From ee44f92c42bfc99ceffa35555af2eb93ac75cf2c Mon Sep 17 00:00:00 2001
From: 野心家 <1051256694@qq.com>
Date: 星期二, 27 五月 2025 17:31:12 +0800
Subject: [PATCH] #ZH
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 609 +++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 453 insertions(+), 156 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 fa6d1e3..a57287c 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -12,10 +12,7 @@
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
-import com.zy.asrs.utils.CommandUtils;
-import com.zy.asrs.utils.RouteUtils;
-import com.zy.asrs.utils.TrackRangeUtils;
-import com.zy.asrs.utils.Utils;
+import com.zy.asrs.utils.*;
import com.zy.common.model.MatDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.CollectionUtils;
@@ -34,6 +31,7 @@
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
+import org.apache.poi.ss.formula.functions.T;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
@@ -41,6 +39,7 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.io.IOException;
+import java.time.LocalDateTime;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
@@ -116,17 +115,24 @@
// 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());
- if (staProtocol == null) {
+ if (staProtocol == null || !staProtocol.isLoading()) {
continue;
} else {
staProtocol = staProtocol.clone();
}
Integer workNo = staProtocol.getWorkNo();
+ if (workNo!=9998 && workNo!=9997){
+ continue;
+ }
Integer stano = staProtocol.getStaNo();
// 灏哄妫�娴嬪紓甯�
boolean back = false;
- String errMsg = "";
+ String errMsg = "-";
+ if (staProtocol.getGrossWt()>=600){
+ errMsg = "瓒呴噸";
+ back = true;
+ }
if (staProtocol.isFrontErr()) {
errMsg = "鍓嶈秴闄�";
back = true;
@@ -166,10 +172,12 @@
if (!staProtocol.isPakMk()) {
continue;
}
+ System.out.println("鎵爜鍏ュ簱澶辫触锛寋"+inSta.getStaNo()+"}鍏ュ簱绔欏洜{"+errMsg+"}寮傚父锛屾墭鐩樺凡琚��鍥�");
// 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);
- staProtocol.setWorkNo(workNo);
- staProtocol.setStaNo(inSta.getStaNo());
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(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));
if (taskWrk != null) {
@@ -182,7 +190,7 @@
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading()
&& staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo>9000 && workNo<10000))
+ && (workNo == 9998 || workNo == 9997)
&& staProtocol.isPakMk()
&& staProtocol.isPakMkWalk()
) {
@@ -192,13 +200,14 @@
continue;
}
String barcode = barcodeThread.getBarcode();
- if (!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
+ if (!Cools.isEmpty(barcode) && !barcode.equals("99999999") && !barcode.equals("000000")) {
// 璇锋眰wms鎺ュ彛锛岃幏鍙栧伐浣滃彿鍜岀洰鏍囧簱浣�
- ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, 0);
+ ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, workNo == 9998? 0 : 1);
+
TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
if (!Cools.isEmpty(taskWrk1)) {
log.info("鎵樼洏鐮侊細" + barcode + "浠诲姟妗ｅ瓨鍦�");
- if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
+ if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));
@@ -207,7 +216,9 @@
return;
} else {
staProtocol.setWorkNo(taskWrk1.getWrkNo());
- staProtocol.setStaNo(staDesc.getCrnStn());
+ staProtocol.setStaNo(staProtocol.getSiteId());
+ devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
}
@@ -240,8 +251,10 @@
log.error("鎵爜妫�娴嬬▼搴忓紓甯�" + inSta.getStaNo() + "寮傚父淇℃伅" + e1);
}
staProtocol.setWorkNo(9999);
- staProtocol.setStaNo(inSta.getStaNo());
+ staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), e.getMessage());
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
continue;
}
@@ -257,28 +270,40 @@
);
log.info("鍏ュ簱璇锋眰鍙傛暟{}" + JSON.toJSONString(toWmsDTO));
log.info("鍏ュ簱璇锋眰杩斿洖鍙傛暟{}" + JSON.toJSONString(response));
- if (jsonObject.getInteger("code").equals(200)) {
+ if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
try {
devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), "涓婃姤鎴愬姛绛夊緟浠诲姟");
+
} catch (Exception e) {
// 閫�鍥�
log.error("鎵爜妫�娴嬬▼搴忓紓甯�" + inSta.getStaNo() + errMsg);
log.error("鎵爜妫�娴嬬▼搴忓紓甯�,寮傚父淇℃伅" + e);
staProtocol.setWorkNo(9999);
- staProtocol.setStaNo(inSta.getStaNo());
+ staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), "涓婃姤鎴愬姛閿佸畾澶辫触");
+
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
+ } else {
+ // 閫�鍥�
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getBackSta());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), jsonObject.getString("msg"));
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
} else {
// 閫�鍥�
log.error("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);
staProtocol.setWorkNo(9999);
- staProtocol.setStaNo(inSta.getStaNo());
+ staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), "鎵爜鍏ュ簱鎵爜澶辫触锛侊紒锛佹壂鐮佸�硷細"+barcode);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
if (taskWrk != null) {
@@ -307,12 +332,15 @@
// 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());
- if (staProtocol == null) {
+ if (staProtocol == null || !staProtocol.isLoading()) {
continue;
} else {
staProtocol = staProtocol.clone();
}
Integer workNo = staProtocol.getWorkNo();
+ if (workNo!=9997){
+ continue;
+ }
Integer stano = staProtocol.getStaNo();
// 灏哄妫�娴嬪紓甯�
@@ -353,8 +381,9 @@
if (!staProtocol.isPakMk()) {
continue;
}
+ System.out.println("鎵爜鍏ュ簱澶辫触锛寋"+inSta.getStaNo()+"}鍏ュ簱绔欏洜{"+errMsg+"}寮傚父锛屾墭鐩樺凡琚��鍥�");
// 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);
- staProtocol.setWorkNo(workNo);
+ staProtocol.setWorkNo(9999);
staProtocol.setStaNo(inSta.getStaNo());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -369,13 +398,25 @@
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading()
&& staProtocol.isInEnable()
- && staProtocol.isEmptyMk() && (workNo == 0 || (workNo>9000 && workNo<10000))
+ && (workNo == 9997)
&& staProtocol.isPakMk()
&& staProtocol.isPakMkWalk()
) {
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
+ if (barcodeThread == null) {
+ continue;
+ }
+ String barcode = barcodeThread.getBarcode();
+ if (Cools.isEmpty(barcode) || barcode.equals("0") || barcode.equals("000000")) {
+ staProtocol.setWorkNo(9999);
+ staProtocol.setStaNo(inSta.getBackSta());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ continue;
+ }
// 璇锋眰wms鎺ュ彛锛岃幏鍙栧伐浣滃彿鍜岀洰鏍囧簱浣�
- ToWmsDTO toWmsDTO = new ToWmsDTO("", staProtocol.getSiteId(), 1);
-
+ ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, 1);
HashMap<String, Object> headParam = new HashMap<>();
headParam.put("Content-Type", "application/json");
String response;
@@ -403,7 +444,7 @@
log.error("鎵爜妫�娴嬬▼搴忓紓甯�" + inSta.getStaNo() + "寮傚父淇℃伅" + e1);
}
staProtocol.setWorkNo(9999);
- staProtocol.setStaNo(inSta.getStaNo());
+ staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
continue;
@@ -420,7 +461,7 @@
);
log.info("鍏ュ簱璇锋眰鍙傛暟{}" + JSON.toJSONString(toWmsDTO));
log.info("鍏ュ簱璇锋眰杩斿洖鍙傛暟{}" + JSON.toJSONString(response));
- if (jsonObject.getInteger("code").equals(200)) {
+ if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
try {
devpThread.setPakMk(staProtocol.getSiteId(), false);
} catch (Exception e) {
@@ -430,7 +471,7 @@
log.error("鎵爜妫�娴嬬▼搴忓紓甯�,寮傚父淇℃伅" + e);
staProtocol.setWorkNo(9999);
- staProtocol.setStaNo(inSta.getStaNo());
+ staProtocol.setStaNo(inSta.getBackSta());
devpThread.setPakMk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
@@ -465,7 +506,8 @@
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading()
- && staProtocol.isInEnable() && (workNo == 0 || (workNo>9000 && workNo<10000))
+// && staProtocol.isInEnable()
+// && (workNo == 0 || (workNo>9000 && workNo<10000))
&& staProtocol.isPakMkWalk()
) {
if (inSta.isBarcodeSign()){
@@ -482,7 +524,7 @@
if (!Cools.isEmpty(taskWrk1)) {
log.info("鎵樼洏鐮侊細" + barcode + "浠诲姟妗ｅ瓨鍦�");
- if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
+ if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
.eq("CRN_NO", taskWrk1.getCrnNo()).eq("TYPE_NO", 1).eq("STN_NO", staProtocol.getSiteId()));
@@ -510,6 +552,7 @@
} else {
staProtocol.setWorkNo(taskWrk1.getWrkNo());
