From d8b7de110ce5e16b95f87f79aec65c13b7f475f2 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期六, 20 四月 2024 17:44:50 +0800
Subject: [PATCH] #演示
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 932 ++++++++++++++++++---------------------------------------
1 files changed, 293 insertions(+), 639 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 7aa1291..c4ae583 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1,38 +1,50 @@
package com.zy.asrs.service.impl;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
+import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
-import com.zy.asrs.mapper.WaitPakinMapper;
-import com.zy.asrs.mapper.WrkMastMapper;
+import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
+import com.zy.asrs.utils.Utils;
+import com.zy.asrs.utils.VersionUtils;
+import com.zy.common.model.LocTypeDto;
+import com.zy.common.model.MatDto;
+import com.zy.common.model.SearchLocParam;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
+import com.zy.common.utils.CollectionUtils;
+import com.zy.common.utils.HttpHandler;
+import com.zy.core.CrnThread;
+import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
-import com.zy.core.model.CrnSlave;
-import com.zy.core.model.DevpSlave;
-import com.zy.core.model.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.CrnThread;
-import com.zy.core.thread.DevpThread;
+import com.zy.core.thread.LedThread;
+import com.zy.core.thread.SiemensDevpThread;
+import com.zy.core.thread.SiemensRgvThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.jdbc.core.JdbcTemplate;
-import org.springframework.scheduling.annotation.Async;
+import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
+import org.springframework.transaction.interceptor.TransactionAspectSupport;
-import java.util.Date;
-import java.util.List;
+import java.util.*;
+import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
/**
@@ -44,669 +56,311 @@
@Transactional
public class MainServiceImpl {
+ public static final long COMMAND_TIMEOUT = 5 * 1000;
+
@Autowired
private CommonService commonService;
@Autowired
private SlaveProperties slaveProperties;
@Autowired
- private WrkMastMapper wrkMastMapper;
+ private WrkMastStaMapper wrkMastStaMapper;
@Autowired
- private WrkDetlService wrkDetlService;
+ private FillingMastService fillingMastService;
@Autowired
- private WaitPakinMapper waitPakinMapper;
- @Autowired
- private LocMastService locMastService;
- @Autowired
- private StaDescService staDescService;
- @Autowired
- private BasCrnpService basCrnpService;
- @Autowired
- private BasDevpService basDevpService;
- @Autowired
- private JdbcTemplate jdbcTemplate;
+ private VacuumMastService vacuumMastService;
+
+ @Value("${wms.url}")
+ private String wmsUrl;
+
+ public Integer wrkNo1 = 10000;
+
+ public Integer wrkNo2 = 20000;
+
+
/**
- * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 2
+ * 鍫嗗灈鏈烘紨绀� ===>> 搴撲綅绉昏浆
*/
- @Async
- public void generateStoreWrkFile() {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ public void getRgvTask() {
for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鍏ュ簱鍙�
for (DevpSlave.Sta inSta : devp.getInSta()) {
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
- String barcode = barcodeThread.getBarcode();
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading()
- && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
- && staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
- if (wrkMast != null) {
- log.warn("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ if (!rgv.getDemo()){
continue;
+
}
- // 鑾峰彇鍏ュ簱閫氱煡妗�
- List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
- if (waitPakins.isEmpty()) {
- log.warn("鏃犳鍏ュ簱鏉＄爜鏁版嵁銆傛潯鐮佸彿={}", barcode);
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+ if (staProtocol == null) {
continue;
- }
- // 宸ヤ綔鍙�
- int workNo = commonService.getWorkNo(0);
- // 妫�绱㈠簱浣�
- List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
- StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos);
- // 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");
-// 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�");
- }
- // 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�");
+ } else {
+ staProtocol = staProtocol.clone();
}
- // 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());
- staProtocol.setPakMk(false);
- staProtocol.setInreq1(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.setPakMk(false);
-
- }
-
-
- }
- }
-
- }
-
- /**
- * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 1 ==>> 2
- */
- @Async
