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 | 2275 ++++++++++++++++++++++++++++++++++++++--------------------
1 files changed, 1,478 insertions(+), 797 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 5dd7333..d770187 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -6,13 +6,21 @@
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;
+import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
+import com.zy.asrs.entity.param.CombParam;
+import com.zy.asrs.entity.result.OrderDetlValueResultUtil;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
+import com.zy.asrs.utils.PostMesDataUtils;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
+import com.zy.asrs.utils.core.ReturnT;
+import com.zy.common.constant.ArmConstant;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
@@ -92,15 +100,24 @@
@Autowired
private WrkMastService wrkMastService;
@Autowired
+ private WrkMastStaService wrkMastStaService;
+ @Autowired
private BasRgvMapService basRgvMapService;
+ @Autowired
+ private BasArmService basArmService;
+ @Autowired
+ private BasArmMastService basArmMastService;
@Value("${wms.url}")
private String wmsUrl;
+
+ @Value("${wms.comb}")
+ private String wmsComb;
@Value("${inventory.number}")
private Integer inventoryNumber;
public Integer wrkNo = 10000;
-
+ public static final List<Integer> LEFT_POSITION = Arrays.asList(1018,2018);
/**
* 缁勬墭
* 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 2
@@ -113,7 +130,6 @@
for (DevpSlave.Sta inSta : devp.getInSta()) {
// 鑾峰彇鏉＄爜鎵弿浠俊鎭�
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
- BarcodeThread barcodeThreadMat = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcodeMat());
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
@@ -127,13 +143,9 @@
continue;
}
- if (barcodeThreadMat == null) {
- continue;
- }
String barcode = barcodeThread.getBarcode();
- String barcodeMat = barcodeThreadMat.getBarcode();
// 灏哄妫�娴嬪紓甯�
boolean back = false;
String errMsg = "";
@@ -186,7 +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());
}
@@ -196,7 +210,8 @@
&& staProtocol.isInEnable()
&& !staProtocol.isEmptyMk()
&& staProtocol.isPakMk()) {
- if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
+ if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+// News.error(JSON.toJSONString(staProtocol));
News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
// led 寮傚父鏄剧ず
if (ledThread != null) {
@@ -232,6 +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()));
@@ -323,6 +343,7 @@
// }
// }
else {
+ News.error(JSON.toJSONString(staProtocol));
staProtocol.setWorkNo(wrkNo);
wrkNo++;
staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -750,6 +771,7 @@
if ((wrkMast.getIoType() != 12 && wrkMast.getIoType() < 100) || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
continue;
}
+
// 鍒ゆ柇鍚婅溅鏄惁瀹為檯宸插畬鎴愶紝涓旂數鑴戠姸鎬佸湪move涓紝浠ュ鐢佃剳杩涜鏇存柊宸ヤ綔妗�
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
@@ -812,51 +834,63 @@
} else {
staProtocolIn = staProtocolIn.clone();
}
- StaProtocol staProtocolOut = devpThread.getStation().get(1015);
- if (staProtocolOut == null) {
- continue;
- } else {
- staProtocolOut = staProtocolOut.clone();
- }
- if(staProtocolOut.getWorkNo() != null &&staProtocolOut.getStaNo() == 4006){
- WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
- WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9997);
- if(wrkMast == null){
+ int[] outStaNos = {1015, 2016};
+ for (int outStaNo : outStaNos) {
+ StaProtocol staProtocolOut = devpThread.getStation().get(outStaNo);// 鐩樼偣鍑哄簱琛旀帴绔欑偣锛堝彲鑳芥槸 1015锛屼篃鍙兘鏄� 2016锛�
+ if (staProtocolOut == null) {
continue;
+ } else {
+ staProtocolOut = staProtocolOut.clone();
}
- try {
- TransplantWork param = new TransplantWork();
- param.setWorkNo(wrkMastOut.getWrkNo());
- param.setBarcode(wrkMastOut.getBarcode());
- param.setSourceStaNo(1015);
- param.setStaNo(wrkMastOut.getStaNo());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/auto/TransplantingIn/v1")
- .setJson(JSON.toJSONString(param))
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- staProtocolOut.setWorkNo(9997);
- devpThread.setPakMk(staProtocolOut.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolOut));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
+ if (staProtocolOut.getWorkNo() != null && staProtocolOut.getStaNo() == 4006) {
+ WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
+ WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9997);
+ if (wrkMastOut == null) {
+ continue;
}
+ if (wrkMast != null) {
+ News.info("宸插瓨鍦ㄦ枩琛椾换鍔★紝绛夊緟浠诲姟瀹屾垚");
+ continue;
+ }
+ try {
+ TransplantWork param = new TransplantWork();
+ param.setWorkNo(wrkMastOut.getWrkNo());
+ param.setBarcode(wrkMastOut.getBarcode());
+ param.setSourceStaNo(outStaNo);
+ param.setStaNo(wrkMastOut.getStaNo());
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/auto/TransplantingOut/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ staProtocolOut.setWorkNo(9997);
+ devpThread.setPakMk(staProtocolOut.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolOut));
+
+ if (!result) {
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
}
}
-
if(staProtocolIn.getWorkNo() != null &&staProtocolIn.getStaNo() != 4001){
WrkMast wrkMastIn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9996);
- if(wrkMast == null){
+ if(wrkMastIn == null){
+ continue;
+ }
+ if(wrkMast != null){
+ News.info("宸插瓨鍦ㄦ枩琛椾换鍔★紝绛夊緟浠诲姟瀹屾垚");
continue;
}
try {
@@ -867,7 +901,7 @@
param.setStaNo(wrkMastIn.getStaNo());
String response = new HttpHandler.Builder()
.setUri(wmsUrl)
- .setPath("/rpc/auto/TransplantingOut/v1")
+ .setPath("/rpc/auto/TransplantingIn/v1")
.setJson(JSON.toJSONString(param))
.build()
.doPost();
@@ -946,7 +980,7 @@
//mark - 3 - ....
