From feec6fc2a8d3c75c921b16774ffc1bf9d83a5b65 Mon Sep 17 00:00:00 2001
From: Administrator <335182714>
Date: 星期五, 31 十月 2025 09:53:00 +0800
Subject: [PATCH] 1
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 4195 ++++++++++++++++++++++++++++++++++-------------------------
1 files changed, 2,396 insertions(+), 1,799 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 ef77d64..3da64c9 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3,7 +3,6 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
-import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.exception.CoolException;
@@ -13,6 +12,7 @@
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
+import com.zy.common.constant.GhjtApiConstant;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.MatDto;
import com.zy.common.model.SearchLocParam;
@@ -21,7 +21,6 @@
import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.RedisUtil;
-import com.zy.common.utils.RgvUtils;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
@@ -39,14 +38,19 @@
import com.zy.core.thread.LedThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
+import com.zy.system.entity.Config;
+import com.zy.system.mapper.ConfigMapper;
import lombok.extern.slf4j.Slf4j;
+import org.apache.poi.ss.formula.functions.T;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
+import javax.annotation.Resource;
import java.util.*;
+import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
/**
@@ -98,6 +102,11 @@
private WrkMastStaMapper wrkMastStaMapper;
@Autowired
private BasRgvMapMapper basRgvMapMapper;
+ @Autowired
+ private RgvOneSignMapper rgvOneSignMapper;
+
+ @Resource
+ private ConfigMapper configMapper;
@Value("${wms.url}")
private String wmsUrl;
@@ -119,7 +128,7 @@
String barcode = barcodeThread.getBarcode();
if (!Cools.isEmpty(barcode)) {
- log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
+// log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
continue;
}
@@ -137,6 +146,47 @@
staProtocol = staProtocol.clone();
}
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "寮傚父锛�";
+ if (staProtocol.isFrontErr()) {
+ errMsg = errMsg + "鍓嶈秴闄愶紱";
+ back = true;
+ }
+ if (staProtocol.isBackErr()) {
+ errMsg = errMsg + "鍚庤秴闄�";
+ back = true;
+ }
+ if (staProtocol.isHighErr()) {
+ errMsg = errMsg + "楂樿秴闄�";
+ back = true;
+ }
+ if (staProtocol.isLeftErr()) {
+ errMsg = errMsg + "宸﹁秴闄�";
+ back = true;
+ }
+ if (staProtocol.isRightErr()) {
+ errMsg = errMsg + "鍙宠秴闄�";
+ back = true;
+ }
+ if (staProtocol.isWeightErr()) {
+ errMsg = errMsg + "瓒呴噸";
+ back = true;
+ }
+ if (staProtocol.isBarcodeErr()) {
+ errMsg = errMsg + "鎵爜澶辫触";
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ if (ledThread != null) {
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
+ }
+ continue;
+ }
+
// 鍏ュ嚭搴撴ā寮忓垽鏂�
// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
@@ -148,13 +198,13 @@
&& staProtocol.isLoading()
&& staProtocol.isInEnable()
&& !staProtocol.isEmptyMk()
- && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
+ && staProtocol.getWorkNo() == 0
&& staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {
// if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
// log.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
// //鏉＄爜涓虹┖鎴栬�呬笉绗﹀悎锛岄��搴撳埌172绔欑偣
-// staProtocol.setWorkNo((short)9999);
+// staProtocol.setWorkNo((short)32222);
// staProtocol.setStaNo((short)172);
// devpThread.setPakMk(staProtocol.getSiteId(), false);
// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -196,13 +246,16 @@
if (jsonObject.getInteger("code").equals(200)) {
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
- barcodeThread.setBarcode("");
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
- if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) {
- staProtocol.setStaNo(dto.getStaNo().shortValue());
+
+ barcodeThread.setBarcode("");
+ staProtocol.setWorkNo(dto.getWorkNo());
+
+ if (Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) {
+ staProtocol.setStaNo(dto.getStaNo());
} else {//濡傛灉瀛樺湪RGV缂栧彿锛岃鏄庨渶瑕丷GV鎺ラ┏锛屽厛涓嬪彂浠诲姟鍒癛GV婧愮珯
- staProtocol.setStaNo(dto.getRgvSstaNo().shortValue());
+ staProtocol.setStaNo(dto.getRgvSstaNo());
}
devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -228,6 +281,62 @@
}
/**
+ * 缁勬墭
+ * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿閫氱煡妗佹灦鐮佸灈
+ */
+ public synchronized void generateStoreWrkFileFull2LouM() {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鐮佸灈鍙�
+ for (DevpSlave.Sta driveSta : devp.getDriveSta()) {
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, driveSta.getBarcode());
+ if (barcodeThread == null) {
+ continue;
+ }
+ String barcode = barcodeThread.getBarcode();
+
+ if (!Cools.isEmpty(barcode) && !barcode.equals("") && !barcode.equals(" ")) {
+ if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+ continue;
+ }
+ } else {
+ continue;
+ }
+
+ // 鑾峰彇鐮佸灈鍙ｄ俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && staProtocol.isEmptyMk()
+ && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() > 9899 && staProtocol.getWorkNo() < 10000))
+ ) {
+ try {
+ BasDevp basDevp = basDevpService.selectById(driveSta.getStaNo());
+ if (basDevp.getReportSign() > 0) {
+ continue;
+ }
+ basDevp.setBarcode(barcode);
+ basDevp.setReportSign(1);
+ basDevpService.updateById(basDevp);
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ }
+ }
+ }
+
+ /**
* wms鍏ュ簱
* 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�� 1 ==>> 2
*/
@@ -235,7 +344,7 @@
// 鏍规嵁杈撻�佺嚎plc閬嶅巻
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鍏ュ簱鍙�
- for (DevpSlave.Sta inSta : devp.getInSta()) {
+ for (DevpSlave.Sta inSta : devp.getInWmsSta()) {
// 鑾峰彇鍏ュ簱绔欎俊鎭�
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
@@ -246,13 +355,13 @@
}
// // 鍏ュ嚭搴撴ā寮忓垽鏂�
- if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
- continue;
- }
+// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
+// continue;
+// }
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
+ && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
&& staProtocol.isPakMk()) {
// 鍒ゆ柇閲嶅宸ヤ綔妗�
WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
@@ -263,8 +372,12 @@
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ Integer staNo = wrkMast.getStaNo();
+ if (wrkMast.getSourceStaNo() == 145) {
+ staNo = 147;
+ }
+ staProtocol.setStaNo(staNo);
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
if (result) {
@@ -322,7 +435,7 @@
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
- WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(), "7");
if (wrkMast == null) {
// 鏃犳嫞鏂欐暟鎹�
continue;
@@ -332,79 +445,491 @@
continue;
}
- // 鎷ｃ�佺洏銆佸苟 浣滀笟绔欒浆鎹�
-// int stnNo = 0;
-// if (wrkMast.getStaNo() == 109) {
-// stnNo = 127;
-// } else if (wrkMast.getStaNo() == 113) {
-// stnNo = 128;
-// } else {
-// log.error("{}鍙蜂换鍔℃暟鎹紓甯革紒", wrkMast.getWrkNo());
-// }
- // 鑾峰彇鐩爣绔�
- Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
- .eq("type_no", wrkMast.getIoType() - 50)
- .eq("stn_no", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
- .eq("crn_no", wrkMast.getCrnNo()); // 鍫嗗灈鏈哄彿
- StaDesc staDesc = staDescService.selectOne(wrapper);
- if (Cools.isEmpty(staDesc)) {
- log.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
- continue;
- }
-
+ // 鑾峰彇搴撲綅鍙�
try {
- // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
- if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(wrkMast.getBarcode());
+ param.setIoType(wrkMast.getIoType());
+ param.setSourceStaNo(pickSta.getStaNo()); //浣滀笟绔欑偣
+ param.setLocType1((short) 1);
+ String response = "";
+ log.info("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ try {
+ response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin2/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .setTimeout(15, TimeUnit.SECONDS)
+ .build()
+ .doPost();
+ } catch (Exception e) {
+ log.error("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ log.error("stnToCrnStnPick2===>>鐩樼偣鏌ュ簱浣嶅叆搴撴帴鍙ｅけ璐�", e);
+ e.printStackTrace();
+ continue;
}
- // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
- if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
+ log.info("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ log.info("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "涓嬪彂鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS杩斿洖缁撴灉===>>" + response);
+ if (response.equals("")) {
+ continue;
}
-
- Date now = new Date();
- // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
- Integer staNo = staDesc.getCrnStn();
- // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
- wrkMast.setIoTime(now);
- wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
- wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 婧愮珯
- wrkMast.setStaNo(staNo); // 鐩爣绔�
- wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
- wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
- }
- // 鏇存柊鏄庣粏妗o_time (鍘嗗彶妗ｅ叧鑱斾娇鐢級
- wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
- // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
- LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
- locMast.setLocSts("Q");
- locMast.setModiTime(new Date());
- if (!locMastService.updateById(locMast)) {
- throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
+ JSONObject jsonObject = JSON.parseObject(response);
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+ Integer code = jsonObject.getInteger("code");
+ if (code == 200) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+ if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