- public void generateStoreWrkFile2() {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鍏ュ簱鍙�
- for (DevpSlave.Sta inSta : devp.getInSta()) {
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading()
- && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
- && staProtocol.isPakMk()) {
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
- if (wrkMast == null) {
- continue;
- }
-
- // 鏇存柊宸ヤ綔涓绘。
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
- wrkMast.setModiTime(new Date());
- Integer update = wrkMastMapper.updateById(wrkMast);
- if (update == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｅ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(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- 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.setPakMk(false);
-
- }
-
-
- }
- }
-
- }
-
- /**
- * 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
- */
- @Async
- public void stnToCrnStnPick(){
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
- for (DevpSlave.Sta pickSta : devp.getPickSta()) {
- // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
-
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInreq1()
- && staProtocol.getWorkNo() > 0 && staProtocol.isPakMk()){
- WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo().intValue());
- if (wrkMast == null) {
- // 鏃犳嫞鏂欐暟鎹�
- continue;
- }
- if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 1070)
- || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
- continue;
- }
- // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
- if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
- }
- // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
- if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
- }
- // 鑾峰彇鐩爣绔�
- Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
- .eq("type_no", wrkMast.getIoType() - 50)
- .eq("stn_no", wrkMast.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
- .eq("crn_no", wrkMast.getCrnNo()); // 鍫嗗灈鏈哄彿
- StaDesc staDesc = staDescService.selectOne(wrapper);
- if (Cools.isEmpty(staDesc)) {
- throw new CoolException("鍏ュ簱璺緞涓嶅瓨鍦�");
- }
- // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
- Integer staNo = staDesc.getCrnStn();
- // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
- wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
- wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 婧愮珯
- wrkMast.setStaNo(staNo); // 鐩爣绔�
- wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
- wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
- }
- // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
- LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
- locMast.setLocSts("Q");
- locMast.setModiTime(new Date());
- if (!locMastService.updateById(locMast)) {
- throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
- }
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- staProtocol.setPakMk(false);
- staProtocol.setInreq1(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");
- }
-
- }
-
- }
-
- }
- }
-
- /**
- * 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
- */
- @Async
- public void crnStnToOutStn() {
- for (CrnSlave crnSlave : slaveProperties.getCrn()) {
- // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
- for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
- // 鏌ヨ宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
- if (wrkMast == null) {
- continue;
- }
- // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
- if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
- continue;
- }
- // 鍒ゆ柇鍚婅溅鏄惁瀹為檯宸插畬鎴愶紝涓旂數鑴戠姸鎬佸湪move涓紝浠ュ鐢佃剳杩涜鏇存柊宸ヤ綔妗�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
- // 绉诲姩涓�
- continue;
- }
- // 鍒ゆ柇鍫嗗灈鏈虹姸鎬佺瓑寰呯‘璁�
- if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
- && crnProtocol.statusType == CrnStatusType.WAITING
- && crnProtocol.forkPosType == CrnForkPosType.HOME) {
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- // 1.澶嶄綅鍫嗗灈鏈�
- crnThread.setResetFlag(true);
-
- // 2.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))) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ if (staProtocol.isPakMk()){
+ VacuumMast vacuumMast = vacuumMastService.selectByStatusIsN();
+ FillingMast fillingMast = fillingMastService.selectByStatusIsn();
+ Date now = new Date();
+ WrkMastSta wrkMastSta = new WrkMastSta();
+ int workNo = commonService.getWorkNo(0);
+ wrkMastSta.setWrkNo((long)workNo);
+ wrkMastSta.setWrkStart(2);
+ wrkMastSta.setWrkEnd(vacuumMast.getStaNo());
+// wrkMastSta.setStaStart();
+ wrkMastSta.setStaEnd(fillingMast.getStaNo());
+ wrkMastSta.setCreateTime(now);