staProtocol.setStaNo(staDesc.getCrnStn());
+ devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
}
@@ -528,8 +571,22 @@
return;
} else {
staProtocol.setWorkNo(taskWrk1.getWrkNo());
- staProtocol.setStaNo(staDesc.getCrnStn());
+ staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
+ devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), "-");
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+
+ Date now = new Date();
+// taskWrk1.setStatus(TaskStatusType.DISTRIBUTE.id);//娲惧彂鐘舵��
+// taskWrk.setAssignTime(now);//娲惧彂鏃堕棿
+ taskWrk1.setExecuteTime(now);
+ taskWrk1.setWrkSts(2);//宸ヤ綔鐘舵�� 3.鍚婅溅鍏ュ簱
+ taskWrk1.setCrnNo(staDesc.getCrnNo());//鍫嗗灈鏈哄彿
+ taskWrk1.setModiTime(now);
+ taskWrk1.setModiUser(9988L);
+ taskWrkService.updateById(taskWrk1);
+
+
}
}
return;
@@ -550,20 +607,23 @@
* 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
*/
public void crnStnToOutStn() {
- for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+ for (CrnSlave crn : slaveProperties.getCrn()) {
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
if (crnProtocol == null) {
continue;
}
- BasCrnp basCrnp = basCrnpService.selectById(crnSlave.getId());
+ 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�", crnSlave.getId());
+ 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 (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
+
+ CrnSlave crnSlave = new CrnSlave(crn);
+
+ if (!crn.getId().equals(crnProtocol.getLaneNo())) {
for (CrnSlave crnOther : slaveProperties.getCrn()) {
if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
crnSlave.updateCrnInStn(crnOther);
@@ -593,7 +653,7 @@
log.info("涓嬪彂杈撻�佺嚎浠诲姟锛歵askWrk:" + JSON.toJSONString(taskWrk));
// R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
staProtocol.setWorkNo(taskWrk.getWrkNo());
- staProtocol.setStaNo(staDesc.getCrnStn());
+ staProtocol.setStaNo(BarcodeUtils.getStaNo(staProtocol.getSiteId()));
boolean offer = false;
try {
offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
@@ -605,7 +665,7 @@
if (offer) {
log.info("涓嬪彂杈撻�佺嚎浠诲姟鎴愬姛锛歵askWrk:" + JSON.toJSONString(taskWrk));
Date now = new Date();
- taskWrk.setStatus(9);
+ taskWrk.setStatus(TaskStatusType.OVER3.id);
taskWrk.setWrkSts(14);
taskWrk.setModiTime(now);
taskWrk.setCompleteTime(now);
@@ -628,20 +688,22 @@
* 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
*/
public synchronized void crnIoExecute() throws IOException {
- for (CrnSlave crn : slaveProperties.getCrn()) {
+ for (CrnSlave crnSlave : slaveProperties.getCrn()) {
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
if (crnProtocol == null) {
continue;
}
- BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
+ BasCrnp basCrnp = basCrnpService.selectById(crnSlave.getId());
if (basCrnp == null) {
- log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
+ log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crnSlave.getId());
continue;
}
- if (!crn.getId().equals(crnProtocol.getLaneNo())) {
+ CrnSlave crn = new CrnSlave(crnSlave);
+
+ if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
for (CrnSlave crnOther : slaveProperties.getCrn()) {
if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
crn.updateCrnInStn(crnOther);
@@ -675,8 +737,19 @@
crnProtocol.setLastIo("O");
}
}
+ } else {
+ if (crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getStatusType() == CrnStatusType.IDLE){
+ if (crnProtocol.getTaskNo() != 0){
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "宸ヤ綔鍙蜂笉涓�0");
+ }
+ if (crnProtocol.getLoaded() != 0){
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "杞借揣鍙版湁鐗�");
+ }
+ if (crnProtocol.getForkPos() != 0){
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "璐у弶浣嶇疆涓嶅湪涓綅");
+ }
+ }
}
-
}
}
@@ -703,7 +776,8 @@
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")) {
flag = true;
}
@@ -718,12 +792,20 @@
}
// 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "鍫嗗灈鏈洪潪绌洪棽");
+ continue;
+ }
+ if (crnProtocol.getTaskNo() != 0) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄伐浣滃彿涓嶄负0");
