From fb74f60f1d8397acf5251ae289e80ab8a056857f Mon Sep 17 00:00:00 2001
From: 1 <1>
Date: 星期四, 09 十月 2025 09:08:05 +0800
Subject: [PATCH] #和得服务器
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 412 ++++++++++++++++++++++++++++++++++++----------------------
1 files changed, 254 insertions(+), 158 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 ff0b065..d770187 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -6,6 +6,7 @@
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
+import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.ArmOrderAssignmentParam;
@@ -197,7 +198,9 @@
wrkNo++;
staProtocol.setStaNo(inSta.getBackSta().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
+ staProtocol.setPakMk(false);
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ System.out.println(staProtocol);
log.error("杈撻�佺嚎涓嬪彂1锛�"+wrkNo+","+inSta.getBackSta());
}
@@ -244,6 +247,11 @@
int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
if (wrkNo1 != 0){
News.error(barcode + "鏉＄爜宸插瓨鍦ㄧ姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,璇锋煡鐪媁CS杈撻�佺嚎鐣岄潰,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
+ StaProtocol staProtocolNew = new StaProtocol();
+ staProtocolNew.setWorkNo(wrkNo1);
+ staProtocolNew.setStaNo(RouteUtils.SouStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
+ staProtocolNew.setSiteId(staProtocol.getSiteId());
+ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolNew));
if (ledThread != null) {
News.error(methodName + ":鎵爜澶辫触锛岃閲嶈瘯");
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "鏉＄爜宸插瓨鍦ㄧ姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑浠诲姟,宸ヤ綔鍙�="+ wrkMast.getWrkNo()));
@@ -1348,10 +1356,10 @@
// continue;
}
// 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")
+// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
- if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
+ if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && !staProtocol.isLoading()
) {
// if (slave.getId() == 1 || slave.getId() == 2){
// if (staProtocol.isLoading() || staProtocol.getWorkNo() != 0 || !staProtocol.isOutEnable()){
@@ -2612,7 +2620,7 @@
}
public synchronized void autoEmptyIn() {
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
List<Integer> list = new ArrayList<>();
list.add(1038);
for (Integer site:list){
@@ -3045,7 +3053,7 @@
// 鑾峰彇RGV淇℃伅
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
+ if (rgvProtocol.getStatusType1() != RgvStatusType.IDLE && rgvProtocol.getModeType() != RgvModeType.AUTO) {
continue;
}
BasRgv basRgv = basRgvService.selectById(rgv.getId());
@@ -3053,12 +3061,21 @@
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgv.getId());
continue;
}
+ if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
+ rgvThread.setPaking(true);
+ }
//灏忚溅鏃犱换鍔℃椂璺宠繃
- if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0){
+ if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0 ){
continue;
}
- //鍏ュ簱鏀捐揣
- if(rgvThread.isPakIn()){
+ if(!rgvThread.isPaking()){
+ continue;
+
+ }
+ if(!basRgv.getPakAll().equals("1")){
+ continue;
+ }
+ if(basRgv.getPakIn().equals("1")){
for(RgvSlave.RgvStn rgvStn : rgv.getRgvInPStn()){//鍏ュ簱鏀捐揣绔欑偣
boolean flag = false;
@@ -3101,6 +3118,7 @@
boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
if (sign){
try{
+ rgvThread.setPaking(false);
wrkMast.setSheetNo("2");
wrkMastSta.setWrkSts(2);
wrkMastStaMapper.updateById(wrkMastSta);
@@ -3114,9 +3132,11 @@
}
}
+ basRgv.setPakRgv("1");