+ wrkMastSta.setUpdateTime(now);
+ wrkMastSta.setBignTime(now);
+ wrkMastSta.setType(0); //绫诲瀷 0:闈炵┖ 1:绌烘澘
+ wrkMastSta.setWrkType(3); //宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭斁 3锛氬彇鏀� 4锛氭媶鐩�
+ Integer insert = wrkMastStaMapper.insert(wrkMastSta);
+ if (insert>0){
+ devpThread.setPakMk(devp.getId(),false);
}
-
- // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14澶辫触
- wrkMast.setWrkSts(14L);
- wrkMast.setCrnEndTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛屽伐浣滃彿"+wrkMast.getWrkNo());
- }
-
- }
-
- }
- }
- }
- }
-
- /**
- * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
- */
- @Async
- public void crnIoExecute(){
- for (CrnSlave crn : slaveProperties.getCrn()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
- if (basCrnp == null) {
- log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
- continue;
- }
- // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0) {
- // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
- if (crnProtocol.getLastIo().equals("I")) {
- if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc(crn); // 鍏ュ簱
- crnProtocol.setLastIo("O");
- } else if (basCrnp.getOutEnable().equals("Y")) {
- this.locToCrnStn(crn); // 鍑哄簱
- crnProtocol.setLastIo("I");
}
}
- // 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
- else if (crnProtocol.getLastIo().equals("O")) {
- if (basCrnp.getOutEnable().equals("Y")) {
- this.locToCrnStn(crn); // 鍑哄簱
- crnProtocol.setLastIo("I");
- } else if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc(crn); // 鍏ュ簱
- crnProtocol.setLastIo("O");
+
+ }
+ }
+ }
+ public synchronized void RGVDemoShow0() {
+ try {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ for (DevpSlave.Sta inSta : devp.getInSta()) {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
}
- }
- }
- // 搴撲綅绉昏浆
- this.locToLoc(crn);
- }
- }
-
- /**
- * 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
- */
- @Async
- public void crnStnToLoc(CrnSlave slave){
- for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
- boolean flag = false;
- // 鑾峰彇鍫嗗灈鏈哄叆搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- // 鏌ヨ绔欑偣璇︾粏淇℃伅
- BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
- if (staDetl == null) {
- log.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
- continue;
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staDetl.getCanining().equals("Y")) {
- flag = true;
- }
- if (!flag) {
- continue;
- }
- // 鑾峰彇宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級鐨勫叆搴撳伐浣滄。
- WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue());
- if(null == wrkMast) {
- log.error("鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts=2, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
- continue;
- }
- // 鑾峰彇搴撲綅淇℃伅
- LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
- if (locMast == null) {
- log.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
- continue;
- }
- if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
- log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
- continue;
- }
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- 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());
- }
- }
- }
- }
-
- /**
- * 鍑哄簱 ===>> 搴撲綅鍒板爢鍨涙満绔�
- */
- @Async
- public void locToCrnStn(CrnSlave slave){
- for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
- // 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑鍑哄簱宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId());
- if (wrkMast == null) {
- continue;
- }
- // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
- if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
- log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
- continue;
- }
- // 鑾峰彇婧愬簱浣嶄俊鎭�
- LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
- if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
- log.error("鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), sourceSta.getLocSts());
- continue;
- }
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- // 鏌ヨ绔欑偣璇︾粏淇℃伅
- BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
- if (staDetl == null) {
- log.error("鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
- continue;
- }
- // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
- if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
- && staProtocol.getWorkNo() == 0) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- // 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.PAKOUT); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
- Date now = new Date();