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "宸ヤ綔鍙蜂笉涓�0");
continue;
}
// 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) {
+ 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;
}
@@ -761,7 +843,7 @@
// //寮�濮嬭繍琛�
// String response = CrnStartRunning(taskWrk);
// JSONObject jsonObject = JSON.parseObject(response);
-// if (jsonObject.getInteger("code").equals(200)) {
+// if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
//
// }else {
// log.error("鍏ュ簱寮�濮嬭繍琛岄�氳澶辫触,"+jsonObject.get("msg"));
@@ -782,12 +864,18 @@
crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
- crnCommand.setCommand((short) 1);
- if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
+// crnCommand.setCommand((short) 1);
+ 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�");
} else {
try {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "-");
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");
+
taskWrkService.updateById(taskWrk);
} catch (Exception e) {
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={}", taskWrk.getWrkNo());
@@ -795,10 +883,13 @@
}
try {
HashMap<String, Object> headParam = new HashMap<>();
- headParam.put("taskNo", taskWrk.getTaskNo());
- headParam.put("status", taskWrk.getStatus());
- headParam.put("ioType", taskWrk.getIoTypeWms());
- headParam.put("barcode", taskWrk.getBarcode());
+ headParam.put("taskNo",taskWrk.getTaskNo());
+ headParam.put("taskStatus",taskWrk.getStatusWms());
+ headParam.put("ioType",taskWrk.getIoTypeWms());
+ headParam.put("barCode",taskWrk.getBarcode());
+ headParam.put("reportTime", LocalDateTime.now());
+ headParam.put("weight",taskWrk.getScWeight().doubleValue());
+
String response;
response = new HttpHandler.Builder()
// .setHeaders(headParam)
@@ -873,12 +964,21 @@
// 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) {
- break;
+ if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), "鍫嗗灈鏈洪潪绌洪棽");
+ continue;
+ }
+ if (crnProtocol.getTaskNo() != 0) {
+ devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"宸烽亾鍫嗗灈鏈哄伐浣滃彿涓嶄负0");
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "宸ヤ綔鍙蜂笉涓�0");
+
+ continue;
}
// 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) {
+ 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;
}
@@ -895,17 +995,22 @@
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);
- if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command), false)) {
+ 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�");
} else {
try {
// 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();
taskWrk.setWrkSts(12);
- taskWrk.setStatus(2);
+ taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);
taskWrk.setModiTime(now);
taskWrk.setExecuteTime(now);
+ devpThread.setErrorDev(staProtocol.getSiteId(), "-");
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");
+
if (taskWrkMapper.updateById(taskWrk) == 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={}", taskWrk.getWrkNo());
}
@@ -915,10 +1020,13 @@
}
try {
HashMap<String, Object> headParam = new HashMap<>();
- headParam.put("taskNo", taskWrk.getTaskNo());
- headParam.put("status", taskWrk.getStatus());
- headParam.put("ioType", taskWrk.getIoTypeWms());
- headParam.put("barcode", taskWrk.getBarcode());
+ headParam.put("taskNo",taskWrk.getTaskNo());
+ headParam.put("taskStatus",taskWrk.getStatusWms());
+ headParam.put("ioType",taskWrk.getIoTypeWms());
+ headParam.put("barCode",taskWrk.getBarcode());
+ headParam.put("reportTime", LocalDateTime.now());
+ headParam.put("weight",taskWrk.getScWeight().doubleValue());
+
String response;
response = new HttpHandler.Builder()
// .setHeaders(headParam)
@@ -939,6 +1047,19 @@
} catch (Exception e) {
log.error("wcs娲惧彂鍑哄簱浠诲姟涓婃姤wms澶辫触", JSON.toJSONString(taskWrk));
// throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
+ }
+ }
+ } else {
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");
+ if (staProtocol.isAutoing()){
+ if (staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "鑳藉嚭锛氭湭鎵撳紑");