+ basRgvService.updateById(basRgv);
}
//鍑哄簱鏀捐揣
- if( rgvThread.isPakOut()){
+ if( basRgv.getPakOut().equals("1")){
for(RgvSlave.RgvStn rgvStn : rgv.getRgvOutPStn()){//鍏ュ簱鏀捐揣绔欑偣
boolean flag = false;
@@ -3148,7 +3168,7 @@
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
Integer workNo = 0;
- if(rgvThread.isPakToCrn()){
+ if(basRgv.getPakToCrn().equals("1")){
workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1():rgvProtocol.getTaskNo2(); //姝ｅ父鎯呭喌鍑哄簱鏀捐揣浼樺厛宸ヤ綅1鏀�
}else{
workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2():rgvProtocol.getTaskNo1(); //鎺ラ┏鎯呭喌浼樺厛宸ヤ綅2鏀�
@@ -3163,6 +3183,7 @@
boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
if (sign){
try{
+ rgvThread.setPaking(false);
wrkMastSta.setWrkSts(2);
wrkMastStaMapper.updateById(wrkMastSta);
log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
@@ -3175,8 +3196,9 @@
}
}
+ basRgv.setPakRgv("1");
+ basRgvService.updateById(basRgv);
}
- rgvThread.setPakRgv(true);//浼樺厛鏀捐揣瀹屾垚锛屽紑鍚璋冨害
}
}
/**
@@ -3188,6 +3210,11 @@
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
+ continue;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgv.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgv.getId());
continue;
}
Long taskNo1 = Long.valueOf(rgvProtocol.getTaskNo1());
@@ -3213,10 +3240,22 @@
&& rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
&& !rgvProtocol.isLoaded1ing()
&& !rgvProtocol.isLoaded2ing()){
- rgvThread.setPakRgv(true);
- rgvThread.setPakIn(true);
- rgvThread.setPakOut(true);
- rgvThread.setPakToCrn(true);
+ List<WrkMastSta> wrkMastStaLock = wrkMastStaService.selectLockWrk();
+ List<WrkMastSta> wrkMastStaLockT = wrkMastStaService.selectLockWrkT();
+
+ if(wrkMastStaLock.size() > 0 && rgvProtocol.getRgvNo() == 1){
+ continue ;
+ }
+ if(wrkMastStaLockT.size() > 0 && rgvProtocol.getRgvNo() == 2){
+ continue ;
+ }
+ basRgv.setPakRgv("1");
+ basRgv.setPakToCrn("1");
+ basRgv.setPakIn("1");
+ basRgv.setPakOut("1");
+ basRgv.setPakAll("1");
+ basRgvService.updateById(basRgv);
+ rgvThread.setPakMk(true);
}
}
@@ -3234,35 +3273,53 @@
if (rgvProtocol == null) {
continue;
}
+
BasRgv basRgv = basRgvService.selectById(rgv.getId());
if (basRgv == null) {
log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgv.getId());
continue;
}
+ if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
+ rgvThread.setPaking(true);
+ }
+ if(rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing()){
+ basRgv.setPakAll("1");
+ basRgvService.updateById(basRgv);
+ }
// 鍙湁褰揜GV绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk() && rgvThread.isPakToCrn()) {
+ if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE &&
+ rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk()
+ && basRgv.getPakToCrn().equals("1") && rgvThread.isPaking()) {
News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛孯GV鍏ュ嚭搴撲綔涓氫笅鍙�");
// 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
// rgvRunWrkMastInTest();
if (rgvProtocol.getLastIo().equals("I")) {
- if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
+ if (basRgv.getInEnable().equals("1") && basRgv.getPakIn().equals("1")) {
//mark - 1 - ....
- this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
+ if (rgvProtocol.getTaskNo1()==0){
+ this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
+ }
rgvProtocol.setLastIo("O");
- } else if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
+ } else if (basRgv.getOutEnable().equals("1") && basRgv.getPakOut().equals("1")) {
//mark - 2 - ....