this.locToLoc(crn, crnProtocol,mark);
//棰勮皟搴�
- this.crnRebackHp(crnProtocol, crnThread);
+// this.crnRebackHp(crnProtocol, crnThread);
}
// News.infoNoLog(""+mark+" - 0"+" - 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂鎵ц瀹屾垚");
@@ -1021,68 +1055,68 @@
} else {
staProtocol = staProtocol.clone();
}
- if (slave.getId() == 3) {
- SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
- if (staProtocol2 == null) {
- News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
- break;
- } else {
- staProtocol2 = staProtocol2.clone();
- }
- WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
- BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
- if (staDetl == null) {
- News.error(""+mark+" - 2"+" - 5"+" - 鍑哄簱 ===>> 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());
- break;
-// continue;
- }
- if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
-// continue;
- break;
- }
- // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if (wrkMastMapper.selectWorking(slave.getId()) != null) {
- break;
-// return;
- }
- // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo((short) 9996); // 宸ヤ綔鍙�
-// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX((short) 5); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ((short) 4); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX((short) 6); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
-// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
- News.error("" + mark + " - 2" + " - 13" + " - 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�={}", wrkMast9999.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();
- wrkMast9999.setWrkSts(3L);
- wrkMast9999.setCrnStrTime(now);
- wrkMast9999.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast9999) == 0) {
- News.error("" + mark + " - 2" + " - 14" + " - 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={}", wrkMast9999.getWrkNo());
- }
- break;
- }
- }
- }
+// if (slave.getId() == 3) {
+// SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+// StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
+// if (staProtocol2 == null) {
+// News.infoNoLog("" + mark + " - 2" + " - 3" + " - 鍫嗗灈鏈哄嚭搴撶珯淇℃伅(staProtocol!=null缁х画鎵ц,鍚﹀垯寰幆缁堟)锛歴taProtocol=" + staProtocol2);
+// break;
+// } else {
+// staProtocol2 = staProtocol2.clone();
+// }
+// WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
+// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+// if (staDetl == null) {
+// News.error(""+mark+" - 2"+" - 5"+" - 鍑哄簱 ===>> 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());
+// break;
+//// continue;
+// }
+// if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
+// // 鍫嗗灈鏈烘帶鍒惰繃婊�
+// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
+//// continue;
+// break;
+// }
+// // 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
+// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
+// break;
+//// return;
+// }
+// // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔�
+// CrnCommand crnCommand = new CrnCommand();
+// crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
+// crnCommand.setTaskNo((short) 9996); // 宸ヤ綔鍙�
+//// crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
+// crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
+// crnCommand.setSourcePosX((short) 5); // 婧愬簱浣嶆帓
+// crnCommand.setSourcePosY((short) 1); // 婧愬簱浣嶅垪
+// crnCommand.setSourcePosZ((short) 4); // 婧愬簱浣嶅眰
+// crnCommand.setDestinationPosX((short) 6); // 鐩爣搴撲綅鎺�
+// crnCommand.setDestinationPosY((short) 1); // 鐩爣搴撲綅鍒�
+// crnCommand.setDestinationPosZ((short) 1); // 鐩爣搴撲綅灞�
+//// crnCommand.setTraySize(sourceSta.getLocType1() == 2); //搴撲綅绫诲瀷
+// if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
+// News.error("" + mark + " - 2" + " - 13" + " - 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�={}", wrkMast9999.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();
+// wrkMast9999.setWrkSts(3L);
+// wrkMast9999.setCrnStrTime(now);
+// wrkMast9999.setModiTime(now);
+// if (wrkMastMapper.updateById(wrkMast9999) == 0) {
+// News.error("" + mark + " - 2" + " - 14" + " - 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={}", wrkMast9999.getWrkNo());
+// }
+// break;
+// }
+// }
+// }
// 鏌ヨ绔欑偣璇︾粏淇℃伅
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
if (staDetl == null) {
News.error(""+mark+" - 1"+" - 2"+" - 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
&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
flag = true;
}
@@ -1322,10 +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()){
@@ -2535,16 +2569,20 @@
public synchronized void autoEmptyOut() {
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
List<Integer> list = new ArrayList<>();
- list.add(1108);list.add(112);
- Map<Integer,Integer> map = new HashMap<>();
- map.put(101,102);map.put(112,111);
+ list.add(1109);list.add(2031);
for (Integer site:list){
- WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", map.get(site)));
- if (!Cools.isEmpty(wrkMast)){
+ Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
+ StaProtocol staProtocol = null;
+ if(emptyCount >= 2 && site == 1109){
+ continue;
+ }else if(emptyCount == 1 && site == 2031){
continue;
}
//濡傛灉绔欑偣鍙嚭绂佺敤锛屽垯涓嶇敓鎴愮┖鐩樺嚭搴撲换鍔�
- StaProtocol staProtocol = devpThread.getStation().get(site);
+ switch (site){
+ case 1109:staProtocol = devpThread.getStation().get(site - 2);break;
+ case 2031:staProtocol = devpThread.getStation().get(site);break;
+ }
if (staProtocol == null) {
return;
} else {
@@ -2555,10 +2593,6 @@
&& staProtocol.isOutEnable() //鍙嚭淇″彿
&& staProtocol.getWorkNo() == 0
) {
- WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(site);
- if (null != pakoutEmpty) {
- return;
- }
Short loctype1 = 1;
LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
locTypeDto.setSiteId(site);
@@ -2586,11 +2620,12 @@
}
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){
StaProtocol staProtocol = devpThread.getStation().get(site);
+ StaProtocol staProtocol1 = devpThread.getStation().get(1040);
if (staProtocol == null) {
return;
} else {
@@ -2600,9 +2635,11 @@
&& staProtocol.isLoading() //鏈夌墿
&& staProtocol.isInEnable() //鍙叆淇″彿
&& staProtocol.isPakMk()
- && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) //宸ヤ綔鍙蜂负0鎴栬�呭伐浣滃彿鏄�9991~9999锛堣緭閫佹満鐣欑敤锛�
+ && staProtocol1.isFull() //鍙犳弧淇″彿
+ && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990 ) //宸ヤ綔鍙蜂负0鎴栬�呭伐浣滃彿鏄�9991~9999锛堣緭閫佹満鐣欑敤锛�
) {
+ System.out.println(staProtocol);
try {
Short loctype1 = 1;
LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
@@ -2699,7 +2736,9 @@
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE &&
rgvProtocol.getModeType() == RgvModeType.AUTO
&& !rgvProtocol.isLoaded1ing() //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.getTaskNo1()==0
+ && !rgvProtocol.isLoaded2ing()
+ && rgvProtocol.getTaskNo2()==0
&&rgvThread.isPakMk()
) {
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
@@ -2715,7 +2754,9 @@
if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
&& rgvProtocolOther.getModeType() == RgvModeType.AUTO
&& !rgvProtocolOther.isLoaded1ing()
- && (rgvProtocolOther.getTaskNo1()==0)
+ && rgvProtocolOther.getTaskNo1()==0
+ && !rgvProtocolOther.isLoaded2ing()
+ && rgvProtocolOther.getTaskNo2()==0
&&rgvThreadOther.isPakMk()
){
//瀵瑰伐浣滄。杩涜鍒ゆ柇
@@ -2759,479 +2800,931 @@
// }
// }
-
+ /**
+ * 灏忚溅涓婂伐浣嶅乏鍙崇Щ鍔�
+ *
+ */
+// public synchronized boolean rgvStaMove(Long workNo) {
+// try {
+// for (RgvSlave rgv : slaveProperties.getRgv()) {
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+// if (rgvProtocol == null) {
+// continue;
+// } else {
+// rgvProtocol = rgvProtocol.clone();