+ }
+ if (staProtocol.getWorkNo() == 0){
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "宸ヤ綔鍙蜂笉涓�0");
+ }
+ if (staProtocol.isOutEnable()){
+ CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "娌℃湁鍙嚭");
}
}
}
@@ -1004,14 +1125,14 @@
crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 鐩爣搴撲綅灞�
- crnCommand.setCommand((short) 1);
- if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
+// crnCommand.setCommand((short) 1);
+ if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), 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�={}", taskWrk.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();
taskWrk.setWrkSts(12);
- taskWrk.setStatus(2);
+ taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);
taskWrk.setModiTime(now);
taskWrk.setExecuteTime(now);
if (taskWrkMapper.updateById(taskWrk) == 0) {
@@ -1019,10 +1140,13 @@
}
try {
HashMap<String, Object> headParam = new HashMap<>();
- headParam.put("taskNo", taskWrk.getTaskNo());
- headParam.put("status", taskWrk.getStatus());
- headParam.put("ioType", taskWrk.getIoTypeWms());
- headParam.put("barcode", taskWrk.getBarcode());
+ headParam.put("taskNo",taskWrk.getTaskNo());
+ headParam.put("taskStatus",taskWrk.getStatusWms());
+ headParam.put("ioType",taskWrk.getIoTypeWms());
+ headParam.put("barCode",taskWrk.getBarcode());
+ headParam.put("reportTime", LocalDateTime.now());
+ headParam.put("weight",taskWrk.getScWeight().doubleValue());
+
String response;
response = new HttpHandler.Builder()
// .setHeaders(headParam)
@@ -1056,15 +1180,17 @@
* 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
*/
public void storeFinished() throws InterruptedException {
- for (CrnSlave crn : slaveProperties.getCrn()) {
+ for (CrnSlave crnSlave : slaveProperties.getCrn()) {
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
if (crnProtocol == null) {
continue;
}
- if (!crn.getId().equals(crnProtocol.getLaneNo())) {
+ CrnSlave crn = new CrnSlave(crnSlave);
+
+ if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
for (CrnSlave crnOther : slaveProperties.getCrn()) {
if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
crn.updateCrnInStn(crnOther);
@@ -1073,14 +1199,14 @@
}
// 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
- if (!Cools.isEmpty(crnProtocol.getTaskFinish()) && crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
+ if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
//鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(), crnProtocol.getTaskNo().intValue());
if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
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�={}锛屽贩閬撳彿={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
continue;
}
- Thread.sleep(300);
+// Thread.sleep(300);
//纭瀹屾垚淇″彿
CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
crnOperatorParam.setCrnNo(crn.getId());
@@ -1090,7 +1216,7 @@
if (!Cools.isEmpty(taskWrk)) {
if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
taskWrk.setWrkSts(4);//鍏ュ簱瀹屾垚
- taskWrk.setStatus(5);//瀹岀粨
+ taskWrk.setStatus(TaskStatusType.OVER.id);//瀹岀粨
//鏇存柊搴撲綅鐘舵��
LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
locMast.setLocSts("F");//F.鍦ㄥ簱
@@ -1100,7 +1226,7 @@
locMastService.updateById(locMast);
} else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
taskWrk.setWrkSts(13);//鍑哄簱瀹屾垚
- taskWrk.setStatus(5);//瀹岀粨
+ taskWrk.setStatus(TaskStatusType.OVER.id);//瀹岀粨
//鏇存柊搴撲綅鐘舵��
LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
locMast.setLocSts("O");//O.绌哄簱浣�
@@ -1110,7 +1236,7 @@
locMastService.updateById(locMast);
} else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
taskWrk.setWrkSts(4);//鍏ュ簱瀹屾垚
- taskWrk.setStatus(5);//瀹岀粨
+ taskWrk.setStatus(TaskStatusType.OVER.id);//瀹岀粨
//鏇存柊搴撲綅鐘舵��
LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
locMast.setLocSts("F");//F.鍦ㄥ簱
@@ -1131,40 +1257,43 @@
taskWrkService.updateById(taskWrk);
- try {
- HashMap<String, Object> headParam = new HashMap<>();
- headParam.put("taskNo", taskWrk.getTaskNo());