- this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 鍑哄簱
+ if (rgvProtocol.getTaskNo2()==0){
+ this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 鍑哄簱
+ }
rgvProtocol.setLastIo("I");
}
}
// 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
else if (rgvProtocol.getLastIo().equals("O")) {
- if (basRgv.getOutEnable().equals("1") && rgvThread.isPakOut()) {
- this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 鍑哄簱
+ if (basRgv.getOutEnable().equals("1") && basRgv.getPakOut().equals("1")) {
+ if (rgvProtocol.getTaskNo2()==0){
+ this.rgvRunWrkMastOut(rgv, rgvProtocol,mark); // 鍑哄簱
+ }
rgvProtocol.setLastIo("I");
- } else if (basRgv.getInEnable().equals("1") && rgvThread.isPakIn()) {
- this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
+ } else if (basRgv.getInEnable().equals("1") && basRgv.getPakIn().equals("1")) {
+ if (rgvProtocol.getTaskNo1()==0){
+ this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
+ }
rgvProtocol.setLastIo("O");
}
}
@@ -3272,18 +3329,19 @@
if(wrkMastSta1 != null && wrkMastSta2 != null){
rgvThread.setPakMk(false); //灏忚溅鍙屽伐浣嶉攣瀹�
}
- if(!rgvThread.isPakToCrn()){
- rgvRunWrkToCrn(rgv, rgvProtocol,mark); //鑻ュ皬杞﹀彇鍒颁竴涓帴椹充换鍔★紝绗簩涓伐浣嶅彧鑳藉彇鎺ラ┏浠诲姟
- }
+// if(!rgvThread.isPakToCrn()){
+// rgvRunWrkToCrn(rgv, rgvProtocol,mark); //鑻ュ皬杞﹀彇鍒颁竴涓帴椹充换鍔★紝绗簩涓伐浣嶅彧鑳藉彇鎺ラ┏浠诲姟
+// }
// if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getTaskNo1() == 0 && rgvThread.isPakIn() && rgvThread.isPakRgv()){
// rgvPreScheduling();//鑻ユ殏鏃犱笅鍙戜换鍔￠璋冨害鎻愬墠鍒板彇璐х偣
// }
- if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
- //灏忚溅鎵ц鏀捐揣浠诲姟
- rgvOutExecute();
- }
+// if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
+// //灏忚溅鎵ц鏀捐揣浠诲姟
+// rgvOutExecute();
+//
+// }
}
}
public synchronized void rgvRunWrkMastInTest(){
@@ -3330,11 +3388,17 @@
public synchronized void rgvRunWrkMastIn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark) {
for (RgvSlave.RgvStn rgvStn : slave.getRgvInTStn()) {//rgv鍏ュ簱鍙栬揣绔欑偣
boolean flag = false;
+ BasRgv basRgv = basRgvService.selectById(slave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", slave.getId());
+ continue;
+ }
//閬嶅巻rgv鍏ュ簱鍙栬揣绔欑偣
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
StaProtocol staProtocol2 = null; //杩炵画鍙栬揣浠诲姟绔欑偣
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
+ WrkMastSta wrkMastSta3 = null;//杩炲彇涓や釜
if(rgvStn.getStaNo2()!= null ){
staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
if (staProtocol2 == null) {
@@ -3348,18 +3412,9 @@
News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
continue;
}
- WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
- if(wrkMastSta2 != null){
- wrkMastSta2.setMk(1);
- try{
- wrkMastStaMapper.updateById(wrkMastSta2);
- log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
- }catch (Exception e){
- log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
- }
-
- }
+ wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
}
+
if (staProtocol == null) {
News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍏ュ簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
continue;
@@ -3389,7 +3444,7 @@
case 2: route = RouteUtils.getRouteTwo();break;
}
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
if( null == wrkMastSta ) {
News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
continue;
@@ -3403,7 +3458,10 @@
result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta2.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
}
if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
- rgvThread.setPakRgv(false);
+ basRgv.setPakRgv("0");
+ basRgvService.updateById(basRgv);
+
+// rgvThread.setPakRgv(false);
continue;
}
wrkMastSta.setWorkSta(wrkMastSta2 !=null ? 1 : 2);
@@ -3411,8 +3469,25 @@
boolean sign = false;
sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