+ log.error("浠诲姟鍙�" + wrkMast.getWrkNo() + "鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶅け璐�===>>" + jsonObject.toJSONString());
+ } else {
+ log.info("浠诲姟鍙�" + wrkMast.getWrkNo() + "鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶆垚鍔�===>>" + jsonObject.toJSONString());
+ try {
+ // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(dto.getStaNo());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+// ledThread.errorReset();
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ if (!result) {
+ log.error("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());
+ }
+ log.info("浠诲姟鍙�" + wrkMast.getWrkNo() + "鐩樼偣/鎷ｆ枡鍐嶅叆搴撲换鍔′笅鍙戞垚鍔�===>>" + staProtocol);
+ } catch (Exception e) {
+ log.error("鐩樼偣鍐嶅叆搴撳け璐�===>>" + e);
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ } else {
+ log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
}
} catch (Exception e) {
+ log.error("stnToCrnStnPick2===>>fail", e);
e.printStackTrace();
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- continue;
- }
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- log.error("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());
}
}
}
+ }
+ }
+
+ /**
+ * 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱 鎷嗗灈浣嶇疆
+ */
+ public synchronized void stnToCrnStnPick2() {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta pickSta : devp.getPickSta2()) {
+
+ // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
+ if (Cools.isEmpty(basDevp) || basDevp.getReportSign() != 1) {
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo() == 0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(), "3");
+
+ if (wrkMast == null) {
+ continue;
+ }
+ if (staProtocol.isEmptyMk()) {
+ log.error("绔欑偣鍙�" + staProtocol.getSiteId() + "绌烘澘淇″彿寮傚父锛�");
+ continue;
+ }
+ if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
+ || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
+ continue;
+ }
+
+ String barcode = wrkMast.getBarcode();
+ if (!Cools.isEmpty(barcode)) {
+ if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
+ continue;
+ }
+ } else {
+ continue;
+ }
+
+ // 鑾峰彇搴撲綅鍙�
+ try {
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(barcode);
+ param.setIoType(wrkMast.getIoType());
+ param.setSourceStaNo(pickSta.getStaNo()); //浣滀笟绔欑偣
+ param.setLocType1((short) 1);
+ String response = "";
+ log.info("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ try {
+ response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin2/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .setTimeout(15, TimeUnit.SECONDS)
+ .build()
+ .doPost();
+ } catch (Exception e) {
+ log.error("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ log.error("stnToCrnStnPick2===>>鐩樼偣鏌ュ簱浣嶅叆搴撴帴鍙ｅけ璐�", e);
+ e.printStackTrace();
+ continue;
+ }
+ log.info("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS===>>鍙傛暟锛�" + param);
+ log.info("鍏ュ簱浣滀笟绔�" + pickSta.getStaNo() + "涓嬪彂鐩樼偣鍐嶅叆搴撲换鍔¤姹俉MS杩斿洖缁撴灉===>>" + response);
+ if (response.equals("")) {
+ continue;
+ }
+ JSONObject jsonObject = JSON.parseObject(response);
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+ Integer code = jsonObject.getInteger("code");
+ if (code == 200) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+ if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
+ log.error("浠诲姟鍙�" + wrkMast.getWrkNo() + "鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶅け璐�===>>" + jsonObject.toJSONString());
+ } else {
+ log.info("浠诲姟鍙�" + wrkMast.getWrkNo() + "鐩樼偣鍐嶅叆搴撴煡璇㈠簱浣嶆垚鍔�===>>" + jsonObject.toJSONString());
+ try {
+ // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(dto.getStaNo());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+// ledThread.errorReset();
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ if (!result) {
+ log.error("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());
+ }
+ log.info("浠诲姟鍙�" + wrkMast.getWrkNo() + "鐩樼偣/鎷ｆ枡鍐嶅叆搴撲换鍔′笅鍙戞垚鍔�===>>" + staProtocol);
+ } catch (Exception e) {
+ log.error("鐩樼偣鍐嶅叆搴撳け璐�===>>" + e);
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ } else {
+ log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
+ }
+ } catch (Exception e) {
+ log.error("stnToCrnStnPick2===>>fail", e);
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+
+// // 鑾峰彇鐩爣绔�
+// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
+// .eq("type_no", wrkMast.getIoType() - 50)
+// .eq("stn_no", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
+// .eq("crn_no", wrkMast.getCrnNo()); // 鍫嗗灈鏈哄彿
+// StaDesc staDesc = staDescService.selectOne(wrapper);
+// if (Cools.isEmpty(staDesc)) {
+// log.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
+// continue;
+// }
+//
+// try {
+// // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
+// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
+// throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
+// }
+// // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
+// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
+// throw new CoolException("淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
+// }
+//
+// Date now = new Date();
+// // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
+// Integer staNo = staDesc.getCrnStn();
+// // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
+// wrkMast.setIoTime(now);
+// wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
+// wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
+// wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 婧愮珯
+// wrkMast.setStaNo(staNo); // 鐩爣绔�
+// wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
+// wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
+// wrkMast.setModiTime(now);
+// if (wrkMastMapper.updateById(wrkMast) == 0) {
+// throw new CoolException("鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
+// }
+// // 鏇存柊鏄庣粏妗o_time (鍘嗗彶妗ｅ叧鑱斾娇鐢級
+// wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
+// // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
+// LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
+// locMast.setLocSts("Q");
+// locMast.setModiTime(new Date());
+// if (!locMastService.updateById(locMast)) {
+// throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+// continue;
+// }
+//
+// // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+// staProtocol.setWorkNo(wrkMast.getWrkNo());
+// staProtocol.setStaNo(wrkMast.getStaNo());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// if (!result) {
+// log.error("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());
+// }
+
+ }
+
+ }
+
+ }
+ }
+
+ /**
+ * 2妤�212鍛煎彨绌烘澘
+ */
+ public synchronized void stnToCrnStnPick3Auto(Integer sign) {
+ try {
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+ StaProtocol staProtocol = devpThread.getStation().get(212);
+ if (staProtocol == null) {
+ return;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0) {
+ switch (sign) {
+ //鎵ц灏忚溅璐х墿鎼繍浠诲姟
+ case 1:
+ case 4:
+ stnToCrnStnPick3();
+ return;
+ //鎵ц灏忚溅绌烘澘鎼繍浠诲姟
+ case 2://鏀�//鎷嗙洏
+ case 5://鏀�//鎷嗙洏
+ stnToCrnStnPick4();
+ return;
+ default:
+ return;
+ }
+ } else if (staProtocol.isAutoing() && staProtocol.isLoading()) {
+ switch (sign) {
+ case 3://婊℃斁
+ case 6://婊℃斁
+ stnToCrnStnPick5();
+ return;
+ default:
+ return;
+ }
+ }
+ } catch (Exception e) {
+ log.error("2妤�212鍛煎彨绌烘澘" + e);
+ }
+ }
+
+ /**
+ * 2妤�212鍛煎彨绌烘澘
+ */
+ public synchronized void stnToCrnStnPick3() {
+ WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
+ if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts() != 61) {//61銆佺瓑寰呯┖鏉�
+ return;
+ }
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ for (DevpSlave.Sta driveSta : devp.getDriveSta()) {
+ if (driveSta.getStaNo() != 215) {
+ continue;
+ }
+ // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0
+ || (staProtocol.getWorkNo() > 9899 && staProtocol.getWorkNo() < 10000))) {
+ boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
+
+ staProtocol.setWorkNo(wrkMast.getWrkNo() - 1);
+ staProtocol.setStaNo(driveSta.getStaNo() == 215 ? 217 : 221);
+ boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ if (!result2) {
+ log.error("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());
+ }
+ wrkMast.setWrkSts(62L);
+ wrkMastMapper.updateById(wrkMast);
+
+ boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
+ return;
+ }
+ }
+ }
+ }
+
+ /**
+ * 2妤�212鍛煎彨绌烘澘
+ */
+ public synchronized void stnToCrnStnPick4() {
+ WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
+ if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts() != 62) {//62銆佺瓑寰呭皬杞︽惉杩�
+ return;
+ }
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ for (DevpSlave.Sta driveSta : devp.getInSta()) {
+ if (driveSta.getStaNo() != 217) {
+ continue;
+ }
+ // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ StaProtocol staProtocol212 = devpThread.getStation().get(212);
+ if (staProtocol212 == null) {
+ continue;
+ } else {
+ staProtocol212 = staProtocol212.clone();
+ }
+ if (staProtocol212.isAutoing() && !staProtocol212.isLoading() && staProtocol212.getWorkNo() == 0) {
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0
+ || (staProtocol.getWorkNo() > 9899 && staProtocol.getWorkNo() < 10000) || staProtocol.getWorkNo() == wrkMast.getWrkNo() - 1)) {
+// boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
+
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(212);
+ boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ if (!result2) {
+ log.error("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());
+ }
+ wrkMast.setWrkSts(63L);
+ wrkMastMapper.updateById(wrkMast);
+
+// boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
+ return;
+ }
+ }
+ }
+ }
+ }
+
+ /**
+ * 2妤�212鍛煎彨绌烘澘
+ */
+ public synchronized void stnToCrnStnPick5() {
+ WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
+ if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts() != 63) {//63銆佺瓑寰呭畬鎴�
+ return;
+ }
+
+ // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
+ StaProtocol staProtocol = devpThread.getStation().get(212);
+ if (staProtocol == null) {
+ return;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading()) {
+// boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocol));
+
+ wrkMast.setWrkSts(64L);
+ wrkMastMapper.updateById(wrkMast);
+
+// boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocol));
+ return;
+ }
+ }
+
+ /**
+ * 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱 鎷嗗灈浣嶇疆
+ */
+ public synchronized void storeEmptyPlt4() {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鍙犵洏鍏ュ簱鍙�
+ for (DevpSlave.Sta pickSta : devp.getEmptyInSta2()) {
+
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
+ if (Cools.isEmpty(basDevp) || basDevp.getReportSign() != 1) {
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo() == 0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(), "3");
+ if (wrkMast == null) {
+ WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(), "3");
+ if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()) {
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
+ if (Cools.isEmpty(wrkMastSta)) {
+ WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(), staProtocol.getSiteId());
+ wrkMastSta1.setType(2);
+ wrkMastSta1.setWrkType(1);
+ wrkMastStaMapper.insert(wrkMastSta1);
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+
+ /**
+ * 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
+ */
+ public synchronized void crnStnToOutStn1() {
+ for (CrnSlave crnSlave : slaveProperties.getCrn()) {
+ // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
+ for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
+ // 鏌ヨ宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(crnStn.getStaNo());
+ if (wrkMast == null) {
+ continue;
+ }
+ // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
+ if ((wrkMast.getIoType() < 100 && wrkMast.getIoType() != 12) || 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();
+ if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
+ // 绉诲姩涓�
+ continue;
+ }
+ // 鍒ゆ柇鍫嗗灈鏈虹姸鎬佺瓑寰呯‘璁�
+ if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
+ && crnProtocol.statusType == CrnStatusType.WAITING
+ && crnProtocol.forkPosType == CrnForkPosType.HOME) {
+
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14
+ wrkMast.setWrkSts(13L);
+ wrkMast.setCrnEndTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) != 0) {
+ // 澶嶄綅鍫嗗灈鏈�
+ crnThread.setResetFlag(true);
+ } else {
+ log.error("鏇存柊宸ヤ綔妗ｇ殑宸ヤ綔鐘舵�佷负14澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
+ }
+ }
+ }
}
}
@@ -448,8 +973,8 @@
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
// 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(), wrkMast.getSourceStaNo()));
if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
continue;
}
@@ -475,50 +1000,54 @@
* 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
*/
public synchronized void crnIoExecute() {
- for (CrnSlave crn : slaveProperties.getCrn()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) {
- continue;
- }
- BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
- if (basCrnp == null) {
- log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
- continue;
- }
+ try {
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ continue;
+ }
+ BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
+ if (basCrnp == null) {
+ log.error("{}鍙峰爢鍨涙満灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", crn.getId());
+ continue;
+ }
- // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE
- && crnProtocol.getTaskNo() == 0
- && crnProtocol.getModeType() == CrnModeType.AUTO
- && crnProtocol.getLoaded() == 0
- && crnProtocol.getForkPos() == 0) {
- // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
- if (crnProtocol.getLastIo().equals("I")) {
- if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc1(crn, crnProtocol); // 鍏ュ簱
- crnProtocol.setLastIo("O");
- } else if (basCrnp.getOutEnable().equals("Y")) {
- this.locToCrnStn1(crn, crnProtocol); // 鍑哄簱
- crnProtocol.setLastIo("I");
+ // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
+ if (crnProtocol.getStatusType() == CrnStatusType.IDLE
+ && crnProtocol.getTaskNo() == 0
+ && crnProtocol.getModeType() == CrnModeType.AUTO
+ && crnProtocol.getLoaded() == 0
+ && crnProtocol.getForkPos() == 0) {
+ // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
+ if (crnProtocol.getLastIo().equals("I")) {
+ if (basCrnp.getInEnable().equals("Y")) {
+ this.crnStnToLoc1(crn, crnProtocol); // 鍏ュ簱
+ crnProtocol.setLastIo("O");
+ } else if (basCrnp.getOutEnable().equals("Y")) {
+ this.locToCrnStn1(crn, crnProtocol); // 鍑哄簱
+ crnProtocol.setLastIo("I");
+ }
+ }
+ // 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
+ else if (crnProtocol.getLastIo().equals("O")) {
+ if (basCrnp.getOutEnable().equals("Y")) {
+ this.locToCrnStn1(crn, crnProtocol); // 鍑哄簱
+ crnProtocol.setLastIo("I");
+ } else if (basCrnp.getInEnable().equals("Y")) {
+ this.crnStnToLoc1(crn, crnProtocol); // 鍏ュ簱
+ crnProtocol.setLastIo("O");
+ }
}
}
- // 濡傛灉鏈�杩戜竴娆℃槸鍑哄簱妯″紡
- else if (crnProtocol.getLastIo().equals("O")) {
- if (basCrnp.getOutEnable().equals("Y")) {
- this.locToCrnStn1(crn, crnProtocol); // 鍑哄簱
- crnProtocol.setLastIo("I");
- } else if (basCrnp.getInEnable().equals("Y")) {
- this.crnStnToLoc1(crn, crnProtocol); // 鍏ュ簱
- crnProtocol.setLastIo("O");
- }
- }
- }
- // 搴撲綅绉昏浆
- this.locToLoc(crn, crnProtocol);
+ // 搴撲綅绉昏浆
+ this.locToLoc(crn, crnProtocol);
// this.crnRebackHp(crnProtocol, crnThread);
+ }
+ } catch (Exception e) {
+ log.error("鍫嗗灈鏈哄嚭鍏ュ簱涓嬪彂鎶ラ敊" + e);
}
}
@@ -526,661 +1055,65 @@
* 鎼滅储RGV杞︺�傞�氳繃鐩爣绔欐悳绱㈠摢鍙拌溅鍙敤
*/
public synchronized Integer searchRgvNo(Integer staNo) {
- BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp == null) {
- return null;//鐩爣绔欎笉瀛樺湪
- }
- //璺緞鍊�
- int path = basDevp.getLocType3().intValue();
-
- ArrayList<RgvThread> list = new ArrayList<>();
- 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 == null) {
-
- continue;
+ try {
+ BasDevp basDevp = basDevpService.selectById(staNo);
+ if (basDevp == null) {
+ return null;//鐩爣绔欎笉瀛樺湪
}
- 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�", rgv.getId());
- continue;
- }
+ //璺緞鍊�
+ int path = basDevp.getLocType3().intValue();
- list.add(rgvThread);
- }
+ ArrayList<RgvThread> list = new ArrayList<>();
+ 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 == null) {
- if (list.size() > 1) {
- //瓒呰繃涓ゅ彴杞︼紝鎸夌収閰嶇疆鐨勮鍒欒繘琛屽垎閰�
- for (RgvThread rgvThread : list) {
- //鑾峰彇杞﹁締閰嶇疆鐨勮矾寰勮鍒�
- BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(rgvThread.getSlave().getId());
- if (basRgvPath == null) {
continue;
}
- //鐩爣绔欐槸鍚﹀寘鍚綋鍓嶈矾寰勪腑
+ 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�", rgv.getId());
+ continue;
+ }
+
+ list.add(rgvThread);
+ }
+
+ if (list.size() > 1) {
+ //瓒呰繃涓ゅ彴杞︼紝鎸夌収閰嶇疆鐨勮鍒欒繘琛屽垎閰�
+ for (RgvThread rgvThread : list) {
+ //鑾峰彇杞﹁締閰嶇疆鐨勮矾寰勮鍒�
+ BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(rgvThread.getSlave().getId());
+ if (basRgvPath == null) {
+ continue;
+ }
+ //鐩爣绔欐槸鍚﹀寘鍚綋鍓嶈矾寰勪腑
+ List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
+ if (rgvPath.contains(path)) {
+ //褰撳墠璺緞涓寘鍚洰鏍囩珯锛屽垯閫夊畾杩欏彴杞�
+ return rgvThread.getSlave().getId();
+ }
+ }
+ } else {
+ //灏忎簬鎴栫瓑浜�1鍙拌溅锛屽垎閰嶅叏璺緞
+ BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//鑾峰彇榛樿璺緞
+ if (basRgvPath == null) {
+ return null;
+ }
List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
if (rgvPath.contains(path)) {
//褰撳墠璺緞涓寘鍚洰鏍囩珯锛屽垯閫夊畾杩欏彴杞�
- return rgvThread.getSlave().getId();
+ return list.get(0).getSlave().getId();
}
}
- }else {
- //灏忎簬鎴栫瓑浜�1鍙拌溅锛屽垎閰嶅叏璺緞
- BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//鑾峰彇榛樿璺緞
- if (basRgvPath == null) {
- return null;
- }
- List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
- if (rgvPath.contains(path)) {
- //褰撳墠璺緞涓寘鍚洰鏍囩珯锛屽垯閫夊畾杩欏彴杞�
- return list.get(0).getSlave().getId();
- }
+
+ return null;
+ } catch (Exception e) {
+ log.error("鎼滅储RGV杞︺�傞�氳繃鐩爣绔欐悳绱㈠摢鍙拌溅鍙敤" + e);
+ return null;
}
-
- return null;
- }
-
-// /**
-// * 缁戝畾灏忚溅鏂规硶
-// */
-// public synchronized void rgvBindSte() {
-// //鑾峰彇绛夊緟缁戝畾RGV鐨勪换鍔�
-// List<WrkMast> wrkMasts = wrkMastMapper.selectWaitBindRGV();
-// for (WrkMast wrkMast : wrkMasts) {
-// //鐩爣绔�
-// Integer staNo = wrkMast.getStaNo();
-// //婧愮珯
-// Integer sourceStaNo = wrkMast.getSourceStaNo();
-// //閫氳繃鐩爣绔欐悳绱gv鍙�
-// Integer rgvNo=0;
-// if (wrkMast.getCrnNo()==1){
-// rgvNo=1;
-// }else if (wrkMast.getCrnNo()==6){
-// rgvNo=2;
-// }else {
-// rgvNo = this.searchRgvNo(staNo);
-// }
-// if (rgvNo == null || rgvNo==0) {//鏈壘鍒板彲鐢ㄧ殑rgv
-// continue;
-// }
-//
-// wrkMast.setRgvNo(rgvNo);//缁戝畾rgv鍙�
-// wrkMast.setRgvDstaNo(wrkMast.getSourceStaNo());//璁剧疆RGV鍓嶅線宸ヤ綔妗ｆ簮绔欏彇璐�
-// if (wrkMastMapper.updateById(wrkMast)==0){
-// log.error("缁戝畾灏忚溅鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
-// }
-// }
-// }
-
- /**
- * 缁戝畾灏忚溅鏂规硶
- */