+// }
+// if (rgvProtocol.isLoaded2ing() && rgvProtocol.isLoaded1ing()) {
+// continue;
+// }
+// if (rgvProtocol.isLoaded1ing() && !rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo1() != 0) {
+// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
+// Short moveSta = 0;
+//
+// if (wrkMastSta.getStaEnd() < 1036 || (2000 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd() < 2031)) {
+// moveSta = 2;
+// boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(), 7, wrkMastSta.getWrkNo(), moveSta);
+// if (!rgvComplete) {
+// log.error("灏忚溅宸ヤ綅绉诲姩澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+// break;
+// }
+// }
+// }
+// if (!rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing() && rgvProtocol.getTaskNo2() != 0) {
+// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
+// Short moveSta = 0;
+//
+// if (wrkMastSta.getStaEnd() > 2030 || (1036 < wrkMastSta.getStaEnd() && wrkMastSta.getStaEnd() < 2000)) {
+// moveSta = 1;
+// boolean rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(), 8, wrkMastSta.getWrkNo(), moveSta);
+// if (!rgvComplete) {
+// log.error("灏忚溅宸ヤ綅绉诲姩澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+// break;
+// }
+// }
+// }
+//
+//
+// }
+// } catch (Exception e) {
+// log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
+// }
+// }
/**
* 瀹屾垚灏忚溅浠诲姟
*/
- public synchronized void rgvCompleteWrkMastSta() {
- try{
- for (DevpSlave devp : slaveProperties.getDevp()) {
- List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
- for (BasRgvMap rgvSlave:basRgvMaps) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- continue;
- }else {
- rgvProtocol = rgvProtocol.clone();
- }
- BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
- if (basRgv == null) {
- log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�3", rgvSlave.getRgvNo());
- continue;
- }
+// public synchronized void rgvCompleteWrkMastSta() {
+// try{
+// for (DevpSlave devp : slaveProperties.getDevp()) {
+// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
+// for (RgvSlave rgv : slaveProperties.getRgv()) {
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+// if (rgvProtocol == null) {
+// continue;
+// }else {
+// rgvProtocol = rgvProtocol.clone();
+// }
+// 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�3", rgv.getId());
+// continue;
+// }
+// //鏀捐揣纭
+// if(rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
+// boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
+// if (!rgvComplete){
+// log.error("灏忚溅鏀捐揣澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+// }
+// }
+// if(rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING && rgvProtocol.getModeType() == RgvModeType.AUTO){
+// boolean rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 6);
+// if (!rgvComplete){
+// log.error("灏忚溅鏀捐揣澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+// }
+// }
+//
+// // 鍙湁褰揜GV宸ヤ綅1绛夊緟WCS纭銆佽嚜鍔�
+// if (rgvProtocol.getStatusType1() == RgvStatusType.WAITING
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// ){
+//
+// log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType1(),rgvProtocol);
+// if(rgvProtocol.getTaskNo1() == 9999){ // 棰勮皟搴︿换鍔＄‘璁�
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// Integer staNo = basRgvMap.getNowRoute();
+// switch (staNo){
+// case 1004: staNo = 1042; break;
+// case 1007: staNo = 1105; break;
+// }
+//
+// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+// StaProtocol staProtocol = devpThread.getStation().get(staNo);
+// boolean rgvComplete = false;
- // 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
- if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
- ){
- log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
- if(rgvProtocol.getTaskNo1() == 9999){
- List<Integer> staNos = Arrays.asList( 1043, 1104);
- for (Integer staNo : staNos) {
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- boolean rgvComplete = false;
- if(!staProtocol.isLoading()){
- rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),3);//宸ヤ綅1澶嶄綅
- }
- if (!rgvComplete){
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛佺瓑寰呭叆搴撳彇璐�",rgvProtocol.getRgvNo());
- break;
- }
- }
- }
- if (rgvProtocol.getTaskNo1()!=0 && rgvProtocol.getTaskNo1()!=9999){
-// if (rgvProtocol.getTaskNo1()==32222){
-// boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
+// long now = System.currentTimeMillis();
+// if (staProtocol.isLoading()) {
+// rgvProtocol.setLoadingStartTime(null); // 宸插埌浣嶏紝娓呯┖鏃堕棿鎴�
+// } else {
+// if (rgvProtocol.getLoadingStartTime() == null) {
+// rgvProtocol.setLoadingStartTime(now);
+// }
+// }
+//
+// if (staProtocol.isLoading()) {
+// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(), 3);
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛佺瓑寰呭叆搴撳彇璐�", rgvProtocol.getRgvNo());
+// }
+// }
+// }
+// if ( rgvProtocol.getTaskNo1()!=9999 && rgvProtocol.getTaskNo1() != 0){
+// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1());
+// if(null == wrkMastSta){
+// log.error("灏忚溅鏃犱换鍔�");
+// continue;
+// }
+// if(wrkMastSta.getWrkSts() == 1){//鍙栬揣纭
+//// if(!Objects.equals(rgvProtocol.getRgvPosI2(), wrkMastSta.getStaEnd())){
+//// continue;
+//// }
+// boolean rgvComplete = false;
+// rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),7,wrkMastSta.getWrkNo(),(short)2);
// if (!rgvComplete){
// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
// }
-// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
-// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2415");
-// rgvThread.setPakMk(true);
+// wrkMastSta.setUpdateTime(new Date());
+// wrkMastSta.setWrkSts(2);
+// try{
+// 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");
+// }
// break;
// }
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
- if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getWrkSts()!=1){
- log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�"+wrkMastSta);
- continue;
- }
-
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
- continue;
- }
- WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
- if (!Cools.isEmpty(wrkMast)){
- if (!staProtocol.isPakMk()){
- continue;
- }
- // 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMast.getWrkNo());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- log.error("rgv浠诲姟瀹屾垚缁欒緭閫佺嚎涓嬪彂鍛戒护锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
- if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
- continue;
- }
- }
-// else {
-// log.error("rgv浠诲姟瀹屾垚缁欒緭閫佺嚎涓嬪彂鍛戒护,浣嗘湭鏌ヨ鍒板伐浣滄。");
-// // 涓嬪彂绔欑偣淇℃伅
-// Map<Integer,Integer> map = new HashMap<>();
-// map.put(101,102);map.put(112,111);
-// map.put(100,100);
-// staProtocol.setWorkNo(rgvProtocol.getTaskNo1().intValue());
-// staProtocol.setStaNo(map.get(rgvProtocol.getRgvPosI()).shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-//// log.error("rgv浠诲姟瀹屾垚缁欒緭閫佺嚎涓嬪彂鍛戒护锛�"+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
-// if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
-// continue;
+// }
+//
+// else {
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{},绛夊緟wcs纭浣嗘槸娌℃湁宸ヤ綔鍙凤紒",rgvProtocol.getRgvNo());
+// }
+// }
+// // 鍙湁褰揜GV宸ヤ綅2绛夊緟WCS纭銆佽嚜鍔�
+// if (rgvProtocol.getStatusType2() == RgvStatusType.WAITING
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// ){
+// log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType2(),rgvProtocol);
+// if (rgvProtocol.getTaskNo2() !=0 ){
+// WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
+// if(wrkMastSta.getWrkSts() == 1){//鍙栬揣纭
+// boolean rgvComplete = false;
+// rgvComplete = rgvComplete3((int) rgvProtocol.getRgvNo(),8,wrkMastSta.getWrkNo(),(short)1);