if (sign){
+ if(wrkMastSta3 != null){
+ wrkMastSta3.setMk(1);
+ basRgv.setPakAll("0");
+ basRgvService.updateById(basRgv);
- rgvThread.setPakOut(false);//鍑哄簱涓嶅厑璁�
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta3);
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
+ }catch (Exception e){
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
+ }
+
+ }
+ basRgv.setPakOut("0");
+ basRgvService.updateById(basRgv);
+ rgvThread.setPaking(false);
+// rgvThread.setPakOut(false);//鍑哄簱涓嶅厑璁�
+// basRgvService.updateById(basRgv);
+
try{
wrkMastSta.setWrkSts(1);
wrkMastStaMapper.updateById(wrkMastSta);
@@ -3437,7 +3512,14 @@
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
+ BasRgv basRgv = basRgvService.selectById(slave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", slave.getId());
+ continue;
+ }
StaProtocol staProtocol2 = null;
+ WrkMastSta wrkMastSta3 = null;
+
if(rgvStn.getStaNo2()!= null ){
staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
if (staProtocol2 == null) {
@@ -3451,18 +3533,7 @@
News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
continue;
}
- WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
- if(wrkMastSta2 != null){
- wrkMastSta2.setMk(1);
- try{
- wrkMastStaMapper.updateById(wrkMastSta2);
- log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
- }catch (Exception e){
- log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
- }
-
- }
-
+ wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
}
if (staProtocol == null) {
@@ -3508,7 +3579,10 @@
result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
}
if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
- rgvThread.setPakRgv(false);
+ basRgv.setPakRgv("0");
+ basRgvService.updateById(basRgv);
+
+// rgvThread.setPakRgv(false);
continue;
}
wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//鑻�1鍙峰伐浣嶆湁浠诲姟缁�2鍙峰伐浣�
@@ -3517,9 +3591,26 @@
sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
if (sign){
if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
- rgvThread.setPakToCrn(false); //閿佸畾灏忚溅鍙兘鎺ユ帴椹充换鍔�
+ basRgv.setPakToCrn("0");
+ basRgvService.updateById(basRgv);
+
+// rgvThread.setPakToCrn(false); //閿佸畾灏忚溅鍙兘鎺ユ帴椹充换鍔�
}
- rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
+ if(wrkMastSta3 != null){
+ wrkMastSta3.setMk(1);
+ try{
+ wrkMastStaMapper.updateById(wrkMastSta3);
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
+ }catch (Exception e){
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
+ }
+
+ }
+ basRgv.setPakIn("0");
+ basRgvService.updateById(basRgv);
+
+ rgvThread.setPaking(false);
+// rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
try{
wrkMastSta.setWrkSts(1);
wrkMastStaMapper.updateById(wrkMastSta);
@@ -3538,94 +3629,94 @@
/**
* 灏忚溅鍑哄簱鎺ラ┏浠诲姟鍙栬揣涓嬪彂
*/
- public synchronized void rgvRunWrkToCrn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
- for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv鍑哄簱鍙栬揣绔欑偣
- boolean flag = false;
- //閬嶅巻rgv鍏ュ簱鍙栬揣绔欑偣
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
- StaProtocol staProtocol2 = null;
- if(rgvStn.getStaNo2()!= null ){
- staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
- if (staProtocol2 == null) {
- News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍏ュ簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
- continue;
- } else {
- staProtocol2 = staProtocol2.clone();
- }
- BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
- if (staDetl2 == null) {
- News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
- continue;
- }
- }
- if (staProtocol == null) {
- News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍑哄簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
-
- // 鏌ヨ绔欑偣璇︾粏淇℃伅
- BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
- if (staDetl == null) {
