crnProtocol.getTaskNoTwo() == 0) {
News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽爢鍨涙満鍏ュ嚭搴撲綔涓氫笅鍙�");
- // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
- if (crnProtocol.getLastIo().equals("I")) {
- if (basCrnp.getInEnable().equals("Y")) {
- //mark - 1 - ....
- this.crnStnToLoc(crn, crnProtocol, mark); // 鍏ュ簱
- crnProtocol.setLastIo("O");
- } else if (basCrnp.getOutEnable().equals("Y")) {
- //mark - 2 - ....
- this.locToCrnStn(crn, crnProtocol, mark); // 鍑哄簱
- crnProtocol.setLastIo("I");
+ if (crnProtocol.getLoaded() == 0 && crnProtocol.getLoadedTwo() == 0) {
+ //鍫嗗灈鏈烘病鏈夌墿鏂�
+ // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
+ if (crnProtocol.getLastIo().equals("I")) {
+ if (basCrnp.getInEnable().equals("Y")) {
+ //mark - 1 - ....
+ this.inTake(crn, crnProtocol, 0, mark); // 鍏ュ簱
+ crnProtocol.setLastIo("O");
+ } else if (basCrnp.getOutEnable().equals("Y")) {
+ //mark - 2 - ....
+ this.outTake(crn, crnProtocol, 0, mark); // 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, mark); // 鍑哄簱
- crnProtocol.setLastIo("I");
- } else if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc(crn, crnProtocol, mark); // 鍏ュ簱
- crnProtocol.setLastIo("O");
+ // 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.outTake(crn, crnProtocol, 0, mark); // 鍑哄簱
+ crnProtocol.setLastIo("I");
+ } else if (basCrnp.getInEnable().equals("Y")) {
+ this.inTake(crn, crnProtocol, 0, mark); // 鍏ュ簱
+ crnProtocol.setLastIo("O");
+ }
+ }
+
+ } else if (crnProtocol.getLoaded() == 1 && crnProtocol.getLoadedTwo() == 1) {
+ // 鍫嗗灈鏈烘湁鐗╂枡
+ WrkMast wrkMast = wrkMastMapper.selectByPltType(crn.getId(), 1);
+ if (wrkMast != null) {
+ if (wrkMast.getIoType() >= 100) {
+ this.outPut(crn, crnProtocol, mark);
+ } else {
+ this.inPut(crn, crnProtocol, mark);
+ }
+ } else {
+ log.error("" + mark + " - 1" + " - 鏈夌墿鏂欐棤宸ヤ綔妗� ===銆嬪紓甯�");
+ }
+ } else if (crnProtocol.getLoaded() == 1 && crnProtocol.getLoadedTwo() == 0) {
+ // 鍫嗗灈鏈哄伐浣�1鏈夌墿鏂�
+ WrkMast wrkMast = wrkMastMapper.selectByPltType(crn.getId(), 1);
+ if (wrkMast != null) {
+ //鍏堝垽鏂槸鍑哄簱杩樻槸鍏ュ簱
+ //鍐嶅垽鏂槸杩樻湁娌℃湁鍚岀被鍨嬬殑宸ヤ綔妗�
+ if (wrkMast.getIoType() >= 100) {
+ WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep1(crn.getId(), wrkMast.getSourceStaNo());
+ if (wrkMast1 != null) {
+ this.outTake(crn, crnProtocol, 2, mark);
+ } else {
+ this.outPut(crn, crnProtocol, mark);
+ }
+ } else {
+ WrkMast wrkMast1 = wrkMastMapper.selectPakInStep1All(wrkMast.getSourceStaNo(), crn.getId());
+ if (wrkMast1 != null) {
+ this.inTake(crn, crnProtocol, 2, mark);
+ } else {
+ this.inPut(crn, crnProtocol, mark);
+ }
+ }
+ } else {
+ log.error("" + mark + " - 1" + " - 鏈夌墿鏂欐棤宸ヤ綔妗� ===銆嬪紓甯�");
+ }
+ } else if (crnProtocol.getLoaded() == 0 && crnProtocol.getLoadedTwo() == 1) {
+ // 鍫嗗灈鏈哄伐浣�2鏈夌墿鏂�
+ WrkMast wrkMast = wrkMastMapper.selectByPltType(crn.getId(), 2);
+ if (wrkMast != null) {
+ //鍏堝垽鏂槸鍑哄簱杩樻槸鍏ュ簱
+ //鍐嶅垽鏂槸杩樻湁娌℃湁鍚岀被鍨嬬殑宸ヤ綔妗�
+ if (wrkMast.getIoType() >= 100) {
+ WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep1(crn.getId(), wrkMast.getSourceStaNo());
+ if (wrkMast1 != null) {
+ this.outTake(crn, crnProtocol, 1, mark);
+ } else {
+ this.outPut(crn, crnProtocol, mark);
+ }
+ } else {
+ WrkMast wrkMast1 = wrkMastMapper.selectPakInStep1All(wrkMast.getSourceStaNo(), crn.getId());
+ if (wrkMast1 != null) {
+ this.inTake(crn, crnProtocol, 1, mark);
+ } else {
+ this.inPut(crn, crnProtocol, mark);
+ }
+ }
+ } else {
+ log.error("" + mark + " - 1" + " - 鏈夌墿鏂欐棤宸ヤ綔妗� ===銆嬪紓甯�");
}
}
}
// 搴撲綅绉昏浆
//mark - 3 - ....