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
// }
+// wrkMastSta.setWrkSts(2);
+// try{
+// 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");
+// }
+// break;
// }
- int sourceSta = wrkMast.getSourceStaNo();
- boolean rgvComplete = false;
+// if(wrkMastSta.getWrkSts() == 4){//琛岃蛋鍚庣‘璁�
+// wrkMastSta.setWrkSts(2);
+// try{
+// 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");
+// }
+// boolean rgvComplete = false;
+//
+// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),7);
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
+// }
+// break;
+// }
+// if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getWrkSts()!=1){
+// log.error("鏈煡鍒板皬杞︽墽琛屼换鍔℃垨鑰呮墽琛屼换鍔＄姸鎬佷笉绗﹀悎锛�"+wrkMastSta);
+// continue;
+// }
- //鍙屽伐浣嶅嚭鍏ュ簱涓嶅悓宸ヤ綅澶嶄綅
- if((sourceSta >= 1001 && sourceSta <= 1035) || (sourceSta >= 2001 && sourceSta <= 2030)){
- rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),6);
- }else{
- rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),3);
+// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+// StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
+// if (staProtocol == null) {
+// continue;
+// } else {
+// staProtocol = staProtocol.clone();
+// }
+// if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
+// continue;
+// }
+// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
+//
+// int sourceSta = wrkMast.getSourceStaNo();
+// boolean rgvComplete = false;
+//
+// //鍙屽伐浣嶅嚭鍏ュ簱涓嶅悓宸ヤ綅澶嶄綅
+// rgvComplete = rgvComplete((int) rgvProtocol.getRgvNo(),6);
- }
- if (!rgvComplete){
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
- break;
- }
- WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
- wrkMast1.setPdcType("Y");
+// if (!rgvComplete){
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+// break;
+// }
+// WrkMast wrkMast1 = wrkMastService.selectByWrkNo(rgvProtocol.getTaskNo1());
+// wrkMast1.setPdcType("Y");
+//
+// wrkMastService.updateById(wrkMast1);
+//
+// wrkMastSta.setWrkSts(3);
+// wrkMastStaMapper.updateById(wrkMastSta);
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+// basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
+// }
+// else {
+// log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{},绛夊緟wcs纭锛�",rgvProtocol.getRgvNo());
+// }
+// }
+// //褰撳皬杞︽棤浠诲姟鏃跺彇娑堥攣瀹�
+// if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0){
+// rgvThread.setPakMk(true);
+// rgvThread.setPakIn(true);
+// rgvThread.setPakOut(true);
+// }
+// }
+// }
+// }catch (Exception e){
+// log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+// }
+// }
- wrkMastService.updateById(wrkMast1);
+ /**
+ * rgv鏀捐揣浠诲姟涓嬪彂
+ */
+ public synchronized void rgvOutExecute() {
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ // 鑾峰彇RGV淇℃伅
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol.getStatusType1() != RgvStatusType.IDLE && rgvProtocol.getModeType() != RgvModeType.AUTO) {
+ 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);
+ }
+ //灏忚溅鏃犱换鍔℃椂璺宠繃
+ if(rgvProtocol.getTaskNo1() ==0 && rgvProtocol.getTaskNo2() == 0 ){
+ continue;
+ }
+ if(!rgvThread.isPaking()){
+ continue;
- wrkMastSta.setWrkSts(3);
- wrkMastStaMapper.updateById(wrkMastSta);
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
- rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2471");
- rgvThread.setPakMk(true);
+ }
+ 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;
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ if (staProtocol == null) {
+ News.infoNoLog( " - 1" + " - 1" + " - Rgv鍏ュ簱鏀捐揣绔欎俊鎭�(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( " - 1" + " - 2" + " - 鍏ュ簱 ===>>Rgv鏀捐揣绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
}
- else {
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{},绛夊緟wcs纭浣嗘槸娌℃湁宸ヤ綔鍙凤紒",rgvProtocol.getRgvNo());
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog( " - 1" + " - 3" + " - Rgv鍏ュ簱鏀捐揣绔欎俊鎭�(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.isInEnable()
+ + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanining());
+ continue;
+ }
+ 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 = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2() : rgvProtocol.getTaskNo1(); //鍏ュ簱鏀捐揣浼樺厛宸ヤ綅2鎵ц
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);
+ WrkMast wrkMast = wrkMastMapper.selectByWrkNo(workNo);
+ if( null == wrkMastSta ) {
+ News.infoNoLog( " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍏ュ簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ continue;
+ }
+
+
+ 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);
+ wrkMastMapper.updateById(wrkMast);
+ 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());
+ }
+
+ }
+ basRgv.setPakRgv("1");
+ basRgvService.updateById(basRgv);
+ }
+ //鍑哄簱鏀捐揣
+ if( basRgv.getPakOut().equals("1")){
+ for(RgvSlave.RgvStn rgvStn : rgv.getRgvOutPStn()){//鍏ュ簱鏀捐揣绔欑偣
+ boolean flag = false;
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
+ StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
+ if (staProtocol == null) {
+ News.infoNoLog( " - 1" + " - 1" + " - Rgv鍑哄簱鏀捐揣绔欎俊鎭�(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( " - 1" + " - 2" + " - 鍑哄簱 ===>>Rgv鏀捐揣绔欑偣鍦ㄦ暟鎹簱涓嶅瓨鍦�, 绔欑偣缂栧彿={}", rgvStn.getStaNo());
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog( " - 1" + " - 3" + " - Rgv鍑哄簱鏀捐揣绔欎俊鎭�(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());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ Integer workNo = 0;
+ 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�
+ }
+
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);//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( " - 1" + " - 4" + " - 鏌ヨ鏃犲緟鍑哄簱鏁版嵁--wrk_sts0, 宸ヤ綔鍙�={}", staProtocol.getWorkNo());
+ continue;
+ }
+ 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");
+ }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());
+ }
+
+ }
+ basRgv.setPakRgv("1");
+ basRgvService.updateById(basRgv);
+ }
+ }
+ }
+ /**
+ * rgv浠诲姟瀹屾垚
+ */
+ public synchronized void rgvTaskComplete(){
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ 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());
+ Long taskNo2 = Long.valueOf(rgvProtocol.getTaskNo2());
+ List<WrkMastSta> wrkMastStaList = wrkMastStaService.selectList(
+ new EntityWrapper<WrkMastSta>()
+ .eq("wrk_sts" ,2)
+ .eq("rgv_no", rgvProtocol.getRgvNo())
+ );
+ for(WrkMastSta wrkMastSta : wrkMastStaList){
+ if(!Objects.equals(wrkMastSta.getWrkNo(), taskNo1) && !Objects.equals(wrkMastSta.getWrkNo(), taskNo2)){
+ try{
+ wrkMastSta.setWrkSts(3);
+ wrkMastStaMapper.updateById(wrkMastSta);
+ log.info("鏇存柊灏忚溅宸ヤ綔妗ｈ嚦瀹屾垚鎴愬姛");
+ }catch (Exception e){
+ log.error("鏇存柊灏忚溅宸ヤ綔妗ｈ嚦瀹屾垚澶辫触");
}
}
}
+ if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+ && !rgvProtocol.isLoaded1ing()
+ && !rgvProtocol.isLoaded2ing()){
+ 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);
}
- }catch (Exception e){
- log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+
}
}
+
+
+ /**
+ * rgv鍑哄叆搴撲换鍔′笅鍙�
+ */
+ public synchronized void rgvIoExecute(Integer mark) {
+ for (RgvSlave rgv : slaveProperties.getRgv()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ 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;
+ }
+ 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()
+ && 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") && basRgv.getPakIn().equals("1")) {
+ //mark - 1 - ....
+ if (rgvProtocol.getTaskNo1()==0){
+ this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
+ }
+ rgvProtocol.setLastIo("O");
+ } else if (basRgv.getOutEnable().equals("1") && basRgv.getPakOut().equals("1")) {
+ //mark - 2 - ....