- News.error("" + mark + " - 1" + " - 2" + " - 鍑哄簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
- continue;
- }
-
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
- && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
- flag = true;
- }
- if (!flag) {
- News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv鍑哄簱鍙栬揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
- + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
- + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isOutEnable()
- + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanouting());
- continue;
- }
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- List<Integer> route = new ArrayList<>();
- switch (rgvProtocol.getRgvNo()){
- case 1: route = RouteUtils.getRouteOne();break;
- case 2: route = RouteUtils.getRouteTwo();break;
- }
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfereToCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
- if( null == wrkMastSta ) {
- News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
- continue;
- }
- WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
- boolean result = false;
- if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
- result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
- }
- if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
- rgvThread.setPakRgv(false);
- continue;
- }
- wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//鑻�1鍙峰伐浣嶆湁浠诲姟缁�2鍙峰伐浣�
- wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
- boolean sign = false;
- sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
- if (sign){
- rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
- try{
- wrkMastSta.setWrkSts(1);
- wrkMastStaMapper.updateById(wrkMastSta);
- log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
- }catch (Exception e){
- log.error("鏇存柊灏忚溅浠诲姟澶辫触");
- }
- } else {
- log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
- }
-
-
- }
- }
+// public synchronized void rgvRunWrkToCrn(RgvSlave slave, RgvProtocol rgvProtocol,Integer mark){
+// for (RgvSlave.RgvStn rgvStn : slave.getRgvOutTStn()) {//rgv鍑哄簱鍙栬揣绔欑偣
+// boolean flag = false;
+// //閬嶅巻rgv鍏ュ簱鍙栬揣绔欑偣
+// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+// StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
+// StaProtocol staProtocol2 = null;
+// if(rgvStn.getStaNo2()!= null ){
+// staProtocol2 = devpThread.getStation().get(rgvStn.getStaNo2());
+// if (staProtocol2 == null) {
+// News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍏ュ簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+// continue;
+// } else {
+// staProtocol2 = staProtocol2.clone();
+// }
+// BasDevp staDetl2 = basDevpService.selectById(rgvStn.getStaNo2());
+// if (staDetl2 == null) {
+// News.error("" + mark + " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+// continue;
+// }
+// }
+// if (staProtocol == null) {
+// News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv鍑哄簱绔欎俊鎭�(staProtocol!=null缁х画鎵ц)锛歴taProtocol=" + staProtocol);
+// continue;
+// } else {
+// staProtocol = staProtocol.clone();
+// }
+//
+// // 鏌ヨ绔欑偣璇︾粏淇℃伅
+// BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
+// if (staDetl == null) {
+// News.error("" + mark + " - 1" + " - 2" + " - 鍑哄簱 ===>>Rgv绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+// continue;
+// }
+//
+// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0
+// && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
+// flag = true;
+// }
+// if (!flag) {
+// News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv鍑哄簱鍙栬揣绔欎俊鎭�(浠ヤ笅闇�瑕佸叏true):"
+// + "鑷姩淇″彿" + staProtocol.isAutoing() + "鏈夌墿淇″彿" + staProtocol.isLoading()
+// + "宸ヤ綔鍙�>0" + staProtocol.getWorkNo() + "鍙叆淇″彿" + staProtocol.isOutEnable()
+// + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanouting());
