From e89d0cdf971ecb56d4d323f17afff2e3e139a58d Mon Sep 17 00:00:00 2001
From: L <L@132>
Date: 星期二, 15 七月 2025 13:00:00 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 224 +++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 191 insertions(+), 33 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 fdcb0d3..6f9f172 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -137,31 +137,55 @@
back = true;
}
if (staProtocol.isFrontErr()) {
- errMsg = "鍓嶈秴闄�";
+ if (!back){
+ errMsg = "鍓嶈秴闄�";
+ } else {
+ errMsg = errMsg+"---"+"鍓嶈秴闄�";
+ }
back = true;
}
- if (!back && staProtocol.isBackErr()) {
- errMsg = "鍚庤秴闄�";
+ if (staProtocol.isBackErr()) {
+ if (!back){
+ errMsg = "鍚庤秴闄�";
+ } else {
+ errMsg = errMsg+"---"+"鍚庤秴闄�";
+ }
back = true;
}
- if (!back && staProtocol.isHighErr()) {
- errMsg = "楂樿秴闄�";
+ if (staProtocol.isHighErr()) {
+ if (!back){
+ errMsg = "楂樿秴闄�";
+ } else {
+ errMsg = errMsg+"---"+"楂樿秴闄�";
+ }
back = true;
}
- if (!back && staProtocol.isLeftErr()) {
- errMsg = "宸﹁秴闄�";
+ if (staProtocol.isLeftErr()) {
+ if (!back){
+ errMsg = "宸﹁秴闄�";
+ } else {
+ errMsg = errMsg+"---"+"宸﹁秴闄�";
+ }
back = true;
}
- if (!back && staProtocol.isRightErr()) {
- errMsg = "鍙宠秴闄�";
+ if (staProtocol.isRightErr()) {
+ if (!back){
+ errMsg = "鍙宠秴闄�";
+ } else {
+ errMsg = errMsg+"---"+"鍙宠秴闄�";
+ }
back = true;
}
// if (!back && staProtocol.isWeightErr()) {
// errMsg = "瓒呴噸";
// back = true;
// }
- if (!back && staProtocol.isBarcodeErr()) {
- errMsg = "鎵爜澶辫触";
+ if (staProtocol.isBarcodeErr()) {
+ if (!back){
+ errMsg = "鎵爜澶辫触";
+ } else {
+ errMsg = errMsg+"---"+"鎵爜澶辫触";
+ }
back = true;
}
// 閫�鍥�
@@ -180,6 +204,7 @@
staProtocol.setWorkNo(9999);
staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setPakMkRun(staProtocol.getSiteId(), false);
devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -644,6 +669,9 @@
}
CrnSlave crnSlave = new CrnSlave(crn);
+ if (Cools.isEmpty(crnProtocol.getLaneNo()) || crnProtocol.getLaneNo()==0){
+ continue;
+ }
if (!crn.getId().equals(crnProtocol.getLaneNo())) {
for (CrnSlave crnOther : slaveProperties.getCrn()) {
@@ -751,7 +779,7 @@
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setCrnNo(crnProtocol.getLaneNo()); // 鍫嗗灈鏈哄贩閬撶紪鍙�
+ crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 鍫嗗灈鏈哄贩閬撶紪鍙�
crnCommand.setTaskNo((short)999); // 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: 搴撲綅绉昏浆
@@ -804,6 +832,9 @@
}
CrnSlave crn = new CrnSlave(crnSlave);
+ if (Cools.isEmpty(crnProtocol.getLaneNo()) || crnProtocol.getLaneNo()==0){
+ continue;
+ }
if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
for (CrnSlave crnOther : slaveProperties.getCrn()) {
@@ -910,6 +941,41 @@
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
+ TaskWrk taskWrkNow3 = taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo());
+ if (taskWrkNow3.getWrkSts() == 3){
+ try{
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 鍫嗗灈鏈哄贩閬撶紪鍙�
+ crnCommand.setTaskNo(taskWrkNow3.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+ crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+ crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(Utils.getRowShort(taskWrkNow3.getTargetPoint())); // 鐩爣搴撲綅鍒�
+ int bay1 = Utils.getBayShort(taskWrkNow3.getTargetPoint()) + 1;
+ crnCommand.setDestinationPosY((short)bay1); // 鐩爣搴撲綅灞�
+ crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrkNow3.getTargetPoint())); // 鐩爣搴撲綅鎺�
+// crnCommand.setCommand((short) 1);
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("CrnErr", slave.getId(), "宸烽亾鍙�"+crnCommand.getLaneNo()+";鍫嗗灈鏈哄懡浠ゅ湴鍧�琛ヤ竵閲嶆柊鍐欏叆:"+JSON.toJSONString(crnCommand.getNowTask()));
+ } catch (Exception e2){
+ }