-// this.locToLoc(crn, crnProtocol, mark);
+ this.locToLoc(crn, crnProtocol, mark);
// this.crnRebackHp(crnProtocol, crnThread);
}
// News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂鎵ц瀹屾垚");
+ }
+
+ /**
+ * 鍏堝垽鏂槸涓嶆槸鐗规畩鐨勮竟搴撲綅
+ *
+ * @param locNo
+ * @return
+ */
+ private Integer getCrnStation(String locNo) {
+ String bay = locNo.substring(2, 5);
+ if (Integer.parseInt(bay) == 1) {
+ return 1;
+ } else if (Integer.parseInt(bay) == 29) {
+ return 2;
+ }
+ if (Integer.parseInt(locNo.substring(0, 2)) >= 14) {
+ return 1;
+ } else {
+ return 2;
+ }
+ }
+
+
+ /**
+ * 鍏ュ簱鍙栬揣
+ */
+ public synchronized void inTake(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation, Integer mark) {
+ News.warnNoLog("" + mark + " - 1" + " - 0" + " - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂锛氭墽琛屽叆搴�");
+ 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) {
+ News.infoNoLog("" + mark + " - 1" + " - 1" + " - 鍫嗗灈鏈哄叆搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+ 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("" + mark + " - 1" + " - 2" + " - 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) {
+ News.errorNoLog("" + mark + " - 1" + " - 3" + " - 鍫嗗灈鏈哄叆搴撶珯淇℃伅(浠ヤ笅闇�瑕佸叏true):" + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading() + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isInEnable() + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanining());
+ 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) {
+ News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+// 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) {
+ News.error("" + mark + " - 1" + " - 5" + " - 鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
+ continue;
+ }
+ if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
+ News.error("" + mark + " - 1" + " - 6" + " - 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) {
+// News.infoNoLog(""+mark+" - 1"+" - 7"+" - 鍫嗗灈鏈烘帶鍒惰繃婊�:鍫嗗灈鏈烘槸鍚︾┖闂�={}锛屼换鍔″彿={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo());
+ continue;
+ }
+
+ WrkMast wrkMast103 = wrkMastMapper.selectPakInStep103(slave.getId());
+ if (wrkMast103 != null) {
+ News.error("" + mark + " - 1" + " - 8" + " - 鍫嗗灈鏈烘鍦ㄦ墽琛屽叾浠栦换鍔�,璇风◢鍚庡啀璇�");
+ }
+ if (crnStation == 0) {
+ crnStation = getCrnStation(wrkMast.getLocNo());
+ }
+ if (wrkMastMapper.selectByPltType(slave.getId(), crnStation) != null) {
+ News.error("" + mark + " - 1" + " - 9" + " - 鍫嗗灈鏈烘敼宸ヤ綅瀛樺湪宸ヤ綔妗�,宸ヤ綅={}", crnStation);
+ 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) {
+ continue;
+ }
+
+ News.warnNoLog("" + mark + " - 1" + " - 15" + " - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}", wrkMast.getWrkNo().shortValue(), crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue(), locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setPltType(crnStation);
+ 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.TAKE); // 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((short) (locMast.getRow1() + slave.getOffset())); // 鐩爣搴撲綅鎺�
+// crnCommand.setDestinationPosY((short) (locMast.getBay1() + slave.getOffset())); // 鐩爣搴撲綅鍒�
+// crnCommand.setDestinationPosZ((short) (locMast.getLev1() + slave.getOffset())); // 鐩爣搴撲綅灞�
+// crnCommand.setTraySize(locMast.getLocType1() == 2);
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
+ News.error("" + mark + " - 1" + " - 16" + " - 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 => 103.鍚婅溅鍏ュ簱涓�
+ Date now = new Date();
+ wrkMast.setWrkSts(103L);
+ wrkMast.setPltType(crnStation);
+ wrkMast.setCrnStrTime(now);
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ News.error("" + mark + " - 1" + " - 17" + " - 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 103.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+ }
+ }
+ }
+ News.infoNoLog("" + mark + " - 1" + " - 0" + " - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂 锛� 鍏ュ簱鍙栬揣鎵ц瀹屾瘯");
+ }
+
+
+ /**
+ * 鍏ュ簱鏀捐揣
+ */
+ public synchronized void inPut(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
+ News.warnNoLog("" + mark + " - 1" + " - 0" + " - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂锛氭墽琛屽叆搴�");
+ for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
+ boolean flag = false;
+
+ // 鑾峰彇宸ヤ綔鐘舵�佷负104锛堣澶囦笂璧帮級鐨勫叆搴撳伐浣滄。
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep104(slave.getId());
+ if (null == wrkMast) {
+ News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}");
+// 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) {
+ News.error("" + mark + " - 1" + " - 5" + " - 鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
+ continue;
+ }
+ if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
+ News.error("" + mark + " - 1" + " - 6" + " - 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) {
+// News.infoNoLog(""+mark+" - 1"+" - 7"+" - 鍫嗗灈鏈烘帶鍒惰繃婊�:鍫嗗灈鏈烘槸鍚︾┖闂�={}锛屼换鍔″彿={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo());
+ continue;
+ }
+
+ if (wrkMast.getPltType() == 1) {
+ if (crnProtocol.getLoaded() == 0) {
+ News.infoNoLog("" + mark + " - 1" + " - 7" + " - 鍫嗗灈鏈烘湁宸ヤ綔妗ｆ棤鐗╋紝浠诲姟鍙�={}", crnProtocol.getStatusType(), wrkMast.getWrkNo());
+ }
+ } else if (wrkMast.getPltType() == 2) {
+ if (crnProtocol.getLoadedTwo() == 0) {
+ News.infoNoLog("" + mark + " - 1" + " - 7" + " - 鍫嗗灈鏈烘湁宸ヤ綔妗ｆ棤鐗╋紝浠诲姟鍙�={}", crnProtocol.getStatusType(), wrkMast.getWrkNo());
+
+ }
+ }
+
+ // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+ if (wrkMastMapper.selectWorking(slave.getId()) != null) {
+ continue;
+ }
+
+ News.warnNoLog("" + mark + " - 1" + " - 15" + " - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}", wrkMast.getWrkNo().shortValue(), crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue(), locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setPltType(wrkMast.getPltType());
+ 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.PUT); // 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((short) (locMast.getRow1() + slave.getOffset())); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) (locMast.getBay1() + slave.getOffset())); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) (locMast.getLev1() + slave.getOffset())); // 鐩爣搴撲綅灞�
+// crnCommand.setTraySize(locMast.getLocType1() == 2);
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
+ News.error("" + mark + " - 1" + " - 16" + " - 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 => 105.鍚婅溅鍏ュ簱鍙栬揣涓�
+ Date now = new Date();
+ wrkMast.setWrkSts(105L);
+ wrkMast.setCrnStrTime(now);
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ News.error("" + mark + " - 1" + " - 17" + " - 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 103.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+ }
+ }
+ }
+ News.infoNoLog("" + mark + " - 1" + " - 0" + " - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂 锛� 鍏ュ簱鏀捐揣鎵ц瀹屾瘯");
+ }
+
+
+ /**
+ * 鍑哄簱鍙栬揣
+ */
+ public synchronized void outTake(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation, Integer mark) {
+ News.warnNoLog("" + mark + " - 2" + " - 0" + " - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂锛氭墽琛屽嚭搴�");
+ 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�
+ List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
+ 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) {
+ News.error("" + mark + " - 2" + " - 1" + " - 鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
+ continue;
+ }
+ // 鑾峰彇婧愬簱浣嶄俊鎭�
+ LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
+ if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
+ News.error("" + mark + " - 2" + " - 2" + " - 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) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol);
+ break;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ News.error("" + mark + " - 2" + " - 5" + " - 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;
+ }
+ // 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;
+ break;
+ }
+
+ // 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())) {
+ News.warnNoLog("" + mark + " - 2" + " - 6" + " - 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� : 寮�濮嬫墽琛� 浠诲姟鍙�={}", wrkMast.getWrkNo());
+ 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")) {
+ News.warnNoLog("" + mark + " - 2" + " - 7" + " - // 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 鐩存帴鎼紒搴撲綅鐘舵��={}", shallowLoc.getLocSts());
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+ if (null == waitWrkMast) {
+ News.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) {
+ News.error("" + mark + " - 2" + " - 8" + " - 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")) {
+ News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F銆丏 搴撲綅鐘舵��={}", shallowLoc.getLocSts());
+// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+ //2022-08-16 modify,涓嶆牴鎹畊pdmk鏍囪绉诲簱浠诲姟(瀹规槗琚彇娑堝鑷村牭濉�)锛屾煡璇㈠伐浣滄。鏄惁瀛樺湪浠诲姟
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
+ // 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())
+// || Cools.isEmpty(waitWrkMast)) {
+ if (Cools.isEmpty(waitWrkMast)) {
+ wrkMast.setUpdMk("Y");
+ 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, mark);
+ }
+ News.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")) {
+ News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q銆丼 搴撲綅鐘舵��={}", shallowLoc.getLocSts());
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
+ if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
+ News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F銆丏 宸ヤ綔鐘舵��(鍒ゆ柇鏉′欢涓�==4)={}", waitWrkMast.getWrkSts());
+ continue;
+ }
+ }
+ }
+ if (crnStation == 0) {
+ crnStation = getCrnStation(wrkMast.getSourceLocNo());
+ }
+ if (wrkMastMapper.selectByPltType(slave.getId(), crnStation) != null) {
+ News.error("" + mark + " - 1" + " - 9" + " - 鍫嗗灈鏈烘敼宸ヤ綅瀛樺湪宸ヤ綔妗�,宸ヤ綅={}", crnStation);
+ 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;
+ }
+
+ News.warnNoLog("" + mark + " - 2" + " - 12" + " - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}", wrkMast.getWrkNo().shortValue(), sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue(), crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue());
+
+ // 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.setPltType(crnStation);
+ crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.TAKE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+ crnCommand.setSourcePosX((short) (sourceSta.getRow1() + slave.getOffset())); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) (sourceSta.getBay1() + slave.getOffset())); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) (sourceSta.getLev1() + slave.getOffset())); // 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.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
+ News.error("" + mark + " - 2" + " - 13" + " - 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(106L);
+ wrkMast.setPltType(crnStation);
+ wrkMast.setCrnStrTime(now);
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ News.error("" + mark + " - 2" + " - 14" + " - 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;
+ }
+ }
+ }
+ }
+ News.infoNoLog("" + mark + " - 2" + " - 0" + " - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂 锛� 鍑哄簱鎵ц瀹屾瘯");
+ }
+
+ /**
+ * 鍑哄簱鏀捐揣
+ */
+ public synchronized void outPut(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) {
+ News.warnNoLog("" + mark + " - 2" + " - 0" + " - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂锛氭墽琛屽嚭搴�");
+ 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�
+ List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep107(slave.getId(), crnStn.getStaNo());
+ 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) {
+ News.error("" + mark + " - 2" + " - 1" + " - 鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
+ continue;
+ }
+ // 鑾峰彇婧愬簱浣嶄俊鎭�
+ LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
+ if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
+ News.error("" + mark + " - 2" + " - 2" + " - 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) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol);
+ break;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+
+ // 鏌ヨ绔欑偣璇︾粏淇℃伅
+ BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+ if (staDetl == null) {