- public synchronized void rgvBindSte() {
- try {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- if (devp.getId()==2){
- continue;
- }
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- //鍏ュ簱缁戝皬杞�
- for (DevpSlave.Sta Sta : devp.getInRgvSta()) {
- StaProtocol staProtocol = devpThread.getStation().get(Sta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() < 9990){
- List<WrkMast> wrkMasts = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getWorkNo()).eq("wrk_sts", 2L));
- if (Cools.isEmpty(wrkMasts) || wrkMasts.size()!=1){
- continue;
- }
- WrkMast wrkMast = wrkMasts.get(0);
- //鐩爣绔�
- Integer staNo = wrkMast.getStaNo();
- //閫氳繃鐩爣绔欐悳绱gv鍙�
- Integer rgvNo=0;
- if (wrkMast.getCrnNo()==1){
- rgvNo=1;
- }else if (wrkMast.getCrnNo()==6){
- rgvNo=2;
- }else {
- rgvNo = this.searchRgvNo(staNo);
- }
- if (rgvNo == null || rgvNo==0) {//鏈壘鍒板彲鐢ㄧ殑rgv
- continue;
- }
- wrkMast.setRgvNo(rgvNo);//缁戝畾rgv鍙�
- if (wrkMastMapper.updateById(wrkMast)==0){
- log.error("缁戝畾灏忚溅鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
- }
- }
- }
- //鍑哄簱缁戝皬杞�
- for (DevpSlave.Sta Sta : devp.getOutRgvSta()) {
- StaProtocol staProtocol = devpThread.getStation().get(Sta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0 && staProtocol.getWorkNo() < 9990){
- List<WrkMast> wrkMasts = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getWorkNo()).eq("wrk_sts", 14L));
- if (Cools.isEmpty(wrkMasts) || wrkMasts.size()!=1){
- continue;
- }
- WrkMast wrkMast = wrkMasts.get(0);
- //鐩爣绔�
- Integer staNo = wrkMast.getStaNo();
- //閫氳繃鐩爣绔欐悳绱gv鍙�
- Integer rgvNo=0;
- if (wrkMast.getCrnNo()==1){
- rgvNo=1;
- }else if (wrkMast.getCrnNo()==6){
- rgvNo=2;
- }else {
- rgvNo = this.searchRgvNo(staNo);
- }
- if (rgvNo == null || rgvNo==0) {//鏈壘鍒板彲鐢ㄧ殑rgv
- continue;
- }
- wrkMast.setRgvNo(rgvNo);//缁戝畾rgv鍙�
- if (wrkMastMapper.updateById(wrkMast)==0){
- log.error("缁戝畾灏忚溅鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
- }
- }
- }
- }
- }catch (Exception e){
- log.error("缁戝畾灏忚溅寮傚父锛歿}", e.getMessage());
- }
- }
-
- /**
- * 缁戝畾灏忚溅鏂规硶
- */
- public synchronized void rgvBindSte2() {
- try{
- for (RgvSlave rgv : slaveProperties.getRgv()) {
- List<WrkMast> wrkMasts = wrkMastMapper.selectWaitBindRGVRgvNo(rgv.getId());
- if (!Cools.isEmpty(wrkMasts) && wrkMasts.size()!=0){
- continue;
- }
- List<WrkMast> wrkMasts2 = wrkMastMapper.selectWaitBindRgvNo2(rgv.getId());
- for (WrkMast wrkMast : wrkMasts2) {
- if (wrkMastMapper.selectWaitBindRgvNoOneWrkNo(wrkMast.getWrkNo())!=null){
- continue;
- }
- //鐩爣绔�
- BasDevp basDevp = basDevpService.selectById(wrkMast.getRgvDstaNo());
- if (Cools.isEmpty(basDevp) || !basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("N") || basDevp.getWrkNo()!=0){
- continue;
- }
- wrkMastMapper.insertRgvMast(wrkMast.getWrkNo());
- wrkMastMapper.updateRgvMast(wrkMast.getWrkNo());
- break;
- }
- }
- }catch (Exception e){
- log.error("灏忚溅鎼繍浠诲姟寮傚父锛歿}", e.getMessage());
- }
- }
-
- /**
- * 鍏ュ嚭搴� ===>> RGV鍏ュ嚭搴撲綔涓氫笅鍙�
- */
- public synchronized void rgvIoExecuteOld() {
- 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 == 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�", rgv.getId());
- continue;
- }
-
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO
-// && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
-// && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
- ) {
-
- //鏌ユ壘鏄惁瀛樺湪鍏ュ嚭搴撳伐浣滀腑绛夊緟RGV鎼繍鐨勪换鍔�
- List<WrkMast> wrkMasts = wrkMastMapper.selectIoRgvNo(rgv.getId());
- for (WrkMast wrkMast : wrkMasts) {
- if (wrkMast.getWrkSts() == 2) {//2.璁惧涓婅蛋1 => 3.RGV鍙栬揣涓�
- if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getLoaded1() != 0) {//RGV鏄惁鏃犱换鍔°�丷GV鏄惁鏃犺揣
- continue;
- }
-
- //鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- Integer staNo = wrkMast.getSourceStaNo();
- BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp == null) {
- continue;//鐩爣绔欎笉瀛樺湪
- }
- //璧峰璺緞
- int startPath = rgvProtocol.getRgvPos().intValue();
- //鐩爣璺緞鍊�
- int endPath = basDevp.getLocType3().intValue();
-// boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- if (pathUsed) {
- //琛岃蛋璺緞琚崰鐢紝绂佹涓嬪彂鍛戒护
- continue;
- }
- //琛岃蛋璺緞绌洪棽锛岄攣瀹氳矾寰�
- RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast.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.setDestinationStaNo1(wrkMast.getRgvDstaNo().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.Crn, wrkMast.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�={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋1 => 3.RGV鍙栬揣涓�
- Date now = new Date();
- wrkMast.setWrkSts(3L);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋1 => 3.RGV鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- } else if (wrkMast.getWrkSts() == 14) {//4.RGV鍙栬揣瀹屾垚 => 5.RGV鏀捐揣涓� 14鍑哄簱瀹屾垚
- if (rgvProtocol.getTaskNo1() == 0 || !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV蹇呴』鏈変换鍔′笖浠诲姟鍜屽綋鍓嶅伐浣滄。涓�鑷�
- continue;
- }
- if (rgvProtocol.getLoaded1() == 0) {//RGV蹇呴』鏈夌墿
- continue;
- }
-
- //鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- Integer staNo = wrkMast.getStaNo();
- BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp == null) {
- continue;//鐩爣绔欎笉瀛樺湪
- }
- //璧峰璺緞
- int startPath = rgvProtocol.getRgvPos().intValue();
- //鐩爣璺緞鍊�
- int endPath = basDevp.getLocType3().intValue();
- boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- if (pathUsed) {
- //琛岃蛋璺緞琚崰鐢紝绂佹涓嬪彂鍛戒护
- continue;
- }
- //琛岃蛋璺緞绌洪棽锛岄攣瀹氳矾寰�
- RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast.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(wrkMast.getRgvDstaNo().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.Crn, wrkMast.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�={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 4.RGV鍙栬揣瀹屾垚 => 5.RGV鏀捐揣涓�
- Date now = new Date();
- wrkMast.setWrkSts(5L);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 4.RGV鍙栬揣瀹屾垚 => 5.RGV鏀捐揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- } else if (wrkMast.getWrkSts() == 23) {//23.璁惧涓婅蛋1 => 24.RGV鍙栬揣涓�
- if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getLoaded1() != 0) {//RGV鏄惁鏃犱换鍔°�丷GV鏄惁鏃犺揣
- continue;
- }
-
- //鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- Integer staNo = wrkMast.getSourceStaNo();
- BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp == null) {
- continue;//鐩爣绔欎笉瀛樺湪
- }
- //璧峰璺緞
- int startPath = rgvProtocol.getRgvPos().intValue();
- //鐩爣璺緞鍊�
- int endPath = basDevp.getLocType3().intValue();
- boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- if (pathUsed) {
- //琛岃蛋璺緞琚崰鐢紝绂佹涓嬪彂鍛戒护
- continue;
- }
- //琛岃蛋璺緞绌洪棽锛岄攣瀹氳矾寰�
- RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast.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.setDestinationStaNo1(wrkMast.getRgvDstaNo().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.Crn, wrkMast.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�={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 23.璁惧涓婅蛋1 => 24.RGV鍙栬揣涓�
- Date now = new Date();
- wrkMast.setWrkSts(24L);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 23.璁惧涓婅蛋1 => 24.RGV鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- } else if (wrkMast.getWrkSts() == 25) {//25.RGV鍙栬揣瀹屾垚 => 26.RGV鏀捐揣涓�
- if (rgvProtocol.getTaskNo1() == 0 || !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV蹇呴』鏈変换鍔′笖浠诲姟鍜屽綋鍓嶅伐浣滄。涓�鑷�
- continue;
- }
- if (rgvProtocol.getLoaded1() == 0) {//RGV蹇呴』鏈夌墿
- continue;
- }
-
- //鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- Integer staNo = wrkMast.getStaNo();
- BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp == null) {
- continue;//鐩爣绔欎笉瀛樺湪
- }
- //璧峰璺緞
- int startPath = rgvProtocol.getRgvPos().intValue();
- //鐩爣璺緞鍊�
- int endPath = basDevp.getLocType3().intValue();
- boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- if (pathUsed) {
- //琛岃蛋璺緞琚崰鐢紝绂佹涓嬪彂鍛戒护
- continue;
- }
- //琛岃蛋璺緞绌洪棽锛岄攣瀹氳矾寰�
- RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast.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(wrkMast.getRgvDstaNo().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.Crn, wrkMast.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�={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 25.RGV鍙栬揣瀹屾垚 => 26.RGV鏀捐揣涓�
- Date now = new Date();
- wrkMast.setWrkSts(26L);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 25.RGV鍙栬揣瀹屾垚 => 26.RGV鏀捐揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
-
- }
- }
- }
-
- /**
- * 鍏ュ嚭搴� ===>> RGV鍏ュ嚭搴撲綔涓氫笅鍙�
- */
- public synchronized void rgvIoExecute() {
- for (RgvSlave rgv : slaveProperties.getRgv()) {
- RgvSlave rgvSlave=null;
- if (rgv.getId()==1){
- rgvSlave = slaveProperties.getRgv().get(1);
- }else {
- rgvSlave = slaveProperties.getRgv().get(0);
- }
-
- // 鑾峰彇RGV淇℃伅
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- if (rgvProtocol == null) {
- continue;
- }
-
- RgvThread rgvThreadSlave = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
- RgvProtocol rgvProtocolSlave = rgvThreadSlave.getRgvProtocol();
- BasRgv basRgvSlave = null;
- if (rgvProtocolSlave == null) {
- rgvSlave=null;
- }else {
- basRgvSlave = basRgvService.selectById(rgv.getId());
- if (basRgvSlave == null) {
- rgvSlave=null;
- }
- }
-
- 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�", rgv.getId());
- continue;
- }
-
- boolean signSlave=false;//姝ゅ鍒ゆ柇RgvSlave鏄惁宸茬粡瑙勯伩
- boolean signSlaveState=false;//姝ゅ鍒ゆ柇RgvSlave鏄惁绌洪棽
- Integer staSlave = 0;//姝ゅ璁板綍RgvSlave褰撳墠浣嶇疆
-
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,