+ 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") && 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") && basRgv.getPakIn().equals("1")) {
+ if (rgvProtocol.getTaskNo1()==0){
+ this.rgvRunWrkMastIn(rgv, rgvProtocol,mark); // 鍏ュ簱
+ }
+ rgvProtocol.setLastIo("O");
+ }
+ }
+ }
+ WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, (int) rgvProtocol.getRgvNo());
+ WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWorkSta(1, (int) rgvProtocol.getRgvNo());
+ 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(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();
+//
+// }
+ }
+ }
+ public synchronized void rgvRunWrkMastInTest(){
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(1);
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(1021); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(342);//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 wrkMastSta2 = wrkMastStaMapper.selectByWorkSta(2, 1);
+ boolean result = false;
+// if(wrkMastSta2 != 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(),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);
+// continue;
+// }
+ wrkMastSta.setWorkSta(1);
+ wrkMastSta.setRgvNo(1);
+ wrkMastSta.setStaStart(1035);
+ Short direction = 2;//鍙屽伐浣嶆渶缁堟姷杈句綅缃�
+ boolean sign = false;
+// sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,direction,); //鍛戒护涓嬪彂
+ if (sign){
+ wrkMastSta.setWrkSts(1);
+ try{
+ 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");
+ }
+// rgvThread.setPakOut(false);//鍑哄簱涓嶅厑璁�
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+ if (!signMap){
+ log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+ }
+ } else {
+ log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+ }
+ }
+ /**
+ * 灏忚溅鍏ュ簱浠诲姟鍙栬揣涓嬪彂
+ */
+ 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) {
+ 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;
+ }
+ 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;
+ } 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" + " - 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.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0
+ && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
+ flag = true;
+ }
+ if (!flag) {
+ News.errorNoLog("" + mark + " - 1" + " - 3" + " - Rgv鍏ュ簱鍙栬揣绔欎俊鎭�(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() + "鑳藉叆淇″彿锛坵ms璁剧疆锛�.equals(\"Y\")" + staDetl.getCanining());
+ 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.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;
+ }
+ WrkMastSta wrkMastSta2 = null;
+ if(rgvProtocol.getTaskNo2() != null){
+ wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2());
+ }
+ boolean result = false;
+ if(wrkMastSta2 != 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(),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
+ basRgv.setPakRgv("0");
+ basRgvService.updateById(basRgv);
+
+// rgvThread.setPakRgv(false);
+ continue;
+ }
+ wrkMastSta.setWorkSta(wrkMastSta2 !=null ? 1 : 2);
+ wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
+ 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);
+
+ 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);
+ 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());
+ }
+
+
+ }
+ }
+ /**
+ * 灏忚溅鍑哄簱浠诲姟鍙栬揣涓嬪彂
+ */
+ public synchronized void rgvRunWrkMastOut(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());
+ 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) {
+ 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;
+ }
+ wrkMastSta3 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
+
+ }
+ 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.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;
+ }
+ 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
+ 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�
+ wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
+ boolean sign = false;
+ sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+ if (sign){
+ if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
+ basRgv.setPakToCrn("0");
+ basRgvService.updateById(basRgv);
+
+// rgvThread.setPakToCrn(false); //閿佸畾灏忚溅鍙兘鎺ユ帴椹充换鍔�
+ }
+ 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);
+ 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());
+ }
+
+
+ }
+ }
+
+ /**
+ * 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());
+// }
+//
+//
+// }
+// }
/**
* 鎵ц灏忚溅鎼繍浠诲姟
*
* @return
*/
- public synchronized boolean rgvRunWrkMastFullSta() {
- boolean wrkEnable = false;
- try{
- List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
- for (BasRgvMap rgvSlave:basRgvMaps) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- continue;
- }else {
- rgvProtocol = rgvProtocol.clone();
- }
- BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
- if (basRgv == null) {
- log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgvSlave.getRgvNo());
- continue;
- }
-
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鍏ュ簱鍙栬揣
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && !rgvProtocol.isLoaded1ing()
- && rgvProtocol.getTaskNo1() == 0
- && rgvThread.isPakMk()
- && rgvThread.isPakIn()
- ) {
- 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;
- }
- 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);
- for (WrkMastSta wrkMastSta : wrkMastStaList){
- List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//鍏ュ簱鍙�
- if (!staNos.contains(wrkMastSta.getStaStart())) {
- continue;
- }
- boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
- wrkEnable = true;
- if (sign){
- wrkMastSta.setWrkSts(1);
- try{
- 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");
- }
- rgvThread.setPakMk(false);
- rgvThread.setPakOut(false);
- boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
- if (signMap){
- return wrkEnable;
-// break;
- }else {
- log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
- Thread.sleep(500);
- }
- } else {
- log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
- Thread.sleep(500);
- }
- break;
- }
- }
-
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鍑哄簱鍙栬揣
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && !rgvProtocol.isLoaded2ing()
- && rgvProtocol.getTaskNo2() == 0
- && rgvThread.isPakMk()
- && rgvThread.isPakOut()
- ){
- 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;
- }
- 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);
- for (WrkMastSta wrkMastSta : wrkMastStaList){
- List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//鍏ュ簱鍙�
- if (staNos.contains(wrkMastSta.getStaStart())) {
- continue;
- }
- boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
- wrkEnable = true;
- if (sign){
- wrkMastSta.setWrkSts(1);
- try{
- 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");
- }
- rgvThread.setPakMk(false);
- rgvThread.setPakOut(false);
- boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
- if (signMap){
- return wrkEnable;
-// break;
- }else {
- log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
- Thread.sleep(500);
- }
- } else {
- log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
- Thread.sleep(500);
- }
- break;
- }
-
- }
-
- }
- }catch (Exception e){
- log.error("鎵ц灏忚溅鎼繍浠诲姟涓嬪彂澶辫触");
- }
- return wrkEnable;
- }
- /**
- * 灏忚溅棰勮皟搴�
- */
- public synchronized void rgvPreScheduling(){
- try{
- List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
- for (BasRgvMap rgvSlave:basRgvMaps) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- continue;
- }else {
- rgvProtocol = rgvProtocol.clone();
- }
- BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
- if (basRgv == null) {
- log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgvSlave.getRgvNo());
- continue;
- }
-
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鎵嶈繘琛岄璋冨害
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && !rgvProtocol.isLoaded1ing()
- && rgvProtocol.getTaskNo1() == 0