+ News.error("" + mark + " - 2" + " - 5" + " - 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() && 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;
+ break;
+ }
+
+ // 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())) {
+// News.warnNoLog("" + mark + " - 2" + " - 6" + " - 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� : 寮�濮嬫墽琛� 浠诲姟鍙�={}", wrkMast.getWrkNo());
+// 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")) {
+// News.warnNoLog("" + mark + " - 2" + " - 7" + " - // 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 鐩存帴鎼紒搴撲綅鐘舵��={}", shallowLoc.getLocSts());
+// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+// if (null == waitWrkMast) {
+// News.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) {
+// News.error("" + mark + " - 2" + " - 8" + " - 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")) {
+// News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F銆丏 搴撲綅鐘舵��={}", shallowLoc.getLocSts());
+//// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+// //2022-08-16 modify,涓嶆牴鎹畊pdmk鏍囪绉诲簱浠诲姟(瀹规槗琚彇娑堝鑷村牭濉�)锛屾煡璇㈠伐浣滄。鏄惁瀛樺湪浠诲姟
+// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
+// // 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())
+//// || Cools.isEmpty(waitWrkMast)) {
+// if (Cools.isEmpty(waitWrkMast)) {
+// wrkMast.setUpdMk("Y");
+// 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, mark);
+// }
+// News.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")) {
+// News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q銆丼 搴撲綅鐘舵��={}", shallowLoc.getLocSts());
+// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
+// if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
+// News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F銆丏 宸ヤ綔鐘舵��(鍒ゆ柇鏉′欢涓�==4)={}", waitWrkMast.getWrkSts());
+// continue;
+// }
+// }
+// }
+
+ if (wrkMastMapper.selectByPltType(slave.getId(), wrkMast.getPltType()) == null) {
+ News.error("" + mark + " - 1" + " - 9" + " - 鍫嗗灈鏈烘敼宸ヤ綅瀛樺湪宸ヤ綔妗�,宸ヤ綅={}", wrkMast.getPltType());
+ }
+
+
+ // 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;
+ }
+
+ News.warnNoLog("" + mark + " - 2" + " - 12" + " - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}", wrkMast.getWrkNo().shortValue(), sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue(), crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue());
+
+ // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setPltType(wrkMast.getPltType());
+ 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.PUT); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+// crnCommand.setSourcePosX((short) (sourceSta.getRow1() + slave.getOffset())); // 婧愬簱浣嶆帓
+// crnCommand.setSourcePosY((short) (sourceSta.getBay1() + slave.getOffset())); // 婧愬簱浣嶅垪
+// crnCommand.setSourcePosZ((short) (sourceSta.getLev1() + slave.getOffset())); // 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.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
+ News.error("" + mark + " - 2" + " - 13" + " - 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(108L);
+ wrkMast.setCrnStrTime(now);
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ News.error("" + mark + " - 2" + " - 14" + " - 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;
+ }
+ }
+ }
+ }
+ News.infoNoLog("" + mark + " - 2" + " - 0" + " - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂 锛� 鍑哄簱鎵ц瀹屾瘯");
}
/**
@@ -1031,15 +1533,11 @@
// if(staProtocol.getWorkNo() == 9998){
// continue;
// }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
- && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
flag = true;
}
if (!flag) {
- News.errorNoLog("" + mark + " - 1" + " - 3" + " - 鍫嗗灈鏈哄叆搴撶珯淇℃伅(浠ヤ笅闇�瑕佸叏true):"
- + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
- + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isInEnable()
- + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanining());
+ News.errorNoLog("" + mark + " - 1" + " - 3" + " - 鍫嗗灈鏈哄叆搴撶珯淇℃伅(浠ヤ笅闇�瑕佸叏true):" + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading() + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isInEnable() + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanining());
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。
@@ -1113,9 +1611,7 @@
// }
// }
// }
- News.warnNoLog("" + mark + " - 1" + " - 15" + " - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}", wrkMast.getWrkNo().shortValue()
- , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue()
- , locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());
+ News.warnNoLog("" + mark + " - 1" + " - 15" + " - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}", wrkMast.getWrkNo().shortValue(), crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue(), locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
CrnCommand crnCommand = new CrnCommand();
@@ -1190,9 +1686,30 @@
if (staProtocol == null) {
News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol);
break;
-// continue;
} else {
staProtocol = staProtocol.clone();
+ }
+ StaProtocol staProtocol1 = staProtocol.getSiteId() == 101 ? devpThread.getStation().get(crnStn.getStaNo() + 1) : devpThread.getStation().get(crnStn.getStaNo() - 1);
+// StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() - 1);
+// StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() + 1);
+ if (staProtocol1 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol);
+ break;
+ } else {
+ staProtocol1 = staProtocol1.clone();
+ }
+ StaProtocol staProtocol2 = staProtocol.getSiteId() == 101 ? devpThread.getStation().get(crnStn.getStaNo() + 2) : devpThread.getStation().get(crnStn.getStaNo());
+// StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() - 2);
+// StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() + 2);
+ if (staProtocol2 == null) {
+ News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol);
+ break;
+ } else {
+ staProtocol2 = staProtocol2.clone();
+ }
+ //鍑哄叆鍙ｈ緭閫佺嚎鍙厑璁稿瓨鍦ㄤ竴涓墭鐩�
+ if (staProtocol.isLoading() || staProtocol1.isLoading() || staProtocol2.isLoading() || staProtocol.getWorkNo() != 0 || staProtocol1.getWorkNo() != 0 || staProtocol2.getWorkNo() != 0) {
+ break;
}
// // 鍏ュ嚭搴撴ā寮忓垽鏂�
@@ -1210,8 +1727,7 @@
