From f78f7a18a7fc91bea907c5238b788deb1e082364 Mon Sep 17 00:00:00 2001
From: LSH
Date: 星期三, 03 四月 2024 09:19:53 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 318 ++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 240 insertions(+), 78 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 db7b609..1c2fce9 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -140,6 +140,47 @@
staProtocol = staProtocol.clone();
}
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "寮傚父锛�";
+ if (staProtocol.isFrontErr()) {
+ errMsg = errMsg+"鍓嶈秴闄愶紱";
+ back = true;
+ }
+ if (staProtocol.isBackErr()) {
+ errMsg = errMsg+"鍚庤秴闄�";
+ back = true;
+ }
+ if (staProtocol.isHighErr()) {
+ errMsg = errMsg+"楂樿秴闄�";
+ back = true;
+ }
+ if (staProtocol.isLeftErr()) {
+ errMsg = errMsg+"宸﹁秴闄�";
+ back = true;
+ }
+ if (staProtocol.isRightErr()) {
+ errMsg = errMsg+"鍙宠秴闄�";
+ back = true;
+ }
+ if (staProtocol.isWeightErr()) {
+ errMsg = errMsg+"瓒呴噸";
+ back = true;
+ }
+ if (staProtocol.isBarcodeErr()) {
+ errMsg = errMsg+"鎵爜澶辫触";
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ if (ledThread != null) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
+ }
+ continue;
+ }
+
// 鍏ュ嚭搴撴ā寮忓垽鏂�
// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
@@ -2263,7 +2304,8 @@
&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
&& rgvProtocol.getTaskNo1()==0 && 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
+// && (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
+ && 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
) {
try {
WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
@@ -2276,6 +2318,7 @@
param.setIoType(10);
param.setSourceStaNo(122);
param.setLocType1((short)1);
+ param.setRgvNo(rgvProtocol.getRgvNo());
String response = new HttpHandler.Builder()
.setUri(wmsUrl)
.setPath("/rpc/pakin/empty/loc/v1")
@@ -3241,8 +3284,20 @@
staProtocol = staProtocol.clone();
}
+ StaProtocol staProtocol147 = devpThread.getStation().get(147);
+ if (staProtocol147 == null) {
+ continue;
+ } else {
+ staProtocol147 = staProtocol147.clone();
+ }
+
if (!staProtocol.isLoading()){
log.info("{}绔欑偣鏃犵墿锛屽紓甯革紒",staNo);
+ continue;
+ }
+
+ if (staProtocol147.isLoading()){
+ log.info("{}绔欑偣鏈夌墿锛�",staProtocol147.getSiteId());
continue;
}
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
@@ -3250,6 +3305,9 @@
&& staProtocol.isLoading()
&& !staProtocol.isEmptyMk()
) {
+
+ boolean result3 = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol147));
+
staProtocol.setWorkNo(wrkMast.getWrkNo());
staProtocol.setStaNo(wrkMast.getStaNo());
devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -3257,8 +3315,12 @@
if (!result) {
throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触==>椹卞姩鐮佸灈浣嶆墭鐩樺墠杩涘け璐ワ紒");
}
+
wrkMast.setSheetNo("5");
wrkMastMapper.updateById(wrkMast);
+
+ boolean result4 = MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol147));
+
}
}
}catch (Exception e){
@@ -3388,10 +3450,15 @@
continue;
}
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
- if (!Cools.isEmpty(wrkMast)){
+ if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
Thread.sleep(200);
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
continue;
}
@@ -3446,7 +3513,7 @@
continue;
}
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
- if (!Cools.isEmpty(wrkMast)){
+ if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
Thread.sleep(200);
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
@@ -3527,20 +3594,20 @@
switch (sign){
//鎵ц灏忚溅璐х墿鎼繍浠诲姟
case 1:
- signWork = rgvRunWrkMastFullSta();
+ signWork = rgvRunWrkMastFullSta(rgvSlave);
break;
//鎵ц灏忚溅绌烘澘鎼繍浠诲姟
case 2://鏀�//鎷嗙洏
- signWork = rgvRunWrkMastEmptyStaPut();
+ signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
break;
case 3://婊℃斁
- signWork = rgvRunWrkMastEmptyStaPutFull();
+ signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
break;
case 4://鍙栧彔鐩�
- signWork = rgvRunWrkMastEmptyStaTake();
+ signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
break;
case 5:////婊″彇
- signWork = rgvRunWrkMastEmptyStaTakeFull();
+ signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
break;
case 6:////鎻愬崌
// signWork = qwe();
@@ -3548,40 +3615,42 @@
default:
break;
}
- }
- for (int signCount = 1;!signWork && signCount<7;signCount++){
- switch (signCount){
- case 1://鎵ц灏忚溅璐х墿鎼繍浠诲姟
- signWork = rgvRunWrkMastFullSta();
- break;
- case 2://鏀�//鎷嗙洏
- signWork = rgvRunWrkMastEmptyStaPut();
- break;
- case 3://婊℃斁
- signWork = rgvRunWrkMastEmptyStaPutFull();
- break;
- case 4://鍙栧彔鐩�
- signWork = rgvRunWrkMastEmptyStaTake();
- break;
- case 5:////婊″彇
- signWork = rgvRunWrkMastEmptyStaTakeFull();
- break;
- case 6:////鎻愬崌
+ for (int signCount = 1;!signWork && signCount<7;signCount++){
+ switch (signCount){
+ case 1://鎵ц灏忚溅璐х墿鎼繍浠诲姟
+ signWork = rgvRunWrkMastFullSta(rgvSlave);
+ break;
+ case 2://鏀�//鎷嗙洏
+ signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
+ break;
+ case 3://婊℃斁
+ signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
+ break;
+ case 4://鍙栧彔鐩�
+ signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
+ break;
+ case 5:////婊″彇
+ signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
+ break;
+ case 6:////鎻愬崌
// signWork = rgvRunWrkMastEmptyStaPut();
- break;
- default:
- break;
+ break;
+ default:
+ break;
+ }
}
+ }else {
+ continue;
}
if (!rgvIoExecuteSign){
rgvIoExecuteSign = signWork;
}
}
- if (!rgvIoExecuteSign){
- if (sign>6){
- rgvRunWrkMastEmptyStaAvoidance();//閬胯
- }
- }
+// if (!rgvIoExecuteSign){
+// if (sign>6){
+//
+// }
+// }
}catch (Exception e){
log.error("RGV灏忚溅浠诲姟涓嬪彂鎶ラ敊"+e);
}
@@ -3590,18 +3659,18 @@
/**
* 鎵ц灏忚溅鎼繍浠诲姟
*/
- public synchronized boolean rgvRunWrkMastFullSta() {
+ public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
try{
- for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
- continue;
+ return false;
}
BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
if (basRgv == null) {
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
- continue;
+ return false;
}
// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
@@ -3615,7 +3684,7 @@
BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
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());
- continue;
+ return false;
}
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
@@ -3625,9 +3694,29 @@
continue;
}
BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
- if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
+ if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
continue;
}
+ List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
+ add(101);add(102);add(104);add(105);add(107);add(108);add(118);add(119);add(122);
+ }};
+ List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
+ add(110);add(111);add(113);add(114);add(116);add(117);add(120);add(121);add(122);add(123);
+ }};
+ if (basRgv.getRgvNo()==1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())){
+ continue;
+ }else if (basRgv.getRgvNo()==2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())){
+ continue;
+ }
+
+ if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+ if (!basDevp.getEmptyMk().equals("Y")){
+ continue;
+ }
+ }
+ Date date = new Date();
+ log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+ log.info(date+"鍙栨斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
if (sign){
boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
@@ -3648,7 +3737,7 @@
break;
}
}
- }
+// }
}catch (Exception e){
log.error("3875琛屾墽琛屽皬杞︽惉杩愪换鍔′笅鍙戝け璐�");
log.error("3875琛�"+e);
@@ -3658,18 +3747,18 @@
/**
* 鎵ц灏忚溅鎼繍浠诲姟//鎷嗙洏
*/
- public synchronized boolean rgvRunWrkMastEmptyStaPut() {//鎷嗙洏
+ public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//鎷嗙洏
try{
- for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
- continue;
+ return false;
}
BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
if (basRgv == null) {
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
- continue;
+ return false;
}
// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤//鎷嗙洏
@@ -3683,7 +3772,7 @@
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
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());
- continue;
+ return false;
}
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
@@ -3695,9 +3784,17 @@
boolean sign = false;
if ( wrkMastSta.getStaEnd()!=0){//鏀�
BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
- if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
+ if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
continue;
}
+ if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+ if (!basDevp.getEmptyMk().equals("Y")){
+ continue;
+ }
+ }
+ Date date = new Date();
+ log.info(date+"鎷嗙洏浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+ log.info(date+"鎷嗙洏浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//鎷嗙洏
}else {
continue;
@@ -3721,7 +3818,7 @@
break;
}
}
- }
+// }
}catch (Exception e){
log.error("3933琛屾墽琛屽皬杞︽斁绌烘澘浠诲姟涓嬪彂澶辫触");
log.error("3933琛�"+e);
@@ -3732,18 +3829,18 @@
/**
* 鎵ц灏忚溅鎼繍浠诲姟
*/
- public synchronized boolean rgvRunWrkMastEmptyStaPutFull() {//婊℃斁
+ public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//婊℃斁
try{
- for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
- continue;
+ return false;
}
BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
if (basRgv == null) {
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
- continue;
+ return false;
}
// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤
@@ -3757,7 +3854,7 @@
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
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());
- continue;
+ return false;
}
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
@@ -3769,9 +3866,17 @@
boolean sign = false;
if ( wrkMastSta.getStaEnd()!=0){//婊℃斁
BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
- if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y")){
+ if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
continue;
}
+ if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+ if (!basDevp.getEmptyMk().equals("Y")){
+ continue;
+ }
+ }
+ Date date = new Date();
+ log.info(date+"婊℃斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+ log.info(date+"婊℃斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
}else {
continue;
@@ -3795,7 +3900,7 @@