- if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
- && rgvProtocol.getModeType() == RgvModeType.AUTO
-// && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
-// && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
- ) {
-
- //鏌ユ壘鏄惁瀛樺湪鍏ュ嚭搴撳伐浣滀腑绛夊緟RGV鎼繍鐨勪换鍔�
- List<WrkMast> wrkMasts = wrkMastMapper.selectIoRgvNo(rgv.getId());
- for (WrkMast wrkMast : wrkMasts) {
- if (wrkMast.getWrkSts() == 2) {//2.璁惧涓婅蛋1 => 3.RGV鍙栬揣涓�
- if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getLoaded1() != 0) {//RGV鏄惁鏃犱换鍔°�丷GV鏄惁鏃犺揣
- continue;
- }
-
- //鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- Integer staNo = wrkMast.getSourceStaNo();
- BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp == null) {
- continue;//鐩爣绔欎笉瀛樺湪
- }
- //璧峰璺緞
- int startPath = rgvProtocol.getRgvPos().intValue();
- //鐩爣璺緞鍊�
- int endPath = basDevp.getLocType3().intValue();
-// boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- if (pathUsed) {
- //琛岃蛋璺緞琚崰鐢紝绂佹涓嬪彂鍛戒护
- continue;
- }
- //琛岃蛋璺緞绌洪棽锛岄攣瀹氳矾寰�
- RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast.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.setDestinationStaNo1(wrkMast.getRgvDstaNo().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.Crn, wrkMast.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�={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋1 => 3.RGV鍙栬揣涓�
- Date now = new Date();
- wrkMast.setWrkSts(3L);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋1 => 3.RGV鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- } else if (wrkMast.getWrkSts() == 14) {//4.RGV鍙栬揣瀹屾垚 => 5.RGV鏀捐揣涓� 14鍑哄簱瀹屾垚
- if (rgvProtocol.getTaskNo1() == 0 || !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV蹇呴』鏈変换鍔′笖浠诲姟鍜屽綋鍓嶅伐浣滄。涓�鑷�
- continue;
- }
- if (rgvProtocol.getLoaded1() == 0) {//RGV蹇呴』鏈夌墿
- continue;
- }
-
- //鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- Integer staNo = wrkMast.getStaNo();
- BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp == null) {
- continue;//鐩爣绔欎笉瀛樺湪
- }
- //璧峰璺緞
- int startPath = rgvProtocol.getRgvPos().intValue();
- //鐩爣璺緞鍊�
- int endPath = basDevp.getLocType3().intValue();
- boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- if (pathUsed) {
- //琛岃蛋璺緞琚崰鐢紝绂佹涓嬪彂鍛戒护
- continue;
- }
- //琛岃蛋璺緞绌洪棽锛岄攣瀹氳矾寰�
- RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast.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(wrkMast.getRgvDstaNo().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.Crn, wrkMast.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�={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 4.RGV鍙栬揣瀹屾垚 => 5.RGV鏀捐揣涓�
- Date now = new Date();
- wrkMast.setWrkSts(5L);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 4.RGV鍙栬揣瀹屾垚 => 5.RGV鏀捐揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- } else if (wrkMast.getWrkSts() == 23) {//23.璁惧涓婅蛋1 => 24.RGV鍙栬揣涓�
- if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getLoaded1() != 0) {//RGV鏄惁鏃犱换鍔°�丷GV鏄惁鏃犺揣
- continue;
- }
-
- //鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- Integer staNo = wrkMast.getSourceStaNo();
- BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp == null) {
- continue;//鐩爣绔欎笉瀛樺湪
- }
- //璧峰璺緞
- int startPath = rgvProtocol.getRgvPos().intValue();
- //鐩爣璺緞鍊�
- int endPath = basDevp.getLocType3().intValue();
- boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- if (pathUsed) {
- //琛岃蛋璺緞琚崰鐢紝绂佹涓嬪彂鍛戒护
- continue;
- }
- //琛岃蛋璺緞绌洪棽锛岄攣瀹氳矾寰�
- RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast.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.setDestinationStaNo1(wrkMast.getRgvDstaNo().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.Crn, wrkMast.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�={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 23.璁惧涓婅蛋1 => 24.RGV鍙栬揣涓�
- Date now = new Date();
- wrkMast.setWrkSts(24L);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 23.璁惧涓婅蛋1 => 24.RGV鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- } else if (wrkMast.getWrkSts() == 25) {//25.RGV鍙栬揣瀹屾垚 => 26.RGV鏀捐揣涓�
- if (rgvProtocol.getTaskNo1() == 0 || !rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())) {//RGV蹇呴』鏈変换鍔′笖浠诲姟鍜屽綋鍓嶅伐浣滄。涓�鑷�
- continue;
- }
- if (rgvProtocol.getLoaded1() == 0) {//RGV蹇呴』鏈夌墿
- continue;
- }
-
- //鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- Integer staNo = wrkMast.getStaNo();
- BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp == null) {
- continue;//鐩爣绔欎笉瀛樺湪
- }
- //璧峰璺緞
- int startPath = rgvProtocol.getRgvPos().intValue();
- //鐩爣璺緞鍊�
- int endPath = basDevp.getLocType3().intValue();
- boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//鍒ゆ柇琛岃蛋璺緞鏄惁琚崰鐢�
- if (pathUsed) {
- //琛岃蛋璺緞琚崰鐢紝绂佹涓嬪彂鍛戒护
- continue;
- }
- //琛岃蛋璺緞绌洪棽锛岄攣瀹氳矾寰�
- RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast.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(wrkMast.getRgvDstaNo().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.Crn, wrkMast.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�={}", wrkMast.getRgvNo(), JSON.toJSON(rgvCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 25.RGV鍙栬揣瀹屾垚 => 26.RGV鏀捐揣涓�
- Date now = new Date();
- wrkMast.setWrkSts(26L);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 25.RGV鍙栬揣瀹屾垚 => 26.RGV鏀捐揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
-
- }
- }
- }
-
- private boolean rgvIoExecuteWrk2To3() {
- return false;
}
/**
@@ -1222,7 +1155,7 @@
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo((short) 9999); // 宸ヤ綔鍙�
+ crnCommand.setTaskNo((short) 63333); // 宸ヤ綔鍙�
crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 浠诲姟妯″紡: 鍥炲師鐐�
crnCommand.setSourcePosX((short) 0); // 婧愬簱浣嶆帓
@@ -1377,46 +1310,44 @@
*/
public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
- for(WrkMast wrkMast : wrkMasts){
+ for (WrkMast wrkMast : wrkMasts) {
if (wrkMast == null) {
continue;
}
CrnSlave.CrnStn crnStn = null;
- for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
- if(crnStn1.getStaNo() == wrkMast.getStaNo()){
+ for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()) {
+ if (crnStn1.getStaNo().equals(wrkMast.getStaNo())) {
crnStn = crnStn1;
break;
- } else {
- continue;
}
}
- if(Cools.isEmpty(crnStn)){
+ if (Cools.isEmpty(crnStn)) {
continue;
}
- boolean flag = false;
+ boolean flag = true;
// 鑾峰彇鍫嗗灈鏈哄叆搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- // 鏌ヨ绔欑偣璇︾粏淇℃伅
- BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
- if (staDetl == null) {
- log.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
- continue;
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
- && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
- flag = true;
- }
- if (!flag) {
- continue;
- }
+// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+// StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+// if (staProtocol == null) {
+// continue;
+// } else {
+// staProtocol = staProtocol.clone();
+// }
+// // 鏌ヨ绔欑偣璇︾粏淇℃伅
+// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
+// if (staDetl == null) {
+// log.error("鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
+// continue;
+// }
+// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
+// && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
+// flag = true;
+// }
+// if (!flag) {
+// continue;
+// }
// 鑾峰彇搴撲綅淇℃伅
LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
@@ -1459,7 +1390,18 @@
} else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
// 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
- if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
+//// if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
+// wrkMast.setUpdMk("Y");
+// wrkMast.setIoPri(14D);
+// wrkMastMapper.updateById(wrkMast);
+// // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
+// moveLocForDeepLoc(slave, shallowLoc);
+// // 鐢熸垚宸ヤ綔妗ｃ�佹敼鍙樻祬搴撲綅鐨勬簮搴�/鐩爣搴� 搴撲綅鐘舵�併�佷笅鍙戝爢鍨涙満鍛戒护锛堢珛椹墽琛�)
+//// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
+//// }
+// break;
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+ if (Cools.isEmpty(waitWrkMast)) {
wrkMast.setUpdMk("Y");
wrkMast.setIoPri(14D);
wrkMastMapper.updateById(wrkMast);
@@ -1468,7 +1410,7 @@
// 鐢熸垚宸ヤ綔妗ｃ�佹敼鍙樻祬搴撲綅鐨勬簮搴�/鐩爣搴� 搴撲綅鐘舵�併�佷笅鍙戝爢鍨涙満鍛戒护锛堢珛椹墽琛�)
// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
}
- continue;
+ break;
} else if (shallowLoc.getLocSts().equals("Q")) {
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
@@ -1477,18 +1419,19 @@
}
}
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ // 鍏ュ簱鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 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(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
+ //crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 婧愬簱浣嶆帓
+ //crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 婧愬簱浣嶅垪
+ //crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 婧愬簱浣嶅眰
crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 鐩爣搴撲綅鎺�
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
+ crnCommand.setSourceStaNo(crnStn.getPlatNo().shortValue()); // 婧愬簱浣嶆帓
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
} else {
@@ -1499,6 +1442,8 @@
wrkMast.setModiTime(now);
if (wrkMastMapper.updateById(wrkMast) == 0) {
log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+ } else {
+ log.info("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� cg锛侊紒锛屽伐浣滃彿={}锛寊huangty={}", wrkMast.getWrkNo(), wrkMast.getWrkSts());
}
}
}
@@ -1649,26 +1594,47 @@
*/