+ if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
+ log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
+ devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "杩愯鍛戒护涓嬪彂澶辫触");
+
+ throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
+ }
+ } catch (Exception eNow3){
+
+ }
+ }
+
devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄瓨鍦ㄥ悐杞︿换鍔�");
CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "鍫嗗灈鏈哄瓨鍦ㄦ墽琛屼腑鍚婅溅浠诲姟");
continue;
@@ -960,7 +1026,7 @@
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setCrnNo(crnProtocol.getLaneNo()); // 鍫嗗灈鏈哄贩閬撶紪鍙�
+ crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 鍫嗗灈鏈哄贩閬撶紪鍙�
crnCommand.setTaskNo(taskWrk.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
@@ -1066,11 +1132,11 @@
}
// 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
- if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
+// if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
// // 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�
@@ -1087,6 +1153,39 @@
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
+
+ TaskWrk taskWrkNow3 = taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo());
+ if (taskWrkNow3.getWrkSts() == 12){
+ try{
+ CrnCommand command = new CrnCommand();
+ command.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+ command.setLaneNo(crnProtocol.getLaneNo()); // 鍫嗗灈鏈虹紪鍙�
+ command.setTaskNo(taskWrkNow3.getWrkNo().shortValue()); // 宸ヤ綔鍙�
+ command.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+ command.setTaskMode(CrnTaskModeType.PAKIN); // 浠诲姟妯″紡
+ command.setSourcePosX(Utils.getRowShort(taskWrkNow3.getStartPoint())); // 婧愬簱浣嶆帓
+ int bayS = Utils.getBayShort(taskWrkNow3.getStartPoint()) + 1;
+ command.setSourcePosY((short)bayS); // 婧愬簱浣嶅垪
+ command.setSourcePosZ(Utils.getLevShort(taskWrkNow3.getStartPoint())); // 婧愬簱浣嶅眰
+ command.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
+ command.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
+ command.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
+// command.setCommand((short) 1);
+ try{
+ DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
+ deviceErrorService.addDeviceError("CrnErr", slave.getId(), "宸烽亾鍙�"+command.getLaneNo()+";鍫嗗灈鏈哄懡浠ゅ湴鍧�琛ヤ竵閲嶆柊鍐欏叆:"+JSON.toJSONString(command.getNowTask()));
+ } catch (Exception e2){
+ }
+ if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command))) {
+ log.error("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐ワ紝鍫嗗灈鏈哄彿={}锛屽贩閬�={}锛屼换鍔℃暟鎹�={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
+ devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "杩愯鍛戒护涓嬪彂澶辫触");
+ throw new CoolException("鍫嗗灈鏈哄懡浠ょ敓鎴愬け璐�");
+ }
+ } catch (Exception eNow3){
+
+ }
+ }
devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄瓨鍦ㄥ悐杞︿换鍔�");
CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "鍫嗗灈鏈哄瓨鍦ㄦ墽琛屼腑鍚婅溅浠诲姟");
break;
@@ -1171,6 +1270,9 @@
}
if (staProtocol.isOutEnable()){
CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "娌℃湁鍙嚭");
+ }
+ if (staProtocol.isLoading()){
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "鍑哄簱绔欐湁鐗�");
}
} else {
CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "鍑哄簱绔欑偣锛氶潪鑷姩");
@@ -1305,6 +1407,9 @@
}
CrnSlave crn = new CrnSlave(crnSlave);
+ if (Cools.isEmpty(crnProtocol.getLaneNo()) || crnProtocol.getLaneNo()==0){
+ continue;
+ }
if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
for (CrnSlave crnOther : slaveProperties.getCrn()) {
@@ -1324,11 +1429,14 @@
}
// Thread.sleep(300);
//纭瀹屾垚淇″彿
- CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
- crnOperatorParam.setCrnNo(crn.getId());
+// CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
+// crnOperatorParam.setCrnNo(crn.getId());
