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 | 310 +++++++++++++++++++++++++++++++++++++--------------
1 files changed, 226 insertions(+), 84 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 5f596f5..a57287c 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -121,14 +121,14 @@
staProtocol = staProtocol.clone();
}
Integer workNo = staProtocol.getWorkNo();
- if (workNo!=9998){
+ 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;
@@ -177,6 +177,7 @@
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) {
@@ -189,7 +190,7 @@
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading()
&& staProtocol.isInEnable()
- && workNo == 9998
+ && (workNo == 9998 || workNo == 9997)
&& staProtocol.isPakMk()
&& staProtocol.isPakMkWalk()
) {
@@ -199,13 +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()));
@@ -215,6 +217,8 @@
} else {
staProtocol.setWorkNo(taskWrk1.getWrkNo());
staProtocol.setStaNo(staProtocol.getSiteId());
+ devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
+ devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
}
@@ -249,6 +253,8 @@
staProtocol.setWorkNo(9999);
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;
}
@@ -264,9 +270,11 @@
);
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);
@@ -275,9 +283,18 @@
staProtocol.setWorkNo(9999);
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�
@@ -286,6 +303,7 @@
staProtocol.setWorkNo(9999);
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) {
@@ -384,9 +402,21 @@
&& 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;
@@ -431,7 +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) {
@@ -494,7 +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()));
@@ -543,6 +573,7 @@
staProtocol.setWorkNo(taskWrk1.getWrkNo());
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();
@@ -706,8 +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");
+ }
+ }
}
-
}
}
@@ -734,7 +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;
}
@@ -749,12 +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;
}
@@ -792,7 +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"));
@@ -813,12 +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);
+// 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());
@@ -907,12 +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;
}
@@ -931,6 +997,8 @@
command.setCommand((short) 1);
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 {
@@ -940,6 +1008,9 @@
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());
}
@@ -976,6 +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");
}
}
}
@@ -1041,7 +1125,7 @@
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);
+// 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 {
@@ -1389,7 +1473,10 @@
return false;
}
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
- || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ || ((!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());
@@ -1413,7 +1500,25 @@
return false;
}
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
- || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ || ((!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;
}
@@ -1430,7 +1535,33 @@
return false;
}
if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
- || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
+ || ((!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());
@@ -1459,7 +1590,7 @@
// 鍒ゆ柇鏄惁婊¤冻鍙栬揣鏉′欢
if (staProtocol.isAutoing()
// && staProtocol.isLoading()
- && staProtocol.isStaOk()
+// && staProtocol.isStaOk()
&& staProtocol.getWorkNo() != 0) {
TaskWrk taskWrk = taskWrkService.selectByWrkNo(staProtocol.getWorkNo());
if (taskWrk != null) {
@@ -1526,46 +1657,6 @@
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", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
- if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
- sign = taskGenerate(rgvSlave, rgvStn, 0);
- }
- }
- break;
- }
- }
- if (sign) {
- break;
- }
- }
- if (!sign) {
- // 绛涢�夎寖鍥村唴鍙栬揣浠诲姟
- for (Integer staNoNow : belongToRange) {
- for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
- if (rgvStn.getStaNo().equals(staNoNow)) {
- 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 (rgvOtherIDLEOther(rgvSlave)){
if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
@@ -1593,6 +1684,57 @@
}
}
+ 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) {
+ // 绛涢�夎寖鍥村唴鍙栬揣浠诲姟
+ for (Integer staNoNow : belongToRange) {
+ for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
+ if (rgvStn.getStaNo().equals(staNoNow)) {
+ 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;
+ }
+ }
+ }
+
if (!sign) {
for (Integer staNoNow : rangeList) {
for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
@@ -1612,7 +1754,7 @@
}
}
}
- 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()) {
@@ -1635,26 +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;
- }
- }
- }
+// 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
--
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