- headParam.put("status", taskWrk.getStatus());
- headParam.put("ioType", taskWrk.getIoTypeWms());
- headParam.put("barcode", taskWrk.getBarcode());
- String response;
- log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", headParam);
-
- response = new HttpHandler.Builder()
- // .setHeaders(headParam)
- .setUri(wmsUrl)
- .setPath(taskStatusFeedbackPath)
- .setJson(JSON.toJSONString(headParam))
- .build()
- .doPost();
- log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", response);
-
-// JSONObject jsonObject = JSON.parseObject(response);
-// log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", jsonObject);
-
- apiLogService.save("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms"
- , wmsUrl + taskStatusFeedbackPath
- , null
- , "127.0.0.1"
- , JSON.toJSONString(headParam)
- , response
- , true
- );
- } catch (Exception e) {
- log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触", taskWrk);
- log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触,鎶ラ敊淇℃伅锛�", e);
-// throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
- }
+// try {
+// HashMap<String, Object> headParam = new HashMap<>();
+// headParam.put("taskNo",taskWrk.getTaskNo());
+// headParam.put("taskStatus",taskWrk.getStatusWms());
+// headParam.put("ioType",taskWrk.getIoTypeWms());
+// headParam.put("barCode",taskWrk.getBarcode());
+// headParam.put("reportTime", LocalDateTime.now());
+// headParam.put("weight",taskWrk.getScWeight().doubleValue());
+//
+// String response;
+// log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", headParam);
+//
+// response = new HttpHandler.Builder()
+// // .setHeaders(headParam)
+// .setUri(wmsUrl)
+// .setPath(taskStatusFeedbackPath)
+// .setJson(JSON.toJSONString(headParam))
+// .build()
+// .doPost();
+// log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", response);
+//
+//// JSONObject jsonObject = JSON.parseObject(response);
+//// log.error("wcs瀹岀粨浠诲姟涓婃姤wms==銆�", jsonObject);
+//
+// apiLogService.save("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms"
+// , wmsUrl + taskStatusFeedbackPath
+// , null
+// , "127.0.0.1"
+// , JSON.toJSONString(headParam)
+// , response
+// , true
+// );
+// } catch (Exception e) {
+// log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触", taskWrk);
+// log.error("wcs瀹岀粨浠诲姟涓婃姤wms澶辫触,鎶ラ敊淇℃伅锛�", e);
+//// throw new CoolException("wcs娲惧彂鍏ュ簱浠诲姟涓婃姤wms澶辫触");
+// }
}
}
@@ -1343,8 +1472,11 @@
if (rgvProtocol == null || rgvTaskProtocol == null) {
return false;
}
- if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1 || rgvProtocol.getRgvPosDestination() == 0L
- || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ return false;
+ }
+ if (rgvProtocol.getLoaded()==1){
return false;
}
RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
@@ -1355,6 +1487,93 @@
}
if (rgvProtocolOther.statusEnable) {
if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L) || rgvTaskProtocolOther.getAvoid() == -1 || rgvProtocolOther.getRgvPosDestination() == 0L) {
+ return false;
+ }
+ }
+ return true;
+ }
+ public boolean rgvOtherIDLEOther(RgvSlave slave) {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());
+
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
+ return false;
+ }
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ return false;
+ }
+
+ if (rgvProtocol.getLoaded()!=0) {
+ return false;
+ }
+ return true;
+ }
+ public boolean rgvOtherIDLEOther2(RgvSlave slave) {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());
+
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
+ return false;
+ }
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO)
+ || rgvProtocol.getRgvPos().equals(0L)
+ || rgvTaskProtocol.getAvoid() == -1) {
+ return false;
+ }
+
+ if (rgvProtocol.getLoaded()!=0) {
+ return false;
+ }
+ return true;
+ }
+ public boolean rgvOtherIDLE(RgvSlave slave,Integer staNo) {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
+ return false;
+ }