- wrkMast.setWrkSts(12L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
- }
-
- /**
- * 搴撲綅绉昏浆
- */
- @Async
- public void locToLoc(CrnSlave slave){
- // 鑾峰彇宸ヤ綔妗ｄ俊鎭�
- WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
- if (null == wrkMast) {
- return;
- }
- // 鑾峰彇婧愬簱浣嶄俊鎭�
- LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
- if (null == sourceSta) {
- log.error("宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈡簮搴撲綅澶辫触锛佸伐浣滃彿={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
- return;
- }
- // 婧愬簱浣� 搴撲綅鐘舵�佸垽鏂�
- if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) {
- return;
- }
- // 鑾峰彇鐩爣搴撲綅淇℃伅
- LocMast sta = locMastService.selectById(wrkMast.getLocNo());
- if (null == sta) {
- log.error("宸ヤ綔妗ｅ簱浣嶇Щ杞け璐ワ紝鍘熷洜锛氭绱㈢洰鏍囧簱浣嶅け璐ワ紒宸ヤ綔鍙�={}锛屾簮搴撲綅={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
- return;
- }
- // 鑾峰彇鍫嗗灈鏈轰俊鎭� 骞� 鍒ゆ柇鏄惁鍙叆鍑�
- BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
- if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
- return;
- }
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
- log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓�
- Date now = new Date();
- wrkMast.setWrkSts(12L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("銆愬簱浣嶇Щ杞�� 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
-
- /**
- * 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
- */
- @Async
- public void storeFinished() {
- for (CrnSlave crn : slaveProperties.getCrn()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- // 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
- if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
- // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
- WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
- if (wrkMast == null) {
- log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
- continue;
- }
- // 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
- if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)){
- wrkMast.setWrkSts(4L);
- // 鍑哄簱 + 鎷ｆ枡/鐩樼偣/骞舵澘鍑哄簱涓細12.鍚婅溅鍑哄簱涓� ==> 14.鍑哄簱瀹屾垚
- // todo:luxiaotao
-// } else if (wrkMast.getWrkSts() == 12) {
-// wrkMast.setWrkSts(14L);
- } 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) {
-// // 鍛戒护涓嬪彂鍖� -------------------------------------------------------------------------
-// if (crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) {
-// // 鍫嗗灈鏈哄浣�
-// if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(3, new CrnCommand()))) {
-// log.error("鍫嗗灈鏈哄浣嶅懡浠や笅鍙戝け璐ワ紝宸ヤ綔鍙�={}", wrkMast.getWrkNo());
-// }
+// if (){ //杈撻�佺嚎鐘舵��
+//
// }
- crnThread.setResetFlag(true);
+
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+
+ SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }else {
+ rgvProtocol = rgvProtocol.clone();
+ }
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1()==0
+ && rgvProtocol.getTaskNo1() == 0
+ && rgvThread.isPakMk()
+ ){
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectWrkSts0();
+ if (!Cools.isEmpty(wrkMastSta)){
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgv.getId()); // RGV缂栧彿
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkNo1); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setSourceStaNo1(wrkMastSta.getWrkStart().shortValue()); //宸ヤ綅1璧风偣
+ rgvCommand.setDestinationStaNo1(wrkMastSta.getWrkEnd().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgv.getId(), JSON.toJSON(rgvCommand));
+
+ } else {
+ vacuumMastStatusSetY(wrkMastSta.getWrkEnd());
+ rgvThread.setPakMk(false);
+
+ wrkMastSta.setWrkSts(1);
+ Integer update = wrkMastStaMapper.updateById(wrkMastSta);
+ if (update>0){
+
+ }else {
+ log.error("RGV鍛戒护涓嬪彂鍚庯紝鏇存柊宸ヤ綔浠诲姟鐘舵�佸け璐�");
+ }
+
+ }
+
+ }
+
+
+ }
+
+ }
}
- // 瀹屾垚閫氱煡妗�
-// if (wrkMastMapper.updateWaitPakInStep2(wrkMast.getBarcode()) == 0) {
-// log.error("鍏ュ簱閫氱煡妗ｄ慨鏀圭粨鏉熺姸鎬佸け璐ワ紝workNo=[{}]", wrkMast.getWrkNo());
-// }
-
}
+
+ } catch (Exception e) {
+ log.error("Rgv婕旂ず ===>> 澶辫触", e);
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
}
- /**
- * 鍫嗗灈鏈哄紓甯镐俊鎭褰�
- */
- public void recCrnErr(){
-
- }
-
-
- // -------------------------------------------------------------------------------
-
- /**
- * 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
- */
- @Async
- public void storeEmptyPlt(){
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻绌烘澘鍏ュ簱鍙�
- for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
- // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
- // 绔欑偣鏉′欢鍒ゆ柇
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
- && staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk()) {
- // 宸ヤ綔鍙�
- int workNo = commonService.getWorkNo(0);
- // 妫�绱㈠簱浣�
- StartupDto startupDto = commonService.getLocNo(1, 1, emptyInSta.getStaNo(), null);
-
- // 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�");
+ public synchronized void RGVDemoShow1() {
+ try {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ for (DevpSlave.Sta inSta : devp.getInSta()) {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
}
- // 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� --------------------------------------------------------------------------
+// if (){ //杈撻�佺嚎鐘舵��
+//
+// }
- // 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());
- staProtocol.setPakMk(false);
- staProtocol.setInreq1(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");
- }
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ if (!rgv.getDemo()) {
+ continue;
+ }
+ SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }else {
+ rgvProtocol = rgvProtocol.clone();
+ }
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1()==0
+ && rgvProtocol.getTaskNo1() == 0
+ && rgvThread.isPakMk()
+ ){
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectWrkSts1();
+ if (!Cools.isEmpty(wrkMastSta)){
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgv.getId()); // RGV缂栧彿
+ rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkNo1); // 宸ヤ綅1宸ヤ綔鍙�
+ rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setSourceStaNo1(wrkMastSta.getWrkEnd().shortValue()); //宸ヤ綅1璧风偣
+ rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgv.getId(), JSON.toJSON(rgvCommand));
- staProtocol.setPakMk(false);
+ } else {
+ rgvThread.setPakMk(false);
+ vacuumMastStatusSetN(wrkMastSta.getWrkEnd());
+ fillingMastStatusSetY(wrkMastSta.getStaEnd());
+
+ wrkMastSta.setWrkSts(2);
+ Integer update = wrkMastStaMapper.updateById(wrkMastSta);
+ if (update>0){
+
+ }else {
+ log.error("RGV鍛戒护涓嬪彂鍚庯紝鏇存柊宸ヤ綔浠诲姟鐘舵�佸け璐�");
+ }
+
+ }
+
+ }
+
+
+ }
+
+ }
}
-
}
+
+ } catch (Exception e) {
+ log.error("Rgv婕旂ず ===>> 澶辫触", e);
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
}
+ public synchronized void RGVDemoShow2() throws InterruptedException {
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+// if (!rgv.getDemo()) {
+// continue;
+// }
+ SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }else {
+ rgvProtocol = rgvProtocol.clone();
+ }
+ if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() >0
+// && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
+ ){
+ boolean rgvComplete = rgvComplete(rgv.getId());
+ if (rgvComplete){
+ rgvThread.setPakMk(true);
+ }
+
+ }
+
+ }
+ }
+
+ public boolean vacuumMastStatusSetN(Integer staNo){
+ EntityWrapper<VacuumMast> vacuumMastEntityWrapper = new EntityWrapper<>();
+ vacuumMastEntityWrapper.eq("sta_no",staNo);
+ VacuumMast vacuumMast = vacuumMastService.selectOne(vacuumMastEntityWrapper);
+ vacuumMast.setStatus("N");
+ boolean update = vacuumMastService.update(vacuumMast, vacuumMastEntityWrapper);
+ return update;
+ }
+ public boolean vacuumMastStatusSetY(Integer staNo){
+ EntityWrapper<VacuumMast> vacuumMastEntityWrapper = new EntityWrapper<>();
+ vacuumMastEntityWrapper.eq("sta_no",staNo);
+ VacuumMast vacuumMast = vacuumMastService.selectOne(vacuumMastEntityWrapper);
+ vacuumMast.setStatus("Y");
+ boolean update = vacuumMastService.update(vacuumMast, vacuumMastEntityWrapper);
+ return update;
+ }
+ public boolean fillingMastStatusSetN(Integer staNo){
+ EntityWrapper<FillingMast> fillingMastEntityWrapper = new EntityWrapper<>();
+ fillingMastEntityWrapper.eq("sta_no",staNo);
+ FillingMast fillingMast = fillingMastService.selectOne(fillingMastEntityWrapper);
+ fillingMast.setStatus("N");
+ boolean update = fillingMastService.update(fillingMast, fillingMastEntityWrapper);
+ return update;
+ }
+
+ public boolean fillingMastStatusSetY(Integer staNo){
+ EntityWrapper<FillingMast> fillingMastEntityWrapper = new EntityWrapper<>();
+ fillingMastEntityWrapper.eq("sta_no",staNo);
+ FillingMast fillingMast = fillingMastService.selectOne(fillingMastEntityWrapper);
+ fillingMast.setStatus("Y");
+ boolean update = fillingMastService.update(fillingMast, fillingMastEntityWrapper);
+ return update;
+ }
+
+
+
+ /*
+ * 灏忚溅澶嶄綅
+ * */
+ public synchronized boolean rgvComplete(Integer rgvId){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}",rgvId);
+ return false;
+ } else {
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}",rgvId);
+ return true;
+ }
+ }catch (Exception e){
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}銆傚紓甯革細"+e,rgvId);
+ return false;
+ }
+ }
+
+
+
}
--
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