- && !rgvProtocol.isLoaded2ing()
- && rgvProtocol.getTaskNo2() == 0
- && rgvThread.isPakMk()
- ) {
- 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;
- }
- 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�
- // 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(1042, 1043, 1105, 1104);
- for (Integer staNo : staNos) {
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if(staProtocol.isLoading()){
- 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.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setEndStaNo1(0); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
- if(staNo == 1042 || staNo ==1043){
- rgvCommand.setTargetPosition1(1042); //宸ヤ綅1鐩爣绔欑偣
- }else{
- rgvCommand.setTargetPosition1(1105); //宸ヤ綅1鐩爣绔欑偣
- }
- rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Rgv, (int) rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", (int) rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
- }
- }
- }
-
- }
-
- }
- }
- }catch (Exception e){
- log.error("鎵ц灏忚溅绉诲姩涓嬪彂澶辫触");
- }
- }
- /**
- * 鎵ц灏忚溅鎼繍浠诲姟
- */
-// public synchronized void rgvRunWrkMastEmptyStaPut() {//鏀�
+// public synchronized boolean rgvRunWrkMastFullSta() {
+// boolean wrkEnable = false;
// try{
-// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
-// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
-// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
-// if (rgvProtocol == null) {
-// continue;
-// }
-// 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�5", rgvSlave.getId());
-// continue;
-// }
-//
-// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤
-// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
-// && rgvProtocol.getModeType() == RgvModeType.AUTO
-// && rgvProtocol.getLoaded1()==1 //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
-// ) {
-// 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;
-// }
-// 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
-// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//鏌ヨ鍙墽琛屼换鍔�
-// for (WrkMastSta wrkMastSta : wrkMastStaList){
-// if (wrkMastSta.getType()!=2 || (wrkMastSta.getWrkType()!=2 && wrkMastSta.getWrkType()!=4)){// 2:绌烘澘 2:鏀� 4锛氭媶鐩�
-// continue;
-// }
-// boolean sign = false;
-// if (wrkMastSta.getStaStart()==0 && wrkMastSta.getStaEnd()!=0){//鏀�
-// sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
-// }else {
-// continue;
-// }
-// if (sign){
-// boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
-// if (signMap){
-// wrkMastSta.setWrkSts(2);
-// try{
-// wrkMastStaMapper.updateById(wrkMastSta);
-// }catch (Exception e){
-// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
-// }
-// return;
-// }else {
-// log.error("3857琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
-// }
-// }else {
-// log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
-// }
-// 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);
-// }
-// }
-
-// public synchronized void rgvRunWrkMastEmptyStaTake() {//鍙�
-// try{
-// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
-// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
-// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
-// if (rgvProtocol == null) {
-// continue;
-// }
-// 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�6", rgvSlave.getId());
-// continue;
-// }
-//
-// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾棤鐗�//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
-// ) {
-// 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;
-// }
-// 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);
-// for (WrkMastSta wrkMastSta : wrkMastStaList){
-// if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:绌烘澘 1:鍙�
-// continue;
-// }
-// boolean sign = false;
-// if (wrkMastSta.getStaEnd()==0 && wrkMastSta.getStaStart()!=0){//鍙�
-// sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);
-// } else {
-// continue;
-// }
-// if (sign){
-// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
-// if (signMap){
-// wrkMastSta.setWrkSts(1);
-// try{
-// wrkMastStaMapper.updateById(wrkMastSta);
-// }catch (Exception e){
-// log.error("鏇存柊灏忚溅浠诲姟澶辫触");
-// }
-// return;
-// }else {
-// log.error("3879琛岋紝璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
-// }
-// }else {
-// log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
-// }
-// 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);
-// }
-// }
-
- /*
- * 鏈変换鍔′絾鏈墽琛� 姝ゆ椂闇�瑕佽皟鏁村皬杞︿綅缃�
- * */
-// public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
-// try{
-// Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//鏌ヨ鐘舵�佷负0鐨勪换鍔�
-// if (integer==0){
-// return;
-// }
// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
// for (BasRgvMap rgvSlave:basRgvMaps) {
// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
@@ -3243,90 +3736,190 @@
// }
// BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
// if (basRgv == null) {
-// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�1", rgvSlave.getRgvNo());
+// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgvSlave.getRgvNo());
// continue;
// }
//
-// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鍏ュ簱鍙栬揣
// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
// && rgvProtocol.getModeType() == RgvModeType.AUTO
-// && !rgvProtocol.isLoaded1ing() //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.getStatusType1() == RgvStatusType.IDLE
+// && !rgvProtocol.isLoaded1ing()
+// && rgvProtocol.getTaskNo1() == 0
// && rgvThread.isPakMk()
-//// && rgvProtocol.getTaskNo2()==0
-// ){
+// && rgvThread.isPakIn()
+// ) {
// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
-// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
+// 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;
// }
-//// if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
-//// continue;
-//// } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157) ){
-//// continue;
-//// }
-// rgvAvoidanceXY((int) rgvProtocol.getRgvNo());
-// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2727");
+// 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);
+// for (WrkMastSta wrkMastSta : wrkMastStaList){
+// List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//鍏ュ簱鍙�
+// if (!staNos.contains(wrkMastSta.getStaStart())) {
+// continue;
+// }
+// boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
+// wrkEnable = true;
+// if (sign){
+// wrkMastSta.setWrkSts(1);
+// try{
+// 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");
+// }
+// rgvThread.setPakMk(false);
+// rgvThread.setPakOut(false);
+// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+// if (signMap){
+// return wrkEnable;
+//// break;
+// }else {
+// log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+// Thread.sleep(500);
+// }
+// } else {
+// log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+// Thread.sleep(500);
+// }
+// break;
+// }
+// }
+//
+// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鍑哄簱鍙栬揣
+// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// && !rgvProtocol.isLoaded2ing()
+// && rgvProtocol.getTaskNo2() == 0
+// && rgvThread.isPakMk()
+// && rgvThread.isPakOut()
+// ){
+// 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;
+// }
+// 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);
+// for (WrkMastSta wrkMastSta : wrkMastStaList){
+// List<Integer> staNos = Arrays.asList(1042, 1105, 1038, 1036, 2037);//鍏ュ簱鍙�
+// if (staNos.contains(wrkMastSta.getStaStart())) {//闈炲叆搴撳彛锛堝嚭搴撳彛锛夐檺鍒�
+// continue;
+// }
+// boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta,null); //鍛戒护涓嬪彂
+// wrkEnable = true;
+// if (sign){
+// wrkMastSta.setWrkSts(1);
+// try{
+// 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");
+// }
+// rgvThread.setPakMk(false);
+// rgvThread.setPakOut(false);
+// boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
+// if (signMap){