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ return false;
+ }
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+
+ if (rgvProtocolOther == null) {
+ return true;
+ }
+ if (rgvProtocolOther.statusEnable) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
+ if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos())
+ >=
+ Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){
+ return false;
+ }
+ }
+ return true;
+ }
+ public boolean rgvOtherIDLE2(RgvSlave slave,Integer staNo) {
+ RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
+ RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
+
+ if (rgvProtocol == null || rgvTaskProtocol == null) {
+ return false;
+ }
+ if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
+ || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ return false;
+ }
+ RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
+
+ if (rgvProtocolOther == null) {
+ return true;
+ }
+ if (rgvProtocolOther.statusEnable) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", staNo));
+ if (Math.abs(basDevpPosition.getPlcPosition()-rgvProtocol.getRgvPos())
+ >=
+ Math.abs(basDevpPosition.getPlcPosition()-rgvProtocolOther.getRgvPos())){
return false;
}
}
@@ -1371,8 +1590,9 @@
// 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
if (staProtocol.isAutoing()
// && staProtocol.isLoading()
+// && staProtocol.isStaOk()
&& staProtocol.getWorkNo() != 0) {
- TaskWrk taskWrk = taskWrkService.selectByTaskNo(staProtocol.getWorkNo().toString());
+ TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo());
if (taskWrk != null) {
return taskWrk;
}
@@ -1409,7 +1629,7 @@
for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSta()) {
TaskWrk taskWrk = deviceDetection(inSta);
if (taskWrk != null) {
- if (taskWrk.getTaskNo().equals(taskNoNow)) continue;
+ if (taskWrk.getWrkNo().toString().equals(taskNoNow)) continue;
taskWrkList.add(taskWrk);
staList.add(inSta.getStaNo());
}
@@ -1437,21 +1657,50 @@
Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);
- for (Integer staNoNow : belongToRange) {
- for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
- if (rgvStn.getStaNo().equals(staNoNow)) {
- TaskWrk taskWrk = deviceDetection(rgvStn);
- if (taskWrk != null) {
- BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
- if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
- sign = taskGenerate(rgvSlave, rgvStn, 0);
- }
- }
- break;
+ if (!sign && staList.size()==1){
+ if (rgvOtherIDLEOther(rgvSlave)){
+ if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
+ sign=true;
}
}
- if (sign) {
- break;
+ if (sign){
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staList.get(0))) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvSuper : rgvSlave.getRgvSuperSta()){
+ if (rgvSuper.getStaNo().equals(outStaNo)){
+ sign=false;
+ break;
+ }
+ }
+ } else {
+ return;
+ }
+ break;
+ }
+ }
+ }
+ }
+
+ if(!sign){
+ for (Integer staNoNow : belongToRange) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+ if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ }
+ }
+ break;
+ }
+ }
+ if (sign) {
+ break;
+ }
}
}
if (!sign) {
@@ -1459,12 +1708,29 @@
for (Integer staNoNow : belongToRange) {
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
if (rgvStn.getStaNo().equals(staNoNow)) {
- sign = taskGenerate(rgvSlave, rgvStn, 0);
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
+ if (rgvStnOut.getStaNo().equals(outStaNo)) {
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ break;
+ }
+ }
+ }
break;
}
}
if (sign) {
break;
+ }
+ }
+ }
+
+ if (!sign && staList.size()==1){
+ if (rgvOtherIDLEOther2(rgvSlave)){
+ if (!rgvOtherIDLE2(rgvSlave,staList.get(0))){
+ sign=true;
}
}
}
@@ -1475,7 +1741,7 @@
if (rgvStn.getStaNo().equals(staNoNow)) {
TaskWrk taskWrk = deviceDetection(rgvStn);
if (taskWrk != null) {
- BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
+ BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
sign = taskGenerate(rgvSlave, rgvStn, 0);
}
@@ -1488,30 +1754,19 @@
}
}
}
- if (!sign) {
