From e064028d87f0d9335d095c2f646a7ce7635e13f1 Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期四, 18 十二月 2025 13:38:54 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 394 ++++++++++++++++++++++++++++++++++---------------------
1 files changed, 244 insertions(+), 150 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 abdb05f..2c2f6a3 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -93,9 +93,9 @@
@Autowired
private WrkMastStaMapper wrkMastStaMapper;
@Autowired
- private BasRgvMapMapper basRgvMapMapper;
- @Autowired
private RgvOneSignMapper rgvOneSignMapper;
+ @Autowired
+ private BasRgvMapService basRgvMapService;
@Value("${wms.url}")
private String wmsUrl;
@@ -368,6 +368,9 @@
Integer staNo = wrkMast.getStaNo();
if (wrkMast.getSourceStaNo()==145){
staNo = 147;
+ }
+ if (wrkMast.getSourceStaNo()==1908 || wrkMast.getSourceStaNo()==1901){
+ staNo = 1907;
}
staProtocol.setStaNo(staNo);
devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -1310,7 +1313,11 @@
log.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
continue;
}
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
+// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
+// && staDetl.getCanining() != null && staDetl.getCanining().equals("Y") && staDetl.getWrkNo().equals(wrkMast.getWrkNo())) {
+// flag = true;
+// }
+ if (staProtocol.isAutoing() && staProtocol.getWorkNo() > 0
&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y") && staDetl.getWrkNo().equals(wrkMast.getWrkNo())) {
flag = true;
}
@@ -1648,10 +1655,10 @@
log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
} else {
if (waitWrkMast.getWrkSts() == 11) {
- if (waitWrkMast.getIoPri() + 100000D < 99999999) {
+ if (waitWrkMast.getIoPri() + 100000D < 999999999D) {
waitWrkMast.setIoPri(waitWrkMast.getIoPri()+100000D);
} else {
- waitWrkMast.setIoPri(99999999D);
+ waitWrkMast.setIoPri(999999999D);
}
waitWrkMast.setModiTime(new Date());
if (wrkMastMapper.updateById(waitWrkMast) == 0) {
@@ -2240,7 +2247,7 @@
*/
public synchronized void storeEmptyPlt() {
for (DevpSlave devp : slaveProperties.getDevp()) {
- if (devp.getId()==1) continue;
+// if (devp.getId()==1) continue;
// 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�
@@ -2255,27 +2262,34 @@
// 绔欑偣鏉′欢鍒ゆ柇
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
&& staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
-
try {
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-
SearchLocParam param = new SearchLocParam();
param.setIoType(10);
param.setSourceStaNo(emptyInSta.getStaNo());
param.setLocType1(locTypeDto.getLocType1());
+ String path = "/rpc/pakin/loc/v1";
+
+ if (staProtocol.getStaNo()==1908){
+ param.setRgvNo(1);
+ path = "/rpc/pakin/empty/loc/v1";
+ }
String response = new HttpHandler.Builder()
.setUri(wmsUrl)
- .setPath("/rpc/pakin/loc/v1")
+ .setPath(path)
.setJson(JSON.toJSONString(param))
.build()
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
if (jsonObject.getInteger("code").equals(200)) {
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
-
+ Integer staNo = dto.getStaNo();
+ if (staProtocol.getStaNo()==1908){
+ staNo = 1907;
+ }
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
staProtocol.setWorkNo(dto.getWorkNo());
- staProtocol.setStaNo(dto.getStaNo());
+ staProtocol.setStaNo(staNo);
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
if (!result) {
@@ -2293,42 +2307,42 @@
}
}
- /**
- * 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,1妤煎彔鐩樻満鍙犵洏
- */
- public synchronized void storeEmptyPlt2() {
- for (DevpSlave devp : slaveProperties.getDevp()) {
- if (devp.getId()==2) continue;
- // 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�
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
-
- // 绔欑偣鏉′欢鍒ゆ柇
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
- && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
- try {
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
- if (Cools.isEmpty(wrkMastSta)){
- WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
- wrkMastSta1.setType(2);
- wrkMastSta1.setWrkType(1);//宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 3锛氬彇鏀� 5锛氭弧鍙� 6锛氭弧鏀�
- wrkMastStaMapper.insert(wrkMastSta1);
- }
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
- }
- }
- }
- }
+// /**
+// * 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,1妤煎彔鐩樻満鍙犵洏
+// */
+// public synchronized void storeEmptyPlt2() {
+// for (DevpSlave devp : slaveProperties.getDevp()) {
+// if (devp.getId()==2) continue;