+// continue;
+// }
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// List<Integer> route = new ArrayList<>();
+// switch (rgvProtocol.getRgvNo()){
+// case 1: route = RouteUtils.getRouteOne();break;
+// case 2: route = RouteUtils.getRouteTwo();break;
+// }
+// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+// WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfereToCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));//鏍规嵁绔欑偣宸ヤ綔鍙峰拰灏忚溅宸ヤ綔鑼冨洿妫�绱换鍔℃。
+// if( null == wrkMastSta ) {
+// News.infoNoLog("" + mark + " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+// continue;
+// }
+// WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
+// boolean result = false;
+// if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //璺濈璁＄畻 2妤煎崟鍏ュ簱鍙ｄ笉闇�瑕佽绠�
+// result = rgvCalcDistance((int) rgvProtocol.getRgvNo(),wrkMastSta1.getStaEnd(),wrkMastSta.getStaStart());//宸ヤ綅2鏀捐揣绔欑偣锛屽伐浣�1鍙栬揣绔欑偣
+// }
+// if(result){//鑻ュ皬杞﹁窛绂绘斁璐х偣璺濈杩戜簬鍙栬揣鐐瑰垯璺宠繃鍙栬揣 true璺宠繃鍙栬揣/false浼樺厛鍙栬揣
+// rgvThread.setPakRgv(false);
+// continue;
+// }
+// wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//鑻�1鍙峰伐浣嶆湁浠诲姟缁�2鍙峰伐浣�
+// wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
+// boolean sign = false;
+// sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+// if (sign){
+// rgvThread.setPakIn(false);//鍏ュ簱涓嶅厑璁�
+// try{
+// wrkMastSta.setWrkSts(1);
+// wrkMastStaMapper.updateById(wrkMastSta);
+// log.error("鏇存柊灏忚溅浠诲姟鎴愬姛");
+// }catch (Exception e){
+// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
+// }
+// } else {
+// log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+// }
+//
+//
+// }
+// }
/**
* 鎵ц灏忚溅鎼繍浠诲姟
*
@@ -3754,9 +3845,9 @@
// }
// return wrkEnable;
// }
-// /**
-// * 灏忚溅棰勮皟搴�
-// */
+ /**
+ * 灏忚溅棰勮皟搴�
+ */
// public synchronized void rgvPreScheduling(){
// try{
// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
@@ -3793,7 +3884,7 @@
// // 鏍规嵁杈撻�佺嚎plc閬嶅巻
// for (DevpSlave devp : slaveProperties.getDevp()) {
// // 閬嶅巻鍏ュ簱鍙� 鍏ュ簱棰勮皟搴�
-// List<Integer> staNos = Arrays.asList( 1043, 1104,1037);
+// List<Integer> staNos = Arrays.asList( 1043, 1104, 1029, 1022, 1019, 1008, 1005);
// for (Integer staNo : staNos) {
// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
// StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -3801,9 +3892,8 @@
// RgvCommand rgvCommand = new RgvCommand();
// rgvCommand.setRgvNo((int) rgvProtocol.getRgvNo()); // RGV缂栧彿
// rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1(9999); // 宸ヤ綅1宸ヤ綔鍙�
+// rgvCommand.setTaskNo(9999); // 宸ヤ綅1宸ヤ綔鍙�
// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 绉诲姩
-// rgvCommand.setEndStaNo1(0); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
// switch (staNo){
// case 1043: rgvCommand.setTargetPosition1(1042);break; //宸ヤ綅1鐩爣绔欑偣
// case 1104: rgvCommand.setTargetPosition1(1105);break;
@@ -3858,6 +3948,7 @@
log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvId, JSON.toJSON(rgvCommand));
return false;
} else {
+
return true;
}
@@ -3927,18 +4018,23 @@
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
for (DevpSlave.Sta armSta : devp.getArmSta()) {
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, armSta.getBarcode());
- if (barcodeThread == null) {
+
+ // 鑾峰彇绔欑偣淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(armSta.getStaNo());
+ if (staProtocol == null) {
continue;
+ } else {
+ staProtocol = staProtocol.clone();
}
- String barcode = barcodeThread.getBarcode();
- barcode="999997";
+ String barcode = staProtocol.getBarcode();
if(!Cools.isEmpty(barcode)) {
if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愶細"+JSON.toJSON(barcode)+"===銆嬫墭鐩樻潯鐮佸紓甯�");
continue;
}
} else {
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愶細===銆嬫墭鐩樻潯鐮佷负绌�");
continue;
}
--
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