public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol) {
List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
+ Integer count = wrkMastMapper.countPakOut();
+
for (WrkMast wrkMast : wrkMasts) {
+ if (wrkMast.getIoType() == 110 && wrkMast.getStaNo() == 2101) {
+
+ } else {
+ if (count > 30) { //璁惧涓婅蛋鎵樼洏涓嶈秴杩�30涓�
+// log.info("鎵樼洏鏁伴噺涓嶈秴杩囨寚瀹氭暟閲�");
+ continue;
+ }
+ }
+ // 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;
+ }
+
+ // 鍒ゆ柇鍫嗗灈鏈虹珯鐐规槸鍚﹀彲鐢�
+ if (!crnEnabled(wrkMast)) {
+ break;
+ }
+
if (wrkMast == null) {
continue;
}
CrnSlave.CrnStn crnStn = null;
- for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
- if(crnStn1.getStaNo() == wrkMast.getSourceStaNo()){
+ for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()) {
+ if (crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())) {
crnStn = crnStn1;
break;
- } else {
- continue;
}
}
- if(Cools.isEmpty(crnStn)){
+ if (Cools.isEmpty(crnStn)) {
continue;
}
+ log.info("{}鍙峰爢鍨涙満閫夊畾鐨勫嚭搴撳彛鏄瘂}", crnProtocol.getCrnNo(), crnStn.getPlatNo());
+
// 宸ヤ綔妗ｇ姸鎬佸垽鏂�
- if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
+ if ((wrkMast.getIoType() < 100 && wrkMast.getIoType() != 12) || wrkMast.getSourceStaNo() == null) {
log.error("鏌ヨ宸ヤ綔妗ｆ暟鎹笉绗﹀悎鏉′欢--鍏ュ嚭绫诲瀷/绔欑偣, 宸ヤ綔鍙�={}锛屾簮搴撲綅={}锛屽叆鍑虹被鍨�={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
continue;
}
@@ -1679,20 +1645,20 @@
continue;
}
// 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- if (staProtocol == null) {
- break;
-// continue;
- } else {
- staProtocol = staProtocol.clone();
- }
+ //SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
+ //StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
+// if (staProtocol == null) {
+// break;
+//// continue;
+// } else {
+// staProtocol = staProtocol.clone();
+// }
// // 鍏ュ嚭搴撴ā寮忓垽鏂�
// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
- if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
- continue;
- }
+// if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
+// continue;
+// }
// 鏌ヨ绔欑偣璇︾粏淇℃伅
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
@@ -1702,8 +1668,9 @@
// 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")
- && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
+ //if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
+ // && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
+ if (staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
// 鍫嗗灈鏈烘帶鍒惰繃婊�
@@ -1747,7 +1714,7 @@
moveLocForDeepLoc(slave, shallowLoc);
}
log.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛佹祬搴撲綅鍙�:{}", wrkMast.getWrkNo(), shallowLocNo);
- continue;
+ break;
} else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
@@ -1756,13 +1723,8 @@
}
}
- // 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�
+ // 1.鍫嗗灈鏈哄紑濮嬬Щ鍔� 鍑哄簱鍛戒护
CrnCommand crnCommand = new CrnCommand();
crnCommand.setCrnNo(slave.getId()); // 鍫嗗灈鏈虹紪鍙�
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 宸ヤ綔鍙�
@@ -1771,9 +1733,10 @@
crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 婧愬簱浣嶆帓
crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 婧愬簱浣嶅垪
crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
+// crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
+// crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
+// crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
+ crnCommand.setDestinationStaNo(crnStn.getPlatNo().shortValue());
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
} else {
@@ -1793,24 +1756,90 @@
}
/**
+ * 纭鍑哄簱鐮佸ご鏄惁鍙敤
+ *
+ * @param wrkMast 宸ヤ綔妗�
+ * @return 鏄惁鍙敤
+ */
+ private boolean crnEnabled(WrkMast wrkMast) {
+
+ // 鑾峰彇璇锋眰澶�
+ Map<String, Object> headers = new HashMap<>();
+ headers.put("digi-type", "sync ");
+ headers.put("digi-protocol", "raw");
+ headers.put("digi-datakey", " XCommon.ImportData");
+
+ // 鏋勯�犺姹備綋
+ JSONObject jsonObject = new JSONObject();
+ jsonObject.put("staNo", wrkMast.getSourceStaNo());
+ jsonObject.put("workNo", wrkMast.getWrkNo());
+ String body = jsonObject.toJSONString();
+
+ boolean success;
+ String response;
+ try {
+ response = new HttpHandler.Builder()
+ .setUri(GhjtApiConstant.GWCS_IP_PORT)
+ .setPath(GhjtApiConstant.GWCS_CKMT_URL)
+ .setHeaders(headers)
+ .setJson(body)
+ .build()
+ .doPost();
+ if (!Cools.isEmpty(response)) {
+ JSONObject jsonObject1 = JSONObject.parseObject(response);
+ if ((Integer) jsonObject1.get("code") == 200 && (Integer) jsonObject1.get("data") == 1) {
+ success = true;
+ } else {
+ success = false;
+ log.info("纭鍑哄簱鐮佸ご鏄惁鍙敤澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", GhjtApiConstant.GWCS_IP_PORT + GhjtApiConstant.GWCS_CKMT_URL, body, response);
+ }
+ } else {
+ log.error("纭鍑哄簱鐮佸ご鏄惁鍙敤澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", GhjtApiConstant.GWCS_IP_PORT + GhjtApiConstant.GWCS_CKMT_URL, body, response);
+ throw new CoolException("纭鍑哄簱鐮佸ご鏄惁鍙敤澶辫触");
+ }
+ } catch (Exception e) {
+ success = false;
+ log.error("纭鍑哄簱鐮佸ご鏄惁鍙敤寮傚父锛屽伐浣滃彿锛歿}锛寋}", wrkMast.getWrkNo(), e.getMessage());
+ } finally {
+
+// try {
+// // 淇濆瓨鎺ュ彛鏃ュ織
+// apiLogService.save(
+// "浠庡嚭搴撶爜澶村埌鍑哄簱鍙�",
+// MesConstant.URL + MesConstant.PAKIN_URL,
+// null,
+// "127.0.0.1",
+// jsonObject.toJSONString(),
+// response,
+// success
+// );
+// } catch (Exception e) {
+// log.error("鎺ュ彛鏃ュ織淇濆瓨寮傚父", e);
+// }
+ }
+ return success;
+ }
+
+ /**
* 鏌ユ壘宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級,涓擱GV鍏ュ簱鎺ラ┏绔欑鍚堢殑鐨勫叆搴撳伐浣滄。锛屾彁鍙栧嚭鏈�澶�2绗�
+ *
* @param slave
* @return
*/
- public synchronized List<WrkMast> getRgvInTask(RgvSlave slave){
+ public synchronized List<WrkMast> getRgvInTask(RgvSlave slave) {
List<WrkMast> wrkMastTask = new ArrayList<>();
List<Integer> staNos = new ArrayList<>();
for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
staNos.add(rgvStn.getStaNo());
}
- if(staNos.size() < 1){
+ if (staNos.size() < 1) {
return null;
}
List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep1(slave.getId(), staNos);
- for(WrkMast wrkMast : wrkMasts){
+ for (WrkMast wrkMast : wrkMasts) {
Integer plcId = 0;
for (RgvSlave.RgvStn rgvStn : slave.getRgvInSStn()) {
- if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
+ if (rgvStn.getStaNo() == wrkMast.getRgvSstaNo()) {
plcId = rgvStn.getDevpPlcId();
break;
}
@@ -1855,228 +1884,34 @@
flag2 = true;
}
- if(flag1 && flag2){
+ if (flag1 && flag2) {
wrkMastTask.add(wrkMast);
- if(wrkMastTask.size() >= 2) break;
+ if (wrkMastTask.size() >= 2) break;
}
}
return wrkMastTask;
}
/**
- * 鍏ュ簱 ===>> RGV鍏ュ簱绔欏埌绔�
- */
- public synchronized void rgvInStn(RgvSlave slave, RgvProtocol rgvProtocol) {
- WrkMast wrkMast = wrkMastMapper.selectRgvInSteNo(slave.getId());
-
-
- //鏌ユ壘宸ヤ綔鐘舵�佷负2锛堣澶囦笂璧帮級,涓擱GV鍏ュ簱鎺ラ┏绔欑鍚堢殑鐨勫叆搴撳伐浣滄。锛屾彁鍙栧嚭鏈�澶�2绗�
- List<WrkMast> wrkMastTask = getRgvInTask(slave);
- if(wrkMastTask.size() <= 0){
- return;
- }
-
- // RGV鎺у埗杩囨护锛� 蹇呴』婊¤冻鑷姩銆佺┖闂诧紝娌℃湁浠诲姟鍙�
- if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE)
- || rgvProtocol.getModeType() != RgvModeType.AUTO
- || rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getTaskNo2() != 0) {
- return;
- }
-
- // 宸茬粡瀛樺湪RGV鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if(wrkMastMapper.selectRgvInWorking(slave.getId()).size() > 0){
- return;
- }
-
- if(wrkMastTask.size() == 2){
- //鏈�2绗擱GV寰呭叆搴撲换鍔★紝2涓伐浣嶏紝鍙栬揣銆佹斁璐т换鍔″悓鏃朵笅鍙�
- WrkMast wrkMast1 = wrkMastTask.get(0);
- WrkMast wrkMast2 = wrkMastTask.get(1);
- if(Cools.isEmpty(wrkMast1) || Cools.isEmpty(wrkMast2)){
- log.error("宸ヤ綔妗GV鍏ュ簱鏁版嵁涓虹┖");
- return;
- }
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(slave.getId()); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //宸ヤ綅1婧愮珯鐐�
- rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
- rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //宸ヤ綅2婧愮珯鐐�
- rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //宸ヤ綅2鐩爣绔欑偣
- rgvCommand.setCommand((short) 0); //宸ヤ綅1銆�2浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), 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�={}", slave.getId(), JSON.toJSON(rgvCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 6.RGV鍏ュ簱鍙栬揣涓�
- Date now = new Date();
- wrkMast1.setWrkSts(6L);
- wrkMast1.setCrnStrTime(now);
- wrkMast1.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast1) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 6.RGV鍏ュ簱鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast1.getWrkNo());
- }
-
- wrkMast2.setWrkSts(6L);
- wrkMast2.setCrnStrTime(now);
- wrkMast2.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast2) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 6.RGV鍏ュ簱鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast2.getWrkNo());
- }
- }
- } else if(wrkMastTask.size() == 1){
- //鍙湁1绗擱GV寰呭叆搴撲换鍔★紝鍏堜笅鍙戝彇璐т换鍔★紝鍙栬揣鍚庡啀鍒ゆ柇鏄惁鏈変笅涓�绗斿緟鍏ュ簱浠诲姟
- WrkMast wrkMast1 = wrkMastTask.get(0);
- if(Cools.isEmpty(wrkMast1)){
- log.error("宸ヤ綔妗GV鍏ュ簱鏁版嵁涓虹┖");
- return;
- }
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(slave.getId()); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast1.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(wrkMast1.getRgvSstaNo().shortValue()); //宸ヤ綅1婧愮珯鐐�
- rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setCommand((short) 0); //宸ヤ綅1銆�2浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2浠诲姟纭锛� step=4锛屽伐浣�1纭锛� step=5锛屽伐浣�2浠诲姟纭
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", slave.getId(), JSON.toJSON(rgvCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 6.RGV鍏ュ簱鍙栬揣涓�
- Date now = new Date();
- wrkMast1.setWrkSts(6L);
- wrkMast1.setCrnStrTime(now);