+// // 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�
+// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+// StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
+// if (staProtocol == null) {
+// continue;
+// } else {
+// staProtocol = staProtocol.clone();
+// }
+//
+// // 绔欑偣鏉′欢鍒ゆ柇
+// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
+// && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
+// try {
+// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
+// if (Cools.isEmpty(wrkMastSta)){
+// WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
+// wrkMastSta1.setType(2);
+// wrkMastSta1.setWrkType(1);//宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 3锛氬彇鏀� 5锛氭弧鍙� 6锛氭弧鏀�
+// wrkMastStaMapper.insert(wrkMastSta1);
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+// }
+// }
+// }
+// }
+// }
/**
* 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
@@ -2484,11 +2498,12 @@
if (Cools.isEmpty(wrkDetls)){
continue;
}
- Integer count1 = wrkDetlService.count1();
- Integer count11 = wrkDetlService.count11();
+// Integer count1 = wrkDetlService.count1();
+ Integer count111 = wrkDetlService.count111();
+// Integer count11 = wrkDetlService.count11();
Integer count2 = wrkDetlService.count2(wrkDetls.get(0).getOrderNo());
Integer count3 = wrkDetlService.count3();
- wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl,count1+count11,count2,count3)));
+ wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl,count111,count2,count3)));
}
commands.add(ledCommand);
}
@@ -2556,7 +2571,7 @@
if (staProtocol == null) {
continue;
}
- if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
+ if (staProtocol.getWorkNo() != 0 || staProtocol.isLoading()) {
reset = false;
break;
}
@@ -2565,21 +2580,21 @@
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
// led鏄剧ず榛樿鍐呭
if (reset && !ledThread.isLedMk()) {
- if (led.getId() == 7) {
- ledThread.setLedMk(true);
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
- log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
- } else {
-
- }
- } else {
+// if (led.getId() == 7) {
+// ledThread.setLedMk(true);
+// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
+// log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+// } else {
+//
+// }
+// } else {
ledThread.setLedMk(true);
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
} else {
}
- }
+// }
}
}
}
@@ -3552,7 +3567,13 @@
if (!rgvComplete){
log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
}
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
break;
@@ -3563,13 +3584,13 @@
continue;
}
if (wrkMastSta.getWrkSts()!=1){
- if (wrkMastSta.getWrkType()==1 && wrkMastSta.getWrkSts()==2 && rgvProtocol.getLoaded1()==1){
- boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
- if (!rgvComplete){
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
- break;
- }
- rgvAvoidanceXYWrkMast(rgvProtocol.getRgvNo());
+ if (wrkMastSta.getWrkType()==3 && wrkMastSta.getWrkSts()==2 && rgvProtocol.getLoaded1()==1){
+// boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
+// }
+ rgvAvoidanceXYWrkMast(rgvProtocol.getRgvNo(),wrkMastSta.getWrkNo().shortValue());
continue;
}
if (wrkMastSta.getWrkType()==6){
@@ -3630,7 +3651,13 @@
}
wrkMastSta.setWrkSts(3);
wrkMastStaMapper.updateById(wrkMastSta);
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
}else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
@@ -3639,7 +3666,13 @@
if (!rgvComplete){
log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
}
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
break;
@@ -3688,7 +3721,13 @@
}
wrkMastSta.setWrkSts(3);
wrkMastStaMapper.updateById(wrkMastSta);
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
}else {
@@ -3840,7 +3879,13 @@
&& rgvProtocol.getLoaded1()==0
&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(basRgv.getRgvNo(),rgvSignTwoType);
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());
return false;
@@ -3955,7 +4000,13 @@
&& rgvProtocol.getLoaded1()==0
&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(basRgv.getRgvNo(),rgvSignTwoType);
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());
return false;
@@ -4037,7 +4088,13 @@
&& rgvProtocol.getLoaded1()==1
&& rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo2()==0
) {// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏈夌墿 鏈夊伐浣滃彿//rgv鍙敤
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(basRgv.getRgvNo(),rgvSignTwoType);
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());