Date now = new Date();
- crnController.crnTaskComplete(crnOperatorParam);
+// crnController.crnTaskComplete(crnOperatorParam);
+// MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))
+ crnThread.setResetFlag(true);
+
if (!Cools.isEmpty(taskWrk)) {
if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
taskWrk.setWrkSts(4);//鍏ュ簱瀹屾垚
@@ -1499,8 +1607,8 @@
null, // 缁撴潫鏃堕棿
null, // 宸ヤ綔鐘舵��
null, // 鍏ュ嚭搴撶被鍨�
- crn.getId(), // 鍫嗗灈鏈�
- null, // plc
+ crnProtocol.getLaneNo(), // 鍫嗗灈鏈�
+ crn.getId(), // plc
null, // 鐩爣搴撲綅
null, // 鐩爣绔�
null, // 婧愮珯
@@ -1847,6 +1955,11 @@
return null;
}
// 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
+ if (!staProtocol.isPakMkTask()) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "浠诲姟宸蹭笅鍙戠瓑寰呭皬杞﹀彇");
+ return null;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
if (staProtocol.isAutoing()
// && staProtocol.isLoading()
// && staProtocol.isStaOk()
@@ -1855,8 +1968,20 @@
if (taskWrk != null) {
Integer stano = staProtocol.getStaNo();
if (staProtocol.getSiteId() == 1004 || staProtocol.getSiteId()==1020){
- // 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
+ if (!staProtocol.isPakMkRun()) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "寮傚父鍥為��鏍囪锛岄渶瑕佸洖閫�");
+ return null;
+ }
if (!staProtocol.isLoading()) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "鏃犵墿");
+ return null;
+ }
+ if (!staProtocol.isInEnable()) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "绛夊緟鍙叆淇″彿");
+ return null;
+ }
+ if (!staProtocol.isStaOk()) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "绛夊緟閾炬潯灏辩华");
return null;
}
// 灏哄妫�娴嬪紓甯�
@@ -1867,31 +1992,55 @@
back = true;
}
if (staProtocol.isFrontErr()) {
- errMsg = "鍓嶈秴闄�";
+ if (!back){
+ errMsg = "鍓嶈秴闄�";
+ } else {
+ errMsg = errMsg+"---"+"鍓嶈秴闄�";
+ }
back = true;
}
- if (!back && staProtocol.isBackErr()) {
- errMsg = "鍚庤秴闄�";
+ if (staProtocol.isBackErr()) {
+ if (!back){
+ errMsg = "鍚庤秴闄�";
+ } else {
+ errMsg = errMsg+"---"+"鍚庤秴闄�";
+ }
back = true;
}
- if (!back && staProtocol.isHighErr()) {
- errMsg = "楂樿秴闄�";
+ if (staProtocol.isHighErr()) {
+ if (!back){
+ errMsg = "楂樿秴闄�";
+ } else {
+ errMsg = errMsg+"---"+"楂樿秴闄�";
+ }
back = true;
}
- if (!back && staProtocol.isLeftErr()) {
- errMsg = "宸﹁秴闄�";
+ if (staProtocol.isLeftErr()) {
+ if (!back){
+ errMsg = "宸﹁秴闄�";
+ } else {
+ errMsg = errMsg+"---"+"宸﹁秴闄�";
+ }
back = true;
}
- if (!back && staProtocol.isRightErr()) {
- errMsg = "鍙宠秴闄�";
+ if (staProtocol.isRightErr()) {
+ if (!back){
+ errMsg = "鍙宠秴闄�";
+ } else {
+ errMsg = errMsg+"---"+"鍙宠秴闄�";
+ }
back = true;
}
// if (!back && staProtocol.isWeightErr()) {
// errMsg = "瓒呴噸";
// back = true;
// }
- if (!back && staProtocol.isBarcodeErr()) {
- errMsg = "鎵爜澶辫触";
+ if (staProtocol.isBarcodeErr()) {
+ if (!back){
+ errMsg = "鎵爜澶辫触";
+ } else {
+ errMsg = errMsg+"---"+"鎵爜澶辫触";
+ }
back = true;
}
// 閫�鍥�
@@ -1907,6 +2056,8 @@
staProtocol.setWorkNo(9999);
staProtocol.setStaNo(staProtocol.getStaNo()+1);
devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setPakMkRun(staProtocol.getSiteId(), false);
+ devpThread.setPakMkTask(staProtocol.getSiteId(), false);
devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
try{
@@ -2373,6 +2524,7 @@
try {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
TaskProtocol issuedTake = new TaskProtocol();
TaskProtocol issuedPut = new TaskProtocol();
@@ -2395,6 +2547,12 @@
return false;
}
}
+ try{
+ devpThread.setPakMkTask(rgvStn.getStaNo(), false);
+ } catch (Exception e2){
+ RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"灏忚溅浠诲姟涓嬪彂鏍囪鏇存柊澶辫触");
+ }
+
BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
--
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