// 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()) {
+ 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�
@@ -1220,54 +1736,54 @@
break;
}
-// // 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())) {
-// News.warnNoLog("" + mark + " - 2" + " - 6" + " - 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� : 寮�濮嬫墽琛� 浠诲姟鍙�={}", wrkMast.getWrkNo());
-// 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")) {
-// News.warnNoLog("" + mark + " - 2" + " - 7" + " - // 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 鐩存帴鎼紒搴撲綅鐘舵��={}", shallowLoc.getLocSts());
+ // 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())) {
+ News.warnNoLog("" + mark + " - 2" + " - 6" + " - 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� : 寮�濮嬫墽琛� 浠诲姟鍙�={}", wrkMast.getWrkNo());
+ 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")) {
+ News.warnNoLog("" + mark + " - 2" + " - 7" + " - // 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 鐩存帴鎼紒搴撲綅鐘舵��={}", shallowLoc.getLocSts());
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+ if (null == waitWrkMast) {
+ News.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) {
+ News.error("" + mark + " - 2" + " - 8" + " - 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")) {
+ News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F銆丏 搴撲綅鐘舵��={}", shallowLoc.getLocSts());
// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
-// if (null == waitWrkMast) {
-// News.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) {
-// News.error("" + mark + " - 2" + " - 8" + " - 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")) {
-// News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F銆丏 搴撲綅鐘舵��={}", shallowLoc.getLocSts());
-//// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
-// //2022-08-16 modify,涓嶆牴鎹畊pdmk鏍囪绉诲簱浠诲姟(瀹规槗琚彇娑堝鑷村牭濉�)锛屾煡璇㈠伐浣滄。鏄惁瀛樺湪浠诲姟
-// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
-// // 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())
-//// || Cools.isEmpty(waitWrkMast)) {
-// if (Cools.isEmpty(waitWrkMast)) {
-// wrkMast.setUpdMk("Y");
-// 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, mark);
-// }
-// News.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")) {
-// News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q銆丼 搴撲綅鐘舵��={}", shallowLoc.getLocSts());
-// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
-// if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
-// News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F銆丏 宸ヤ綔鐘舵��(鍒ゆ柇鏉′欢涓�==4)={}", waitWrkMast.getWrkSts());
-// continue;
-// }
-// }
-// }
+ //2022-08-16 modify,涓嶆牴鎹畊pdmk鏍囪绉诲簱浠诲姟(瀹规槗琚彇娑堝鑷村牭濉�)锛屾煡璇㈠伐浣滄。鏄惁瀛樺湪浠诲姟
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
+ // 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())
+// || Cools.isEmpty(waitWrkMast)) {
+ if (Cools.isEmpty(waitWrkMast)) {
+ wrkMast.setUpdMk("Y");
+ 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, mark);
+ }
+ News.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")) {
+ News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q銆丼 搴撲綅鐘舵��={}", shallowLoc.getLocSts());
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
+ if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
+ News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F銆丏 宸ヤ綔鐘舵��(鍒ゆ柇鏉′欢涓�==4)={}", waitWrkMast.getWrkSts());
+ 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) {
@@ -1275,9 +1791,7 @@
// return;
}
- News.warnNoLog("" + mark + " - 2" + " - 12" + " - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}", wrkMast.getWrkNo().shortValue()
- , sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
- , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue());
+ News.warnNoLog("" + mark + " - 2" + " - 12" + " - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}", wrkMast.getWrkNo().shortValue(), sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue(), crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue());
// 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
CrnCommand crnCommand = new CrnCommand();
@@ -1473,13 +1987,40 @@
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
return;
}
+ int crnStation = 0;
+ String bay = wrkMast.getSourceLocNo().substring(2, 5);
+ String bay2 = wrkMast.getLocNo().substring(2, 5);
+ if (Integer.parseInt(bay) == 1 || Integer.parseInt(bay2) == 1) {
+ crnStation = 1;
+ if (wrkMastMapper.selectByPltType(slave.getId(), crnStation) != null) {
+ this.outPut(slave, crnProtocol, mark);
+ return;
+ }
+ } else if (Integer.parseInt(bay) == 29 || Integer.parseInt(bay2) == 29) {
+ crnStation = 2;
+ if (wrkMastMapper.selectByPltType(slave.getId(), crnStation) != null) {
+ this.outPut(slave, crnProtocol, mark);
+ return;
+ }
+ } else {
+ crnStation = 1;
+ if (wrkMastMapper.selectByPltType(slave.getId(), crnStation) != null) {
+ if (wrkMastMapper.selectByPltType(slave.getId(), 2) != null) {
+ this.outPut(slave, crnProtocol, mark);
+ return;
+ } else {
+ crnStation = 2;
+ }
+ }
+ }
- News.warnNoLog("" + mark + " - 3" + " - 3" + " - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}", wrkMast.getWrkNo().shortValue()
- , sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue()
- , sta.getRow1().shortValue(), sta.getBay1().shortValue(), sta.getLev1().shortValue());
+
+
+ News.warnNoLog("" + mark + " - 3" + " - 3" + " - 鍛戒护涓嬪彂 : 宸ヤ綔鍙�={},婧愭帓={},婧愬垪={},婧愬眰={},鐩爣鎺�={},鐩爣鍒�={},鐩爣灞�={}", wrkMast.getWrkNo().shortValue(), sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue(), sta.getRow1().shortValue(), sta.getBay1().shortValue(), sta.getLev1().shortValue());
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setPltType(crnStation);
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�
@@ -1507,6 +2048,8 @@
}
+
+
/**
* 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
*/
@@ -1522,7 +2065,10 @@
// 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) {
News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
-
+ if (crnProtocol.getTaskNo() == 9999) {
+ crnThread.setResetFlag(true);
+ continue;
+ }
// 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