return false;
@@ -4124,7 +4181,13 @@
&& rgvProtocol.getTaskNo2()==0
&& (rgvProtocol.getLoaded2()==3 || rgvProtocol.getLoaded2()==1 || rgvProtocol.getLoaded2()==4)////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗� 锛堝彧鑳芥媶鍙狅級 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗�() 锛�3 1銆�2灞傞兘鏈夌墿 4锛氾紙锛夊彧鍏佽鎷嗙洏
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(basRgv.getRgvNo(),rgvSignTwoType);
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());
return false;
@@ -4232,7 +4295,13 @@
&& rgvProtocol.getLoaded1()==1
&& rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo2()==0
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
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());
return false;
@@ -4345,7 +4414,13 @@
&& rgvProtocol.getTaskNo2()==0
&& (rgvProtocol.getLoaded2()==2 || rgvProtocol.getLoaded2()==3 ) ////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗� 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3 1銆�2灞傞兘鏈夌墿 4锛氾紙锛夊彧鍏佽鎷嗙洏
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
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());
return false;
@@ -4453,7 +4528,13 @@
&& rgvProtocol.getTaskNo2()==0
&& (rgvProtocol.getLoaded2()==0 || rgvProtocol.getLoaded2()==1 ) //鐜板満淇敼锛氬彔鐩樻満锛�////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗╋紙鍙兘鎷嗗彔锛� 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3 1銆�2灞傞兘鏈夌墿 4锛氾紙锛夊彧鍏佽鎷嗙洏
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
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());
return false;
@@ -4549,7 +4630,13 @@
&& rgvProtocol.getLoaded1() == 0
&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
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());
return false;
@@ -4638,7 +4725,13 @@
&& rgvProtocol.getTaskNo2()==0
&& rgvProtocol.getLoaded2()==0 //鐜板満淇敼锛氬彔鐩樻満锛�////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗╋紙鍙兘鎷嗗彔锛� 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3 1銆�2灞傞兘鏈夌墿 4锛氾紙锛夊彧鍏佽鎷嗙洏
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
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());
return false;
@@ -4671,7 +4764,7 @@
log.info(date+"婊″彇浠诲姟涓嬪彂锛氭湭鏌ヨ鍒扮珯鐐逛俊鎭細"+wrkMastSta);
continue;
}
- if (!staProtocol.isAutoing() || staProtocol.isLoading()){
+ if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
continue;
}
@@ -4732,7 +4825,13 @@
|| (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
&& rgvProtocol.getTaskNo2()==0
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvProtocol.getRgvNo(),rgvSignTwoType);
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());
return false;
@@ -4925,7 +5024,13 @@
|| (rgvProtocol.getTaskNo1()>0 && rgvProtocol.getLoaded1()==1))
&& rgvProtocol.getTaskNo2()==0
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId());
+
+ RgvOneSign rgvSignTwo = rgvOneSignMapper.selectOneSign("rgvTwo");
+ int rgvSignTwoType = 0;
+ if (!Cools.isEmpty(rgvSignTwo)){
+ rgvSignTwoType = rgvSignTwo.getRgvOneSign();
+ }
+ BasRgvMap basRgvMap = basRgvMapService.selectByIdSignTwo(rgvSlave.getId(),rgvSignTwoType);
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
}
@@ -4940,9 +5045,11 @@
* 灏忚溅XY绉诲姩 閬胯
* */
public synchronized boolean rgvAvoidanceXY(Integer rgvId){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
if (rgvId==1){
try{
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
@@ -4965,7 +5072,6 @@
}
}else {
try{
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
@@ -4991,19 +5097,26 @@
/*
* 灏忚溅XY绉诲姩 閬胯
* */
- public synchronized boolean rgvAvoidanceXYWrkMast(Integer rgvId){
+ public synchronized boolean rgvAvoidanceXYWrkMast(Integer rgvId,short wrkNo1){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
if (rgvId==2){
try{
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+ rgvCommand.setTaskNo1(wrkNo1); // 宸ヤ綔鍙�
+ rgvCommand.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
+ rgvCommand.setSourceStaNo1((short)0); // 婧愮珯
+ rgvCommand.setDestinationStaNo1((short)0); // 鐩爣绔�
rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
rgvCommand.setTaskNo2((short)32222); // 宸ヤ綅2宸ヤ綔鍙�
rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 宸ヤ綅2浠诲姟妯″紡: 鍥炲師鐐�
rgvCommand.setSourceStaNo2((short)121);
rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(10, 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� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
return false;
@@ -5016,16 +5129,20 @@
}
}else {
try{
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
+ rgvCommand.setTaskNo1(wrkNo1); // 宸ヤ綔鍙�
+ rgvCommand.setAckFinish1((short) 1); // 浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskMode1(RgvTaskModeType.NONE); // 浠诲姟妯″紡
+ rgvCommand.setSourceStaNo1((short)0); // 婧愮珯
+ rgvCommand.setDestinationStaNo1((short)0); // 鐩爣绔�
rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
rgvCommand.setTaskNo2((short)32222); // 宸ヤ綅2宸ヤ綔鍙�
rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 宸ヤ綅2浠诲姟妯″紡: 鍥炲師鐐�
rgvCommand.setSourceStaNo2((short)118);
rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(10, 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� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
return false;
@@ -5043,9 +5160,11 @@
* 灏忚溅XY绉诲姩 閬胯
* */
public synchronized boolean rgvAvoidanceXY(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
if (rgvId==1){
try{
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
@@ -5068,7 +5187,6 @@
}
}else {
try{
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
@@ -5096,6 +5214,9 @@
* 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
* */
public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
@@ -5118,64 +5239,13 @@
}
}
-
- /*
- * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
- * */
- public synchronized boolean rgvTakeFullPut(Integer rgvId,WrkMastSta wrkMastSta){
- try{
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍗曞彇
- rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().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, rgvId, 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�={}", rgvId, JSON.toJSON(rgvCommand));
- return false;
- } else {
- return true;
- }
- }catch (Exception e){
- return false;
- }
- }
-
-
- /*
- * 灏忚溅鏀捐揣鑷冲伐浣嶄换鍔�
- * */
- public synchronized boolean rgvTakeFullTake(Integer rgvId,WrkMastSta wrkMastSta){
- try{
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍗曟斁
- rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().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, rgvId, 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�={}", rgvId, JSON.toJSON(rgvCommand));
- return false;
- } else {
- return true;
- }
- }catch (Exception e){
- return false;
- }
- }
-
/*
* 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
* */
public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
@@ -5201,6 +5271,9 @@
* 灏忚溅鏀捐揣鑷宠緭閫佺嚎浠诲姟
* */
public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
@@ -5226,6 +5299,9 @@
* 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟 鍙犵洏
* */
public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
@@ -5251,6 +5327,9 @@
* 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟 //鎷嗙洏
* */
public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
@@ -5276,6 +5355,9 @@
* 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟 婊″彇
* */
public synchronized boolean rgvTakeEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
@@ -5301,6 +5383,9 @@
* 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟 //婊℃斁
* */
public synchronized boolean rgvPutEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
@@ -5326,6 +5411,9 @@
* 灏忚溅澶嶄綅
* */
public synchronized boolean rgvComplete(Integer rgvId){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
@@ -5346,6 +5434,9 @@
* 灏忚溅澶嶄綅
* */
public synchronized boolean rgvComplete(Integer rgvId,Short taskNo1){
+ if (rgvId>20){
+ rgvId = rgvId-20;
+ }
try{
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setTaskNo1(taskNo1);
@@ -5371,7 +5462,9 @@
if (rgvOpen){
return true;
}
-
+ if (basRgvMapCurrent.getRgvNo()>2){
+ return true;
+ }
// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
//鏇存柊褰撳墠灏忚溅閿�
try{
@@ -5379,16 +5472,17 @@
// Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(staEnd, staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//鑾峰彇鏈�杩滅珯鐐�
Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //鑾峰彇鍚堝苟骞叉秹椤�
basRgvMapCurrent.setLockEndRoute(fallMerge);
- basRgvMapMapper.updateById(basRgvMapCurrent);
+
+ basRgvMapService.updateById(basRgvMapCurrent);
//鏇存柊鍙︿竴鍙板皬杞﹀湴鍥�
Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther();
- BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
+ BasRgvMap basRgvMapOther = basRgvMapService.selectById(rgvNoOther);
List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
basRgvMapOther.setEndRoute(lockEndRouteL);
- basRgvMapMapper.updateById(basRgvMapOther);
+ basRgvMapService.updateById(basRgvMapOther);
return true;
}catch (Exception e){
log.error("灏忚溅鍦板浘鏇存柊鍑洪敊锛�");
--
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