break;
}
}
- }
+// }
}catch (Exception e){
log.error("3933琛屾墽琛屽皬杞︽斁绌烘澘浠诲姟涓嬪彂澶辫触");
log.error("3933琛�"+e);
@@ -3803,18 +3908,18 @@
return false;
}
- public synchronized boolean rgvRunWrkMastEmptyStaTake() {//鍙犵洏
+ public synchronized boolean rgvRunWrkMastEmptyStaTake(RgvSlave rgvSlave) {//鍙犵洏
try{
- for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
- continue;
+ return false;
}
BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
if (basRgv == null) {
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
- continue;
+ return false;
}
// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾棤鐗�//rgv鍙敤
@@ -3828,7 +3933,7 @@
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
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());
- continue;
+ return false;
}
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
@@ -3843,6 +3948,25 @@
if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
continue;
}
+ List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
+ add(101);add(102);add(104);add(105);add(107);add(108);add(118);add(119);add(122);
+ }};
+ List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
+ add(110);add(111);add(113);add(114);add(116);add(117);add(120);add(121);add(122);add(123);
+ }};
+ if (basRgv.getRgvNo()==1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())){
+ continue;
+ }else if (basRgv.getRgvNo()==2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())){
+ continue;
+ }
+ if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
+ if (!basDevp.getEmptyMk().equals("Y")){
+ continue;
+ }
+ }
+ Date date = new Date();
+ log.info(date+"鍙犵洏浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+ log.info(date+"鍙犵洏浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//鍙犵洏
}else {
continue;
@@ -3866,7 +3990,7 @@
break;
}
}
- }
+// }
}catch (Exception e){
log.error("3989琛屾墽琛屽皬杞﹀彇绌烘澘浠诲姟涓嬪彂澶辫触");
log.error("3989琛�"+e);
@@ -3874,18 +3998,18 @@
return false;
}
- public synchronized boolean rgvRunWrkMastEmptyStaTakeFull() {//婊″彇
+ public synchronized boolean rgvRunWrkMastEmptyStaTakeFull(RgvSlave rgvSlave) {//婊″彇
try{
- for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
- continue;
+ return false;
}
BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
if (basRgv == null) {
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
- continue;
+ return false;
}
// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾棤鐗�//rgv鍙敤
@@ -3899,11 +4023,18 @@
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
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());
- continue;
+ return false;
}
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+ WrkMast wrkMast = wrkMastMapper.selectBy122ManQu(122,110,15L);
+ if (!Cools.isEmpty(wrkMast)){
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
+ if (!Cools.isEmpty(wrkMastSta) && wrkMastSta.getType()==2 && wrkMastSta.getWrkType()==5 ){
+ wrkMastStaList.add(wrkMastSta);
+ }
+ }
for (WrkMastSta wrkMastSta : wrkMastStaList){
if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=5){// 2:绌烘澘 || 宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 5锛氭弧鍙� 6锛氭弧鏀�
continue;
@@ -3914,6 +4045,9 @@
if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
continue;
}
+ Date date = new Date();
+ log.info(date+"婊″彇浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�"+wrkMastSta);
+ log.info(date+"婊″彇浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細"+basDevp);
sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
}else {
continue;
@@ -3937,7 +4071,7 @@
break;
}
}
- }
+// }
}catch (Exception e){
log.error("3989琛屾墽琛屽皬杞﹀彇绌烘澘浠诲姟涓嬪彂澶辫触");
log.error("3989琛�"+e);
@@ -3954,6 +4088,7 @@
if (integer==0){
return;
}
+ boolean signRgv = true;
for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -3967,25 +4102,52 @@
}
// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ if (!(rgvProtocol.getStatusType() == RgvStatusType.IDLE
&& rgvProtocol.getModeType() == RgvModeType.AUTO
&& rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
&& rgvProtocol.getTaskNo1()==0
&& rgvProtocol.getTaskNo2()==0
&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
- ) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
+ )) {
+ signRgv = false;
+ break;
+ }
+ }
+ if (signRgv){
+ for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
continue;
}
- if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
- continue;
- } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
continue;
}
- rgvAvoidanceXY(rgvProtocol.getRgvNo());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1()==0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+ && rgvProtocol.getTaskNo1()==0
+ && rgvProtocol.getTaskNo2()==0
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ ) {
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
+ continue;
+ }
+ if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
+ continue;
+ } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
+ continue;
+ }
+ rgvAvoidanceXY(rgvProtocol.getRgvNo());
+ rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
+ }
}
}
}catch (Exception e){
--
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