if (wrkMast == null) {
@@ -1530,8 +2076,19 @@
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)) {
+ if (wrkMast.getWrkSts() == 3) {
wrkMast.setWrkSts(4L);
+ wrkMast.setPltType(0);
+ } else if (wrkMast.getWrkSts() == 103) {
+ wrkMast.setWrkSts(104L);
+ } else if (wrkMast.getWrkSts() == 105) {
+ wrkMast.setWrkSts(4L);
+ wrkMast.setPltType(0);
+ } else if (wrkMast.getWrkSts() == 106) {
+ wrkMast.setWrkSts(107L);
+ } else if (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11) {
+ wrkMast.setWrkSts(4L);
+ wrkMast.setPltType(0);
} else {
continue;
}
@@ -1542,8 +2099,47 @@
if (wrkMastMapper.updateById(wrkMast) > 0) {
// 鍫嗗灈鏈哄浣�
log.error(wrkMast.getWrkNo() + "浠诲姟淇敼鐘舵��4鎴愬姛锛屽浣嶅爢鍨涙満={}", crnThread.getCrnProtocol().getCrnNo());
- News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿={}", crnThread.getCrnProtocol().getCrnNo());
+ News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿宸ヤ綅1={}", crnThread.getCrnProtocol().getCrnNo());
crnThread.setResetFlag(true);
+ }
+ } else if (crnProtocol.statusTypeTwo == CrnStatusType.WAITING && crnProtocol.getTaskNoTwo() != 0) {
+ News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屼换鍔″彿:" + crnProtocol.getTaskNo());
+ if (crnProtocol.getTaskNo() == 9999) {
+ crnThread.setResetFlagTwo(true);
+ continue;
+ }
+ // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNoTwo().intValue());
+ if (wrkMast == null) {
+ News.error("" + mark + " - 1" + " - 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.setWrkSts(4L);
+ wrkMast.setPltType(0);
+ } else if (wrkMast.getWrkSts() == 103) {
+ wrkMast.setWrkSts(104L);
+ } else if (wrkMast.getWrkSts() == 105) {
+ wrkMast.setWrkSts(4L);
+ wrkMast.setPltType(0);
+ } else if (wrkMast.getWrkSts() == 106) {
+ wrkMast.setWrkSts(107L);
+ } else if (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11) {
+ wrkMast.setWrkSts(4L);
+ wrkMast.setPltType(0);
+ } 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�
+ log.error(wrkMast.getWrkNo() + "浠诲姟淇敼鐘舵��4鎴愬姛锛屽浣嶅爢鍨涙満={}", crnThread.getCrnProtocol().getCrnNo());
+ News.warnNoLog("" + mark + " - 2" + " - 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満 : 鍫嗗灈鏈哄彿2宸ヤ綅2={}", crnThread.getCrnProtocol().getCrnNo());
+ crnThread.setResetFlagTwo(true);
}
}
@@ -1580,8 +2176,7 @@
}
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
- BasErrLog basErrLog = new BasErrLog(
- null, // 缂栧彿
+ 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
@@ -1628,8 +2223,7 @@
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
+ 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
@@ -1685,6 +2279,9 @@
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻绌烘澘鍏ュ簱鍙�
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
+ //鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
+ String barcode = barcodeThread.getBarcode();
// 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());
@@ -1702,17 +2299,47 @@
if (!staProtocol.isLoading()) {
continue;
}
+ boolean back = false;
+ String errMsg = "";
+ if (staProtocol.isBarcodeErr()) {
+ errMsg = "鎵爜澶辫触";
+ back = true;
+ }
+ if (back && staProtocol.isEmptyMk()) {
+ log.info("errmsg: " + errMsg);
+ MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errMsg));
+ if (!staProtocol.isLoading()) {
+ continue;
+ }
+ if (!staProtocol.isPakMk()) {
+ continue;
+ }
+ if (!staProtocol.isInEnable()){
+ continue;
+ }
+ staProtocol.setWorkNo(emptyWrkNo);//閫�鍥� 宸ヤ綔鍙�:9999
+ News.info("{}PLC绌烘澘鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", emptyInSta.getStaNo(), errMsg, emptyWrkNo);
+ staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ log.error("杈撻�佺嚎涓嬪彂锛堢┖鏉匡級锛�" + emptyWrkNo + "," + emptyInSta.getBackSta());
+ break;//瓒呴檺鎵樼洏閫�鍥炰笉鐢熸垚宸ヤ綔妗�
+ }
// 绔欑偣鏉′欢鍒ゆ柇
- if (staProtocol.isAutoing()
- && staProtocol.isLoading()
- && staProtocol.isInEnable()
- && staProtocol.isEmptyMk()
- && staProtocol.isPakMk()
- && (staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() > 9700)
- ) {
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && staProtocol.isPakMk() && (staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() > 9700)) {
News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛岋細绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�");
+ if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
+ News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", emptyInSta.getBarcode(), barcode);
+ staProtocol.setWorkNo(wrkNo);
+ News.info("{}barcode鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", emptyInSta.getStaNo(), emptyInSta, wrkNo);
+ staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ log.error("杈撻�佺嚎涓嬪彂锛堢┖鏉匡級锛�" + wrkNo + "," + emptyInSta.getBackSta());
+ continue;
+ }
try {
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
SearchLocParam param = new SearchLocParam();
@@ -1720,12 +2347,8 @@
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();
+ param.setBarcode(barcode);
+ 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);
@@ -1736,7 +2359,7 @@
//staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- log.error("杈撻�佺嚎涓嬪彂6锛�" + dto.getWorkNo() + "," + staProtocol.getSiteId());
+ log.error("杈撻�佺嚎涓嬪彂锛堢┖鏉匡級锛�" + dto.getWorkNo() + "," + staProtocol.getSiteId());
if (!result) {
News.errorNoLog("" + mark + " - 1" + " - 鏇存柊plc绔欑偣淇℃伅澶辫触");
throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
@@ -1749,7 +2372,7 @@
LedCommand ledCommand = new LedCommand();
ledCommand.setWorkNo(dto.getWorkNo());
ledCommand.setIoType(1);
- ledCommand.setTitle("鍏ㄦ澘鍏ュ簱");
+ ledCommand.setTitle("绌烘澘鍏ュ簱");
ledCommand.setLocNo(dto.getLocNo());
ledCommand.setStaNo(dto.getStaNo());
commands.add(ledCommand);
@@ -1757,22 +2380,12 @@
// ledThread.errorReset();
}
} else {
-// staProtocol.setWorkNo(wrkNo++);
-// staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-// if (!result) {
-// News.errorNoLog(""+mark+" - 2"+" - 鏇存柊plc绔欑偣淇℃伅澶辫触");
-// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
-// }
-//
if (ledThread != null) {
String errorMsg = jsonObject.getString("msg");
if (!Cools.isEmpty(errorMsg)) {
MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
}
}