+// return wrkEnable;
+//// break;
+// }else {
+// log.error("璐х墿鎼繍浠诲姟锛氬伐浣滃彿{}鎵�灞炰换鍔′笅鍙戝悗鍦板浘鍚屾澶辫触",wrkMastSta.getWrkNo());
+// Thread.sleep(500);
+// }
+// } else {
+// log.error("宸ヤ綔鍙穥}鎵�灞炰换鍔′笅鍙戝け璐�",wrkMastSta.getWrkNo());
+// Thread.sleep(500);
+// }
+// break;
+// }
+//
+// }
+//
+// }
+// }catch (Exception e){
+// log.error("鎵ц灏忚溅鎼繍浠诲姟涓嬪彂澶辫触");
+// }
+// return wrkEnable;
+// }
+ /**
+ * 灏忚溅棰勮皟搴�
+ */
+// public synchronized void rgvPreScheduling(){
+// try{
+// List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
+// for (BasRgvMap rgvSlave:basRgvMaps) {
+// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getRgvNo());
+// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+// if (rgvProtocol == null) {
+// continue;
+// }else {
+// rgvProtocol = rgvProtocol.clone();
+// }
+// BasRgv basRgv = basRgvService.selectById(rgvSlave.getRgvNo());
+// if (basRgv == null) {
+// log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�4", rgvSlave.getRgvNo());
+// continue;
+// }
+//
+// // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤 鎵嶈繘琛岄璋冨害
+// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+// && rgvProtocol.getModeType() == RgvModeType.AUTO
+// && !rgvProtocol.isLoaded1ing()
+// && rgvProtocol.getTaskNo1() == 0
+// && !rgvProtocol.isLoaded2ing()
+// && rgvProtocol.getTaskNo2() == 0
+// && rgvThread.isPakMk()
+// ) {
+// 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;
+// }
+// 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�
+// // 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, 1029, 1022, 1019, 1008, 1005);
+// for (Integer staNo : staNos) {
+// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+// StaProtocol staProtocol = devpThread.getStation().get(staNo);
+// if(staProtocol.isLoading()){
+// 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.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
+// switch (staNo){
+// case 1043: rgvCommand.setTargetPosition1(1042);break; //宸ヤ綅1鐩爣绔欑偣
+// case 1104: rgvCommand.setTargetPosition1(1105);break;
+// case 1037: rgvCommand.setTargetPosition1(1036);break;
+//
+// }
+// if(Objects.equals(basRgvMap.getNowRoute(), staNo)){
+// continue;
+// }
+// rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
+// if (!MessageQueue.offer(SlaveType.Rgv, (int) rgvProtocol.getRgvNo(), new Task(4, rgvCommand))) {
+// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", (int) rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+// }
+// }
+// }
+//
+// }
+//
// }
// }
// }catch (Exception e){
-// log.error("4109琛屾墽琛屽皬杞﹀垵濮嬪寲浠诲姟涓嬪彂澶辫触");
-// log.error("4109琛�"+e);
+// log.error("鎵ц灏忚溅绉诲姩涓嬪彂澶辫触");
// }
// }
- /*
- * 灏忚溅XY绉诲姩 閬胯
- * */
-// public synchronized boolean rgvAvoidanceXY(Integer rgvId){
-// BasRgvMap basRgvMap = basRgvMapService.selectByRgvNo(rgvId);
-// if (basRgvMap.getStartRoute() == 100 || basRgvMap.getStartRoute() == 101){
-// try{
-//
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
-// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
-// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
-// //basRgvMap.getLockStartRoute().shortValue()
-// rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
-// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
-// 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;
-// }
-// }catch (Exception e){
-// return false;
-//
-// }
-// }else {
-// try{
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
-// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1((short)32222); // 宸ヤ綅1宸ヤ綔鍙�
-// rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 宸ヤ綅1浠诲姟妯″紡: 鍥炲師鐐�
-// //basRgvMap.getLockStartRoute().shortValue()
-// rgvCommand.setSourceStaNo1(basRgvMap.getStartRoute().shortValue());
-// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔� step=9锛屽洖鍘熺偣 9999浠诲姟鍙�
-// 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;
-// }
-// }catch (Exception e){
-// return false;
-//
-// }
-// }
-// }
/*
@@ -3334,187 +3927,66 @@
* */
public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
try{
- int startSta = wrkMastSta.getStaStart();
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
- boolean pakIn1 = true;
- boolean pakIn2 = true;
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
- if(wrkMastSta.getWrkSts() == 1){//鍙栬揣
- if((startSta >= 1001 && startSta <= 1035) || (startSta >= 2001 && startSta <= 2030)){//鍑哄簱RGV鍙栬揣
- rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
- rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
- rgvCommand.setTargetPosition2(wrkMastSta.getStaStart()); //宸ヤ綅2鐩爣绔欑偣
- rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
- pakIn1 = false;
- }else{ //鍏ュ簱RGV鍙栬揣
- rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
- rgvCommand.setTargetPosition1(wrkMastSta.getStaStart()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
- }
- if(!pakIn1){
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- 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;
- }
- }else{
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- 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;
- }
- }
+ RgvTaskStatusType type;
+ Integer targetPosition = 0;
+ if(wrkMastSta.getWrkSts() == 0){
+ type = RgvTaskStatusType.FETCH; //鍙栬揣
+ targetPosition = wrkMastSta.getStaStart();
+ }else{
+ type = RgvTaskStatusType.PUT; //鏀捐揣
+ targetPosition = wrkMastSta.getStaEnd();
}
- if(wrkMastSta.getWrkSts() == 2) {//鏀捐揣
- if((startSta >= 1001 && startSta <= 1035) || (startSta >= 2001 && startSta <= 2030)){//鍑哄簱RGV鍙栬揣
- rgvCommand.setAckFinish2(false); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo2(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅2宸ヤ綔鍙�
- rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setEndStaNo2(wrkMastSta.getWrkEnd()); //宸ヤ綅2 鏀捐揣鍚庤鍘荤殑浣嶇疆
- rgvCommand.setTargetPosition2(wrkMastSta.getStaEnd()); //宸ヤ綅2鐩爣绔欑偣
- rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
- pakIn2 = false;
- }else{ //鍏ュ簱RGV鍙栬揣
- rgvCommand.setAckFinish1(false); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setEndStaNo1(wrkMastSta.getWrkEnd()); //宸ヤ綅1 鏀捐揣鍚庤鍘荤殑浣嶇疆
- rgvCommand.setTargetPosition1(wrkMastSta.getStaEnd()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setCommand(true); //宸ヤ綅1浠诲姟纭
- }
- if(!pakIn2){
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- 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;
- }
- }else{
- if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
- 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;
- }
- }
+ rgvCommand.setTaskNo(Math.toIntExact(wrkMastSta.getWrkNo())); // 宸ヤ綅宸ヤ綔鍙�
+ rgvCommand.setTaskStatus(type); // 宸ヤ綅浠诲姟妯″紡: 鍙栬揣
+ rgvCommand.setTargetPosition(targetPosition); //宸ヤ綅鐩爣绔欑偣
+ rgvCommand.setWrkTaskPri(wrkMastSta.getWorkSta());
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(2, rgvCommand))) {
+ //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
+ 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;
}
- return true;
+
}catch (Exception e){
return false;
}
}
- /*
- * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
- * */
-// public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
-// try{
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
-// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
-// rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 宸ヤ綅1浠诲姟妯″紡: 鍙栬揣
-// rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅1璧风偣
-// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
-// 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;
-// }
-// }catch (Exception e){
-// return false;
-// }
-// }
+ /**
+ * 鍙栨斁鍙栬矾寰勮绠�
+ */
+ public synchronized boolean rgvCalcDistance(Integer rgvNo, Integer outStn, Integer inStn){
+ try {
+ // 灏忚溅褰撳墠浣嶇疆
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvNo);
+ Integer currPos = basRgvMap.getNowRoute(); // 鎴栬�呯敤 rgvProtocol.getRgvPosI()