+ if (!sign && staList.size()>1) {
// 鍗婅竟鍖哄煙鍐呭彇璐т换鍔�
for (Integer staNoNow : rangeList) {
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
if (rgvStn.getStaNo().equals(staNoNow)) {
- sign = taskGenerate(rgvSlave, rgvStn, 0);
- break;
- }
- }
- if (sign) {
- break;
- }
- }
- }
- if (!sign) {
- // 鍗婅竟鍖哄煙鍐呮斁璐т换鍔�
- for (Integer staNoNow : rangeListOther) {
- for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
- if (rgvStn.getStaNo().equals(staNoNow)) {
TaskWrk taskWrk = deviceDetection(rgvStn);
if (taskWrk != null) {
- BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
- if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
- sign = taskGenerate(rgvSlave, rgvStn, 0);
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
+ if (rgvStnOut.getStaNo().equals(outStaNo)) {
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ break;
+ }
}
}
break;
@@ -1522,6 +1777,26 @@
}
}
}
+// if (!sign) {
+// // 鍗婅竟鍖哄煙鍐呮斁璐т换鍔�
+// for (Integer staNoNow : rangeListOther) {
+// for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+// if (rgvStn.getStaNo().equals(staNoNow)) {
+// TaskWrk taskWrk = deviceDetection(rgvStn);
+// if (taskWrk != null) {
+// BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
+// if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
+// sign = taskGenerate(rgvSlave, rgvStn, 0);
+// }
+// }
+// break;
+// }
+// }
+// if (sign) {
+// break;
+// }
+// }
+// }
} else {
//鍙敤鍖哄煙灏辫繎鍙栬揣
//灏辫繎鎺掑簭
@@ -1531,7 +1806,16 @@
for (Integer staNoNow : rangeList) {
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
if (rgvStn.getStaNo().equals(staNoNow)) {
- sign = taskGenerate(rgvSlave, rgvStn, 0);
+ TaskWrk taskWrk = deviceDetection(rgvStn);
+ if (taskWrk != null) {
+ Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
+ for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
+ if (rgvStnOut.getStaNo().equals(outStaNo)) {
+ sign = taskGenerate(rgvSlave, rgvStn, 0);
+ break;
+ }
+ }
+ }
break;
}
}
@@ -1594,32 +1878,45 @@
if (taskWrk == null) {
return false;
}
- Integer targetPointConvert = taskWrk.getTargetPointConvert();
+// Integer targetPointConvert = taskWrk.getTargetPointConvert();
+ Integer targetPointConvert = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
if (targetPointConvert == null) {
- return false;
- }
- RgvSlave.RgvStn rgvStnEnd = getRgvStnNow(rgvSlave, targetPointConvert);
- if (rgvStnEnd == null) {
return false;
}
BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
//鎵ц
- issuedTake.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
- issuedTake.setTaskStatus(1);
+ issuedTake.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
+ issuedTake.setTaskStatus(2);
+ issuedTake.setTargetPositionStaNo(basDevpPositionSou.getDevNo());
+ issuedTake.setTargetPositionStaNoPlcId(basDevpPositionSou.getPlcId());
issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
issuedTake.setIsRunning(1);
- issuedTake.setDirection(rgvStn.isDirection());
+ issuedTake.setDirection(basDevpPositionSou.getRgvSign()==1);
- issuedPut.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
- issuedPut.setTaskStatus(2);
+ issuedPut.setTaskNo(Long.valueOf(taskWrk.getWrkNo()));
+ issuedPut.setTaskStatus(3);
+ issuedPut.setTargetPositionStaNo(basDevpPositionEnd.getDevNo());
+ issuedPut.setTargetPositionStaNoPlcId(basDevpPositionEnd.getPlcId());
issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
issuedPut.setIsRunning(1);
- issuedPut.setDirection(rgvStnEnd.isDirection());
+ issuedPut.setDirection(basDevpPositionEnd.getRgvSign()==1);
+
+ try{
+ if (taskWrk.getIoType()==2 && basDevpPositionEnd.getRgvSign()==1){
+ Date now = new Date();
+ taskWrk.setStatus(TaskStatusType.OVER.id);
+ taskWrk.setModiTime(now);//鏇存柊鏃堕棿
+ taskWrk.setCompleteTime(now);//瀹岀粨鏃堕棿
+ taskWrkService.updateById(taskWrk);
+ }
+ } catch (Exception e){
+
+ }
} catch (Exception e) {
log.error("浠诲姟鐢熸垚澶辫触issued1===銆嬪紓甯镐俊鎭細{}", e.getMessage());
return false;
--
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