-// News.error(""+mark+" - 3"+" - 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();
@@ -1780,13 +2393,11 @@
}
} else {
- News.errorNoLog("" + mark + " - 4" + " - 绔欑偣淇℃伅涓嶇鍚堝叆搴撴潯浠讹紒锛侊紒" + " 鑷姩淇″彿锛�" + staProtocol.isAutoing() + "銆佸彲鍏ヤ俊鍙凤細" + staProtocol.isInEnable()
- + "銆佺┖鏉夸俊鍙凤細" + staProtocol.isEmptyMk() + "銆佸伐浣滃彿锛�" + staProtocol.getWorkNo()
- + "銆侀攣瀹氭爣璁�" + staProtocol.isPakMk());
+ News.errorNoLog("" + mark + " - 4" + " - 绔欑偣淇℃伅涓嶇鍚堝叆搴撴潯浠讹紒锛侊紒" + " 鑷姩淇″彿锛�" + staProtocol.isAutoing() + "銆佸彲鍏ヤ俊鍙凤細" + staProtocol.isInEnable() + "銆佺┖鏉夸俊鍙凤細" + staProtocol.isEmptyMk() + "銆佸伐浣滃彿锛�" + staProtocol.getWorkNo() + "銆侀攣瀹氭爣璁�" + staProtocol.isPakMk());
}
}
}
-// News.infoNoLog(""+mark+" - 0"+" - 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐ф墽琛屽畬鎴�");
+ News.infoNoLog("" + mark + " - 0" + " - 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐ф墽琛屽畬鎴�");
}
/**
@@ -1867,14 +2478,14 @@
} else {
total = locDetl.getAnfme();
}
- if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
- ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));
+ if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1 || wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) {
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(), wrkDetl.getOutOrderNo(), wrkDetl.getUnit(), wrkDetl.getWeight(), wrkDetl.getSupp(), wrkDetl.getLength(), wrkDetl.getTemp1(), wrkDetl.getProType(), wrkDetl.getAnfme(), wrkDetl.getTemp2(), total));
}
- if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
- ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));
+ if (wrkMast.getIoType() == 103) {
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(), wrkDetl.getOutOrderNo(), wrkDetl.getUnit(), wrkDetl.getWeight(), wrkDetl.getSupp(), wrkDetl.getLength(), wrkDetl.getTemp1(), wrkDetl.getProType(), wrkDetl.getAnfme(), wrkDetl.getTemp2(), total));
}
if (wrkMast.getIoType() == 107) {
- ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));
+ ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(), wrkDetl.getOutOrderNo(), wrkDetl.getUnit(), wrkDetl.getWeight(), wrkDetl.getSupp(), wrkDetl.getLength(), wrkDetl.getTemp1(), wrkDetl.getProType(), wrkDetl.getAnfme(), wrkDetl.getTemp2(), total));
}
});
}
@@ -2038,7 +2649,14 @@
LocMast loc = null;
for (Integer row : rows) {
if (Utils.isDeepLoc(slaveProperties, row)) {
- loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
+ if (shallowLoc.getBay1() == 1) {
+ loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1(), 29);
+ } else if (shallowLoc.getRow1() == 29) {
+ loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1(), 1);
+ } else {
+ loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
+ }
+
if (loc != null) {
if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
@@ -2057,7 +2675,14 @@
if (null == loc) {
for (Integer row : rows) {
if (Utils.isShallowLoc(slaveProperties, row)) {
- loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
+ if (shallowLoc.getBay1() == 1) {
+ loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1(), 29);
+ } else if (shallowLoc.getRow1() == 29) {
+ loc = locMastService.queryFreeLocMast2(row, shallowLoc.getLocType1(), 1);
+ } else {
+ loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
+ }
+
if (null != loc) {//瀵瑰簲娣卞簱浣嶉潪鍦ㄥ簱鐘舵��,涓嶈兘绉诲簱
String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
@@ -2169,7 +2794,7 @@
}
// 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) {
+ if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getTaskNoTwo() == 0) {
// 鑾峰彇绉诲簱宸ヤ綔妗ｄ俊鎭�
WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
if (null != wrkMast) {
@@ -2177,11 +2802,13 @@
}
LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
- LocMast loc = locMastService.queryDemoLoc(crn.getId());
- if (null == sourceLoc || null == loc) {
+ if (sourceLoc == null){
continue;
}
-
+ LocMast loc = locMastService.queryDemoLoc(crn.getId(),sourceLoc.getLocType1());
+ if (null == loc) {
+ continue;
+ }
String sourceLocNo = sourceLoc.getLocNo();
String locNo = loc.getLocNo();
@@ -2205,6 +2832,7 @@
wrkMast.setLinkMis("N");
wrkMast.setAppeTime(new Date());
wrkMast.setModiTime(new Date());
+ wrkMast.setPltType(2);//鍥哄畾2鍙峰伐浣嶇Щ搴�
int res = wrkMastMapper.insert(wrkMast);
if (res == 0) {
throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
@@ -2324,9 +2952,7 @@
// 鍑哄簱鍒囨崲涓�
devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
- if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
- && !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading()
- && devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) {
+ if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading() && !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading() && devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) {
// 鍑哄簱妯″紡
devpThread.ioModeOf2F = IoModeType.PAKOUT_MODE;
}
@@ -2342,9 +2968,7 @@
// 鍑哄簱鍒囨崲涓�
devpThread.ioModeOf4F = IoModeType.PAKOUT_BOOTING;
WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
- if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
- && !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading()
- && devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) {
+ if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading() && !devpThread.getStation().get(inSta.getStaNo() + 1).isLoading() && devpThread.getStation().get(inSta.getStaNo() + 1).getWorkNo() == 0) {
// 鍑哄簱妯″紡
devpThread.ioModeOf4F = IoModeType.PAKOUT_MODE;
}
@@ -2388,10 +3012,8 @@
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
List<Integer> list = new ArrayList<>();
list.add(101);
- list.add(112);
Map<Integer, Integer> map = new HashMap<>();
map.put(101, 102);
- map.put(112, 111);
for (Integer site : list) {
WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", map.get(site)));
if (!Cools.isEmpty(wrkMast)) {
@@ -2407,25 +3029,19 @@
if (staProtocol.isAutoing() //鑷姩
&& !staProtocol.isLoading() //鏃犵墿
&& staProtocol.isOutEnable() //鍙嚭淇″彿
- && staProtocol.getWorkNo() == 0
- ) {
+ && staProtocol.getWorkNo() == 0) {
WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(site);
if (null != pakoutEmpty) {
return;
}
Short loctype1 = 1;
if (site == 101) {
- loctype1 = 2;
+ loctype1 = 1;
}
LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
locTypeDto.setSiteId(site);
try {
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/auto/emptyOut/v1")
- .setJson(JSON.toJSONString(locTypeDto))
- .build()
- .doPost();
+ String response = new HttpHandler.Builder().setUri(wmsUrl).setPath("/rpc/auto/emptyOut/v1").setJson(JSON.toJSONString(locTypeDto)).build().doPost();
JSONObject jsonObject = JSON.parseObject(response);
if (jsonObject.getInteger("code").equals(200)) {
String data = jsonObject.get("data").toString();
@@ -2457,8 +3073,7 @@
if (staProtocol.isAutoing() //鑷姩
&& staProtocol.isLoading() //鏈夌墿
&& staProtocol.isInEnable() //鍙叆淇″彿
- && staProtocol.isPakMk()
- && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) //宸ヤ綔鍙蜂负0鎴栬�呭伐浣滃彿鏄�9991~9999锛堣緭閫佹満鐣欑敤锛�
+ && staProtocol.isPakMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) //宸ヤ綔鍙蜂负0鎴栬�呭伐浣滃彿鏄�9991~9999锛堣緭閫佹満鐣欑敤锛�
) {
try {
@@ -2469,12 +3084,7 @@
LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
locTypeDto.setSiteId(site);
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/auto/emptyIn/v1")
- .setJson(JSON.toJSONString(locTypeDto))
- .build()
- .doPost();
+ String response = new HttpHandler.Builder().setUri(wmsUrl).setPath("/rpc/auto/emptyIn/v1").setJson(JSON.toJSONString(locTypeDto)).build().doPost();
JSONObject jsonObject = JSON.parseObject(response);
if (jsonObject.getInteger("code").equals(200)) {
News.info((String) jsonObject.get("msg"));
@@ -2557,12 +3167,8 @@
}
// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE &&
- rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getLoaded1() == 0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
- && (rgvProtocol.getTaskNo1() == 0)
- && rgvThread.isPakMk()
- ) {
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getLoaded1() == 0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+ && (rgvProtocol.getTaskNo1() == 0) && rgvThread.isPakMk()) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
Integer rgvNoOther = basRgvMap.getRgvNoOther(rgvProtocol.getRgvNo());
@@ -2573,12 +3179,7 @@
} else {
rgvProtocolOther = rgvProtocolOther.clone();
}
- if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
- && rgvProtocolOther.getModeType() == RgvModeType.AUTO
- && rgvProtocolOther.getLoaded1() == 0
- && (rgvProtocolOther.getTaskNo1() == 0)
- && rgvThreadOther.isPakMk()
- ) {
+ if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE && rgvProtocolOther.getModeType() == RgvModeType.AUTO && rgvProtocolOther.getLoaded1() == 0 && (rgvProtocolOther.getTaskNo1() == 0) && rgvThreadOther.isPakMk()) {
//瀵瑰伐浣滄。杩涜鍒ゆ柇
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
if (rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo1() <= 9000) {
@@ -2622,10 +3223,7 @@
}
// 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
- if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1() == RgvStatusType.FETCHWAITING)
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
- ) {
+ if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1() == RgvStatusType.FETCHWAITING) && rgvProtocol.getModeType() == RgvModeType.AUTO && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)) {
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);
if (rgvProtocol.getTaskNo1() != 0) {
if (rgvProtocol.getTaskNo1() == 32222) {
@@ -2733,12 +3331,7 @@
}
// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getLoaded1() == 0
- && rgvProtocol.getTaskNo1() == 0
- && rgvThread.isPakMk()
- ) {
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakMk()) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
if (basRgvMap == null) {
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
@@ -2949,12 +3542,8 @@
}
// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getLoaded1() == 0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
- && rgvProtocol.getTaskNo1() == 0
- && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
- && rgvThread.isPakMk()
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getLoaded1() == 0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+ && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvThread.isPakMk()
// && rgvProtocol.getTaskNo2()==0
) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
@@ -3176,4 +3765,66 @@
}
}
+ public synchronized void crnMove() {
+ 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) {
+ if (crnProtocol.getCrnNo() == 1 && crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
+ continue;
+ }
+ Page<BasCrnOpt> basCrnOptPage = crnOptService.selectPage(new Page<>(1, 1), new EntityWrapper<BasCrnOpt>().eq("crn_no", crn.getId()).orderBy("send_time", false));
+ if (basCrnOptPage != null && basCrnOptPage.getRecords() != null && basCrnOptPage.getRecords().size() > 0) {
+ if (System.currentTimeMillis() - basCrnOptPage.getRecords().get(0).getSendTime().getTime() < 1000 * 60 * 3) {
+ continue;
+ }
+ } else {
+ if (System.currentTimeMillis() - crnProtocol.getLastCommandTime() < 1000 * 60 * 2) {
+ continue;
+ }
+ }
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("crn_no", crn.getId()).notIn("wrk_sts", 5, 14, 15));
+ if (!wrkMasts.isEmpty()) {
+ continue;
+ }
+
+ CrnSlave.CrnStn crnStn = crn.getCrnInStn().get(0);
+
+ News.info("鍫嗗灈鏈烘棤浠诲姟鑷姩鍥炲叆搴撳彛寰呮満==>>" + crnProtocol.getCrnNo() + "鍙峰爢鍨涙満");
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo((short) 9999); // 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: 鍫嗗灈鏈虹Щ鍔�
+ crnCommand.setTaskMode(CrnTaskModeType.XY_MOVE);//浣欏閿愰簰鍥炲師鐐逛换鍔℃ā寮�: 绔欎綅杞Щ
+ crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ((short) 1); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX((short) 0); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY((short) 14); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ((short) 0); // 鐩爣搴撲綅灞�
+ crnCommand.setCommand((short) 1);//浠诲姟纭浣�
+ if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
+ News.error("鍫嗗灈鏈虹Щ鍔ㄥ懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
+ }
+ crnThread.setBackHpFlag(true);
+ try {
+ Thread.sleep(500);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ }
+ }
}
--
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