- /*
- * 灏忚溅鏀捐揣鑷宠緭閫佺嚎浠诲姟
- * */
-// public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
-// try{
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
-// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
-// rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 宸ヤ綅1浠诲姟妯″紡: 鏀捐揣
-// rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅1鐩爣绔欑偣
-// rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
-// 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;
-// }
-// }catch (Exception e){
-// return false;
-// }
-// }
+ if(currPos == null || outStn == null || inStn == null){
+ return false; // 鏃犳晥鏁版嵁鐩存帴鏀惧純
+ }
- /*
- * 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟
- * */
-// public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
-// try{
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
-// rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
-// rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 宸ヤ綅2浠诲姟妯″紡: 鍙栬揣
-// rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅2璧风偣
-// rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
-// 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;
-// }
-// }catch (Exception e){
-// return false;
-// }
-// }
+ // 璁＄畻涓ゆ璺濈
+ List<Integer> routeToOut = RouteUtils.getRouteDis(currPos, outStn);
+ List<Integer> routeToIn = RouteUtils.getRouteDis(currPos, inStn);
- /*
- * 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟
- * */
-// public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
-// try{
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
-// rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
-// rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 宸ヤ綅2浠诲姟妯″紡: 鏀捐揣
-// rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //宸ヤ綅2鐩爣绔欑偣
-// rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(5, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2鍐欎换鍔★紱 step=4锛屽伐浣�1鍐欎换鍔★紱 step=5锛屽伐浣�2鍐欎换鍔�
-// 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;
-// }
-// }catch (Exception e){
-// return false;
-// }
-// }
+ int distOut = (routeToOut != null) ? routeToOut.size() : Integer.MAX_VALUE;
+ int distIn = (routeToIn != null) ? routeToIn.size() : Integer.MAX_VALUE;
+
+ // 璋冭瘯鏃ュ織
+ log.info("RGV璺濈璁＄畻: currPos={}, outStn={}, distOut={}, inStn={}, distIn={}",
+ currPos, outStn, distOut, inStn, distIn);
+
+ return distOut < distIn; // 鏀捐揣鐐规洿杩� 鈫� true
+ } catch (Exception e) {
+ log.error("RGV璺緞璺濈璁＄畻寮傚父", e);
+ return false;
+ }
+ }
/*
* 灏忚溅澶嶄綅
@@ -3536,4 +4008,213 @@
}
}
+
+
+ /*
+ * arm浠诲姟瀹屾垚鑷姩缁勬墭
+ * */
+ public synchronized void armMissionAccomplished() {
+ try{
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta armSta : devp.getArmSta()) {
+
+ // 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 = 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;
+ }
+
+ List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>()
+ .eq("arm_no", armSta.getArmNo())
+ .eq("sta_no_sou", armSta.getStaNo())
+ .eq("status", 1));
+ for (BasArm basArm : basArmList) {
+ if (basArm.getStatus()!=1){
+ continue;
+ }
+ try{
+ List<BasArmMast> basArmMastList = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 3)
+ );
+ if (basArmMastList.isEmpty()){
+ continue;
+ }
+ CombParam combParam = new CombParam(basArmMastList);
+ combParam.setBarcode(barcode);
+ //arm浠诲姟瀹屾垚鑷姩缁勬墭
+ ReturnT<String> result = new PostMesDataUtils().postMesData("arm浠诲姟瀹屾垚鑷姩缁勬墭",wmsUrl, wmsComb, combParam);
+ if (result.getCode()==200){
+ basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLineSou(),3,4);
+ } else {
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愶細"+JSON.toJSON(basArmMastList)+"===銆嬭嚜鍔ㄧ粍鎵樺け璐ワ紝绛夊緟閲嶈瘯");
+ }
+ } catch (Exception e){
+ log.error("arm缂栧彿锛�"+basArm.getArmNo()+"====銆嬫満姊拌噦鎶撳彇浠诲姟瀹屾垚"+e.getMessage());
+ }
+ break;
+ }
+ }
+ }
+ } catch (Exception e){
+ log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愮粍鎵樺け璐�"+e.getMessage());
+ }
+ }
+ public synchronized void armMissionAccomplishedScanToCheckIn() {
+ try{
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta armSta : devp.getArmSta()) {
+
+ List<BasArmMast> basArmMastList = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", armSta.getArmNo())
+ .eq("sta_no", armSta.getStaNo())
+ .eq("status", 4)
+ );
+
+ if (basArmMastList.isEmpty()){
+ continue;
+ }
+ // 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();
+ }
+
+// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
+// int workNo = commonService.getWorkNo(6);//寰呭畬鍠�
+// // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+// staProtocol.setWorkNo(workNo);
+// staProtocol.setStaNo(armSta.getStaNoEnd().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// log.error("杈撻�佺嚎涓嬪彂5锛�"+workNo+","+armSta.getStaNoEnd());
+// if (!result) {
+// News.error(""+" - 3"+" - 鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+// }
+ basArmMastService.updateArmMastStatus(basArmMastList.get(0).getArmNo(),basArmMastList.get(0).getSortingLine(),4,5);
+// }
+ }
+ }
+ } catch (Exception e){
+ log.error("缁勬墭瀹屾垚椹卞姩鎵樼洏鎵爜鍏ュ簱澶辫触"+e.getMessage());
+ }
+ }
+
+ /*
+ * arm浠诲姟涓嬪彂
+ * */
+ public synchronized void armTaskAssignment() {
+ try{
+ List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<>());
+ for (BasArm basArm : basArmList) {
+ if (basArm.getStatus()!=1){
+ continue;
+ }
+ try{
+ List<BasArmMast> basArmMastListError = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 9)
+ );
+ if (!basArmMastListError.isEmpty()){
+ log.error(basArm.getArmNo()+"鍙锋満姊拌噦瀛樺湪寮傚父鏁版嵁闇�瑕佺淮鎶わ紒锛侊紒");
+ continue;
+ }
+ List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 1)
+ );
+ List<BasArmMast> basArmMastListRuning3 = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 3)
+ );
+ if (basArmMastListRuning.isEmpty() && basArmMastListRuning3.isEmpty()){
+ List<BasArmMast> basArmMastList = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("status", 0)
+ );
+ if (basArmMastList.isEmpty()){
+ continue;
+ }
+ if (basArmMastList.size()>1){
+ log.error("arm缂栧彿锛�"+basArm.getArmNo()+"====銆嬫媶鐮佸灈浠诲姟寮傚父绂佹涓嬪彂锛侊紒锛佷换鍔″緟鎵ц鏁伴噺澶т簬1锛侊紒锛�");
+ continue;
+ }
+ BasArmMast basArmMast = basArmMastList.get(0);
+ List<BasArmMast> basArmMastListOrder = basArmMastService.selectList(
+ new EntityWrapper<BasArmMast>()
+ .eq("arm_no", basArm.getArmNo())
+ .eq("sorting_line", basArm.getSortingLineSou())
+ .eq("sku", basArmMast.getSku())
+ .eq("order_no", basArmMast.getOrderNo())
+ );
+ if (basArmMastListOrder.size()==1){
+ OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getSku());
+
+ if (Cools.isEmpty(orderDetlValueResultUtil)){
+ continue;
+ }
+ //璁㈠崟涓嬪彂
+ try{
+ ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
+// 璁㈠崟涓嬪彂(SKU+璁㈠崟)
+ ReturnT<String> result = new PostMesDataUtils().postMesData("鏈烘鑷傛姄鍙栬鍗曪紙SKU锛変笅鍙戯細",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_ADAPTOR, armOrderAssignmentParam);
+ if (result.getCode()==200){
+ basArmMast.setStatus(1);
+ basArmMastService.updateById(basArmMast);
+ } else {
+ log.error("鏈烘鑷傛姄鍙栬鍗曪紙SKU锛変笅鍙戯細"+JSON.toJSON(basArmMast)+"===銆嬭鍗曚俊鎭笅鍙戝け璐�");
+ }
+ } catch (Exception e){
+ log.error("鏈烘鑷傛姄鍙栬鍗曪紙SKU锛変笅鍙戯細"+JSON.toJSON(basArmMast)+"===銆嬭鍗曚笅鍙戣鍗曚俊鎭笅鍙戝け璐�");
+ continue;
+ }
+ }
+ ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArm.getSortingLine());
+ //璁剧疆宸ヤ綔绌洪棿灏辩华
+ ReturnT<String> result = new PostMesDataUtils().postMesData("鏈烘鑷傛姄鍙栦换鍔′笅鍙戯細閫氱煡宸ヤ綔绌洪棿宸插氨缁�",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
+ if (result.getCode()==200){
+ basArmMast.setStatus(1);
+ basArmMastService.updateById(basArmMast);
+ } else {
+ log.error("鏈烘鑷傛姄鍙栦换鍔★細"+JSON.toJSON(basArmMast)+"===銆嬩换鍔′俊鎭笅鍙戝け璐�");
+ }
+ }
+ } catch (Exception e){
+ log.error("arm缂栧彿锛�"+basArm.getArmNo()+"====銆嬫媶鐮佸灈浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+ }catch (Exception e){
+ log.error("arm浠诲姟涓嬪彂澶辫触"+e.getMessage());
+ }
+ }
+
}
--
Gitblit v1.9.1