- wrkMast1.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast1) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 6.RGV鍏ュ簱鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast1.getWrkNo());
- }
- }
- }
- }
-
- /**
- * 鍑哄簱 ===>> RGV鍑哄簱绔欏埌绔�
- */
- public synchronized void rgvOutStn(RgvSlave slave, RgvProtocol rgvProtocol) {
- //鏌ユ壘宸ヤ綔鐘舵�佷负14锛堝嚭搴撳畬鎴愶級,涓擱GV鍑哄簱鎺ラ┏绔欑鍚堢殑鐨勫嚭搴撳伐浣滄。锛屾彁鍙栧嚭鏈�澶�2绗�
- List<WrkMast> wrkMastTask = getRgvOutTask(slave);
- if(wrkMastTask.size() <= 0){
- return;
- }
-
- // RGV鎺у埗杩囨护锛� 蹇呴』婊¤冻鑷姩銆佺┖闂诧紝娌℃湁浠诲姟鍙�
- if (!rgvProtocol.getStatusType().equals(CrnStatusType.IDLE)
- || rgvProtocol.getModeType() != RgvModeType.AUTO
- || rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getTaskNo2() != 0) {
- return;
- }
-
- // 宸茬粡瀛樺湪RGV鎵ц浠诲姟鏃讹紝鍒欒繃婊�
- if(wrkMastMapper.selectRgvOutWorking(slave.getId()).size() > 0){
- return;
- }
-
- if(wrkMastTask.size() == 2){
- //鏈�2绗擱GV寰呭叆搴撲换鍔★紝2涓伐浣嶏紝鍙栬揣銆佹斁璐т换鍔″悓鏃朵笅鍙�
- WrkMast wrkMast1 = wrkMastTask.get(0);
- WrkMast wrkMast2 = wrkMastTask.get(1);
- if(Cools.isEmpty(wrkMast1) || Cools.isEmpty(wrkMast2)){
- log.error("宸ヤ綔妗GV鍏ュ簱鏁版嵁涓虹┖");
- return;
- }
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(slave.getId()); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //宸ヤ綅1婧愮珯鐐�
- rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo2(wrkMast2.getWrkNo().shortValue()); // 宸ヤ綅2宸ヤ綔鍙�
- rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅2浠诲姟妯″紡: 鍙栨斁璐�
- rgvCommand.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //宸ヤ綅2婧愮珯鐐�
- rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //宸ヤ綅2鐩爣绔欑偣
- rgvCommand.setCommand((short) 0); //宸ヤ綅1銆�2浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), 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�={}", slave.getId(), JSON.toJSON(rgvCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 14.鍑哄簱瀹屾垚 => 16.RGV鍑哄簱鍙栬揣涓�
- Date now = new Date();
- wrkMast1.setWrkSts(16L);
- wrkMast1.setCrnStrTime(now);
- wrkMast1.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast1) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 14.鍑哄簱瀹屾垚 => 16.RGV鍑哄簱鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast1.getWrkNo());
- }
-
- wrkMast2.setWrkSts(16L);
- wrkMast2.setCrnStrTime(now);
- wrkMast2.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast2) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 14.鍑哄簱瀹屾垚 => 16.RGV鍑哄簱鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast2.getWrkNo());
- }
- }
- } else if(wrkMastTask.size() == 1){
- //鍙湁1绗擱GV寰呭叆搴撲换鍔★紝鍏堜笅鍙戝彇璐т换鍔★紝鍙栬揣鍚庡啀鍒ゆ柇鏄惁鏈変笅涓�绗斿緟鍏ュ簱浠诲姟
- WrkMast wrkMast1 = wrkMastTask.get(0);
- if(Cools.isEmpty(wrkMast1)){
- log.error("宸ヤ綔妗GV鍏ュ簱鏁版嵁涓虹┖");
- return;
- }
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(slave.getId()); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast1.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(wrkMast1.getRgvSstaNo().shortValue()); //宸ヤ綅1婧愮珯鐐�
- rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
- rgvCommand.setCommand((short) 0); //宸ヤ綅1銆�2浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2浠诲姟纭锛� step=4锛屽伐浣�1纭锛� step=5锛屽伐浣�2浠诲姟纭
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", slave.getId(), JSON.toJSON(rgvCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 14.鍑哄簱瀹屾垚 => 16.RGV鍑哄簱鍙栬揣涓�
- Date now = new Date();
- wrkMast1.setWrkSts(16L);
- wrkMast1.setCrnStrTime(now);
- wrkMast1.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast1) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 14.鍑哄簱瀹屾垚 => 16.RGV鍑哄簱鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast1.getWrkNo());
- }
- }
- }
- }
-
- /**
* 鏌ユ壘宸ヤ綔鐘舵�佷负14锛堝嚭搴撳畬鎴愶級,涓擱GV鍑哄簱鎺ラ┏绔欑鍚堢殑鐨勫嚭搴撳伐浣滄。锛屾彁鍙栧嚭鏈�澶�2绗�
+ *
* @param slave
* @return
*/
- public synchronized List<WrkMast> getRgvOutTask(RgvSlave slave){
+ public synchronized List<WrkMast> getRgvOutTask(RgvSlave slave) {
List<WrkMast> wrkMastTask = new ArrayList<>();
List<Integer> staNos = new ArrayList<>();
for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) {
staNos.add(rgvStn.getStaNo());
}
- if(staNos.size() < 1){
+ if (staNos.size() < 1) {
return null;
}
List<WrkMast> wrkMasts = wrkMastMapper.selectRgvOutStep1(slave.getId(), staNos);
- for(WrkMast wrkMast : wrkMasts){
+ for (WrkMast wrkMast : wrkMasts) {
Integer plcId = 0;
for (RgvSlave.RgvStn rgvStn : slave.getRgvOutSStn()) {
- if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
+ if (rgvStn.getStaNo() == wrkMast.getRgvSstaNo()) {
plcId = rgvStn.getDevpPlcId();
break;
}
@@ -2121,353 +1956,12 @@
flag2 = true;
}
- if(flag1 && flag2){
+ if (flag1 && flag2) {
wrkMastTask.add(wrkMast);
- if(wrkMastTask.size() >= 2) break;
+ if (wrkMastTask.size() >= 2) break;
}
}
return wrkMastTask;
- }
-
- /**
- * 鏍规嵁RGV瀹屾垚淇″彿锛屾墽琛屽宸ヤ綔妗ｇ殑瀹屾垚鎿嶄綔锛屽拰RGV鐨勪换鍔′笅鍙�
- */
- public synchronized void rgvFinished() {
- Date now = new Date();
- 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 == null) {
- continue;
- }
- //鍒ゆ柇RGV鏄惁绌洪棽锛屽伐浣�1鏄惁绌洪棽锛屽伐浣�1鏄惁鏈夌墿锛屾槸鍚︿负鐢佃剳妯″紡锛屽伐浣�1鏄惁鏈夊伐浣滃彿
- if (rgvProtocol.statusType1 == RgvStatusType.FETCHWAITING
- && rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getTaskNo1() != 0
- && rgvProtocol.getStatus() != 0
- && rgvProtocol.getStatus1() != 0
- ) {
- WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
- if (wrkMast1 == null) {
- log.error("RGV宸ヤ綅1澶勪簬绛夊緟纭涓斿彇璐т换鍔″畬鎴愮姸鎬侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�俁GV鍙�={}锛屽伐浣滃彿={}", rgv.getId(), rgvProtocol.getTaskNo1());
- continue;
- }
-
- if (wrkMast1.getWrkSts() == 3) {//3.RGV鍙栬揣涓� => 4.RGV鍙栬揣瀹屾垚
- wrkMast1.setWrkSts(4L);
- }else if(wrkMast1.getWrkSts() == 5){//5.RGV鏀捐揣涓� => 6.RGV鏀捐揣瀹屾垚
- rgvProtocol.setTaskNo1((short) 0);//鍏ュ簱浠诲姟瀹屾垚锛屾竻绌轰换鍔″彿
- wrkMast1.setWrkSts(6L);
- } else if (wrkMast1.getWrkSts() == 24) {//24.RGV鍙栬揣涓� => 25.RGV鍙栬揣瀹屾垚
- wrkMast1.setWrkSts(25L);//
- } else if (wrkMast1.getWrkSts() == 26) {//26.RGV鏀捐揣涓� => 27.RGV鏀捐揣瀹屾垚
- rgvProtocol.setTaskNo1((short) 0);//鍑哄簱浠诲姟瀹屾垚锛屾竻绌轰换鍔″彿
- wrkMast1.setWrkSts(27L);//27.RGV鏀捐揣瀹屾垚
- }
-
- //瑙ｉ攣璺緞
- RgvUtils.unLockPath(wrkMast1.getRgvNo());
-
- wrkMast1.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast1) == 0) {
- log.error("宸ヤ綅1淇敼宸ヤ綔妗ｇ姸鎬佸け璐ワ紒锛侊紝宸ヤ綔鍙�={}", wrkMast1.getWrkNo());
- }
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- RgvCommand rgvCommand = new RgvCommand();
- rgvCommand.setRgvNo(rgv.getId()); // RGV缂栧彿
- rgvCommand.setAckFinish1((short) 1); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
- rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 宸ヤ綅1宸ヤ綔鍙�
- rgvCommand.setTaskMode1(RgvTaskModeType.NONE); // 宸ヤ綅1浠诲姟妯″紡: 鏃�
- rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
- if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
- //step=2,宸ヤ綅1銆�2浠诲姟纭锛� step=4锛屽伐浣�1纭锛� step=5锛屽伐浣�2浠诲姟纭
- log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgv.getId(), JSON.toJSON(rgvCommand));
- }
-
-// //宸ヤ綅1鍙栬揣瀹屾垚鍚庯紝宸ヤ綅2鏄棤璐х┖闂茬姸鎬佹椂锛屽噯澶囩粰宸ヤ綅2鍙戜换鍔★紝纭鏄惁鏈夊緟鎵цRGV浠诲姟
-// if (rgvProtocol.getModeType() == RgvModeType.AUTO
-// && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() == 0
-// && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() == 0
-// && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
-// ) {
-// WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
-// if (wrkMast1 == null) {
-// log.error("RGV宸ヤ綅1澶勪簬绛夊緟纭涓斿彇璐т换鍔″畬鎴愮姸鎬侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�俁GV鍙�={}锛屽伐浣滃彿={}", rgv.getId(), rgvProtocol.getTaskNo1());
-// continue;
-// }
-// List<WrkMast> wrkMastTask = new ArrayList<>();
-// List<WrkMast> list = new ArrayList<>();
-// Integer type = 0;//1鍏ュ簱锛�2鍑哄簱
-// if(wrkMast1.getWrkSts()==6L){
-// wrkMastTask = getRgvInTask(rgv);
-// list = wrkMastMapper.selectRgvInWorking(rgv.getId());
-// type = 1;
-// } else if(wrkMast1.getWrkSts()==16L){
-// wrkMastTask = getRgvOutTask(rgv);
-// list = wrkMastMapper.selectRgvOutWorking(rgv.getId());
-// type = 2;
-// }
-// if(wrkMastTask.size() > 0){//鏈夌户缁墽琛屼换鍔★紝涓嬪彂鍙栬揣浠诲姟缁欏伐浣�2
-// // 宸茬粡瀛樺湪RGV鎵ц浠诲姟鏃讹紝鍒欒繃婊�
-// if (list.size() > 1) {
-// continue;
-// }
-// WrkMast wrkMast2 = wrkMastTask.get(0);
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgv.getId()); // RGV缂栧彿
-// rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo2(wrkMast2.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(wrkMast2.getRgvSstaNo().shortValue()); //宸ヤ綅2婧愮珯鐐�
-// rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //宸ヤ綅2鐩爣绔欑偣
-// rgvCommand.setCommand((short) 0); //宸ヤ綅1銆�2浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Crn, wrkMast2.getRgvNo(), 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�={}", rgv.getId(), JSON.toJSON(rgvCommand));
-// } else {
-// // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 6.RGV鍏ュ簱鍙栬揣涓�
-// Date now = new Date();
-// wrkMast2.setWrkSts(type==1 ? 6L : 16L);
-// wrkMast2.setCrnStrTime(now);
-// wrkMast2.setModiTime(now);
-// if (wrkMastMapper.updateById(wrkMast2) == 0) {
-// log.error("宸ヤ綅2淇敼宸ヤ綔妗ｇ姸鎬� 2/14.璁惧涓婅蛋 => 6/16.RGV鍏ュ簱鍙栬揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast2.getWrkNo());
-// }
-// }
-// } else {//娌℃湁缁х画鎵ц浠诲姟锛屼笅鍙戞斁璐т换鍔＄粰宸ヤ綅1
-// if(type == 1 && wrkMast1.getWrkSts() != 6L){//RGV鍏ュ簱鍙栬揣涓�
-// continue;
-// }
-// if(type == 2 && wrkMast1.getWrkSts() != 16L){//RGV鍑哄簱鍙栬揣涓�
-// continue;
-// }
-//
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgv.getId()); // RGV缂栧彿
-// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1(wrkMast1.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.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //宸ヤ綅1婧愮珯鐐�
-// rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
-// rgvCommand.setCommand((short) 0); //宸ヤ綅1銆�2浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2浠诲姟纭锛� step=4锛屽伐浣�1纭锛� step=5锛屽伐浣�2浠诲姟纭
-// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgv.getId(), JSON.toJSON(rgvCommand));
-// } else {
-// // 淇敼宸ヤ綔妗ｇ姸鎬� 6.RGV鍏ュ簱鍙栬揣涓� => 7.RGV鍏ュ簱鏀捐揣涓�
-// Date now = new Date();
-// wrkMast1.setWrkSts(type==1 ? 7L : 17L);
-// wrkMast1.setCrnEndTime(now);
-// wrkMast1.setModiTime(now);
-// if (wrkMastMapper.updateById(wrkMast1) == 0) {
-// log.error("淇敼宸ヤ綔妗ｇ姸鎬� 6/16.RGV鍏ュ簱鍙栬揣涓� => 7/17.RGV鍏ュ簱鏀捐揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast1.getWrkNo());
-// }
-// log.error("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgv.getId(), JSON.toJSON(rgvCommand));
-// }
-// }
-// } else if (rgvProtocol.getModeType() == RgvModeType.AUTO
-// && rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() > 0
-// && rgvProtocol.getLoaded1() > 0 && rgvProtocol.getLoaded2() > 0
-// && rgvProtocol.statusType2 == RgvStatusType.FETCHWAITING){
-// // 宸ヤ綅2鐘舵�侊細涔熸槸鍙栬揣瀹屾垚绛夊緟纭91 骞朵笖 浠诲姟瀹屾垚浣� = 1, 宸ヤ綅1銆�2鍚屾椂涓嬪彂鏀捐揣浠诲姟
-// WrkMast wrkMast1 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
-// WrkMast wrkMast2 = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo2().intValue());
-// // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-// RgvCommand rgvCommand = new RgvCommand();
-// rgvCommand.setRgvNo(rgv.getId()); // RGV缂栧彿
-// rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo1(wrkMast1.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.setSourceStaNo1(wrkMast1.getRgvSstaNo().shortValue()); //宸ヤ綅1婧愮珯鐐�
-// rgvCommand.setDestinationStaNo1(wrkMast1.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
-// rgvCommand.setAckFinish2((short) 0); // 宸ヤ綅2浠诲姟瀹屾垚纭浣�
-// rgvCommand.setTaskNo2(wrkMast2.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.setSourceStaNo2(wrkMast2.getRgvSstaNo().shortValue()); //宸ヤ綅2婧愮珯鐐�
-// rgvCommand.setDestinationStaNo2(wrkMast2.getRgvDstaNo().shortValue()); //宸ヤ綅2鐩爣绔欑偣
-// rgvCommand.setCommand((short) 0); //宸ヤ綅1銆�2浠诲姟纭
-// if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(2, rgvCommand))) {
-// //step=2,宸ヤ綅1銆�2浠诲姟纭锛� step=4锛屽伐浣�1纭锛� step=5锛屽伐浣�2浠诲姟纭
-// log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgv.getId(), JSON.toJSON(rgvCommand));
-// } else {
-// // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 6.RGV鍏ュ簱鍙栬揣涓�
-// Date now = new Date();
-// wrkMast1.setWrkSts(wrkMast1.getWrkSts()==6L ? 7L : 17L);
-// wrkMast1.setCrnStrTime(now);
-// wrkMast1.setModiTime(now);
-// if (wrkMastMapper.updateById(wrkMast1) == 0) {
-// log.error("淇敼宸ヤ綔妗ｇ姸鎬� 6/16.RGV鍏ュ簱鍙栬揣涓� => 7/17.RGV鍏ュ簱鏀捐揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast1.getWrkNo());
-// }
-//
-// wrkMast2.setWrkSts(wrkMast2.getWrkSts()==6L ? 7L : 17L);
-// wrkMast2.setCrnStrTime(now);
-// wrkMast2.setModiTime(now);
-// if (wrkMastMapper.updateById(wrkMast2) == 0) {
-// log.error("淇敼宸ヤ綔妗ｇ姸鎬� 6/16.RGV鍏ュ簱鍙栬揣涓� => 7/17.RGV鍏ュ簱鏀捐揣涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast2.getWrkNo());
-// }
-// }
-// }
- }
-
- }
- }
-
- /**
- * 鍏ュ嚭搴� ===>> RGV鍑哄簱绔欏埌鍫嗗灈鏈哄叆搴撶珯/绯荤粺鍏ュ簱绔�
- * rgvInDStnToCrnStn
- */
- public synchronized void rgvDestStnToCrnStn() {
- for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
- // 閬嶅巻鍏ュ簱浠诲姟鐨凴GV鍑哄簱绔�
- for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) {
- // 鑾峰彇RGV鍑哄簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
- // 鏌ヨ宸ヤ綔妗ist
-// List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep2(staProtocol.getSiteId());
- List<WrkMast> wrkMasts = wrkMastMapper.selectRgvDestStep2(staProtocol.getSiteId());
- for(WrkMast wrkMast : wrkMasts){
- // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
- if (wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null
- || wrkMast.getRgvSstaNo() == null || wrkMast.getRgvDstaNo() == null) {
- continue;
- }
-
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- // 鍒ゆ柇RGV鐘舵�佺瓑寰呯‘璁�,宸ヤ綅1
- if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())
- && rgvProtocol.statusType1 == RgvStatusType.WAITING) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- // 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
- continue;
- }
- // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负2,14
- wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L);
- wrkMast.setOnlineYn("Y");
- wrkMast.setCrnEndTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) != 0) {
- // 澶嶄綅RGV宸ヤ綅1
- rgvThread.setResetFlag1(true);
- } else {
- log.error("RGV宸ヤ綅1鎺ラ┏锛屾洿鏂板伐浣滄。鐨勫伐浣滅姸鎬佷负{}澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo());
- }
- }
- // 鍒ゆ柇RGV鐘舵�佺瓑寰呯‘璁�,宸ヤ綅2
- if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue())
- && rgvProtocol.statusType2 == RgvStatusType.WAITING) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- // 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
- continue;
- }
- // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负2,14
- wrkMast.setWrkSts(wrkMast.getWrkSts()==7L ? 2L : 14L);
- wrkMast.setOnlineYn("Y");
- wrkMast.setCrnEndTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) != 0) {
- // 澶嶄綅RGV宸ヤ綅2
- rgvThread.setResetFlag2(true);
- } else {
- log.error("RGV宸ヤ綅2鎺ラ┏锛屾洿鏂板伐浣滄。鐨勫伐浣滅姸鎬佷负{}澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkSts()==7L ? 2L : 14L, wrkMast.getWrkNo());
- }
- }
- }
-
- }
- }
- }
- }
-
- /**
- * 鍑哄簱 ===>> RGV鍑哄簱绔欏埌绯荤粺鍑哄簱绔�
- */
- public synchronized void rgvOutDStnToOutStn() {
- for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
- // 閬嶅巻鍑哄簱浠诲姟鐨凴GV鍑哄簱绔�
- for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvDestStn()) {
- // 鑾峰彇RGV鍑哄簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
- // 鏌ヨ宸ヤ綔妗ist
- List<WrkMast> wrkMasts = wrkMastMapper.selectRgvOutStep2(staProtocol.getSiteId());
- for(WrkMast wrkMast : wrkMasts){
- // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
- if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null
- || wrkMast.getRgvSstaNo() == null || wrkMast.getRgvDstaNo() == null) {
- continue;
- }
-
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, wrkMast.getRgvNo());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- // 鍒ゆ柇RGV鐘舵�佺瓑寰呯‘璁�,宸ヤ綅1
- if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo1().equals(wrkMast.getWrkNo().shortValue())
- && rgvProtocol.statusType1 == RgvStatusType.WAITING) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- // 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
- continue;
- }
- // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14
- wrkMast.setWrkSts(14L);
- wrkMast.setOnlineYn("Y"); //鎺у埗WMS灏嗗伐浣滅姸鎬�14杞�15鐨勬椂鏈猴紝鍙湁RGV杩愭惉瀹屾垚鍚庢墠鍙互杞�
- wrkMast.setCrnEndTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) != 0) {
- // 澶嶄綅RGV宸ヤ綅1
- rgvThread.setResetFlag1(true);
- } else {
- log.error("RGV宸ヤ綅1鎺ラ┏锛屾洿鏂板伐浣滄。鐨勫伐浣滅姸鎬佷负2澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
- }
- }
- // 鍒ゆ柇RGV鐘舵�佺瓑寰呯‘璁�,宸ヤ綅2
- if (rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.getTaskNo2().equals(wrkMast.getWrkNo().shortValue())
- && rgvProtocol.statusType2 == RgvStatusType.WAITING) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- // 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- if (!MessageQueue.offer(SlaveType.Devp, rgvStn.getDevpPlcId(), new Task(2, staProtocol))) {
- continue;
- }
- // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负14
- wrkMast.setWrkSts(14L);
- wrkMast.setOnlineYn("Y"); //鎺у埗WMS灏嗗伐浣滅姸鎬�14杞�15鐨勬椂鏈猴紝鍙湁RGV杩愭惉瀹屾垚鍚庢墠鍙互杞�
- wrkMast.setCrnEndTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) != 0) {
- // 澶嶄綅RGV宸ヤ綅2
- rgvThread.setResetFlag2(true);
- } else {
- log.error("RGV宸ヤ綅2鎺ラ┏锛屾洿鏂板伐浣滄。鐨勫伐浣滅姸鎬佷负2澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
- }
- }
- }
-
- }
- }
- }
}
/**
@@ -2504,6 +1998,49 @@
// 鍫嗗灈鏈烘帶鍒惰繃婊�
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
return;
+ }
+ // 鍙屾繁搴撲綅涓旀祬搴撲綅鏈夎揣锛屽垯闇�鍏堝娴呭簱浣嶈繘琛屽簱浣嶇Щ杞�
+ if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
+ String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
+ LocMast shallowLoc = locMastService.selectById(shallowLocNo);
+ // O.绌哄簱浣嶃�丵.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴撱�丼.鍏ュ簱棰勭害銆乆.绂佺敤 鐩存帴鎼紒
+ if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+ if (null == waitWrkMast) {
+ log.error("{}搴撲綅寮傚父锛屾湭妫�绱㈠埌鐩稿簲宸ヤ綔妗ｏ紒", shallowLocNo);
+ } else {
+ if (waitWrkMast.getWrkSts() == 11) {
+ waitWrkMast.setIoPri(15D);
+ waitWrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(waitWrkMast) == 0) {
+ log.error("璋冩暣宸ヤ綔妗ｄ紭鍏堢骇澶辫触锛佸伐浣滃彿={}", waitWrkMast.getWrkNo());
+ }
+ return;
+ } else {
+
+ }
+ }
+ } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
+// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
+ //2022-08-16 modify,涓嶆牴鎹畊pdmk鏍囪绉诲簱浠诲姟(瀹规槗琚彇娑堝鑷村牭濉�)锛屾煡璇㈠伐浣滄。鏄惁瀛樺湪浠诲姟
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
+ // 姝ゆ爣璁伴伩鍏嶅娆℃墽琛岀Щ搴撲换鍔�
+// if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
+// || Cools.isEmpty(waitWrkMast)) {
+ if (Cools.isEmpty(waitWrkMast)) {
+ wrkMast.setUpdMk("Y");
+ wrkMastMapper.updateById(wrkMast);
+ // 鐢熸垚宸ヤ綔妗�,灏嗘祬搴撲綅绉昏浆鍒版柊鐨勫簱浣嶄腑
+ moveLocForDeepLoc(slave, shallowLoc);
+ }
+ log.error("{}浠诲姟鍑哄簱澶辫触锛屾祬搴撲綅鍫靛锛佹祬搴撲綅鍙�:{}", wrkMast.getWrkNo(), shallowLocNo);
+ return;
+ } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
+ WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
+ if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
+ return;
+ }
+ }
}
// 宸茬粡瀛樺湪鍚婅溅鎵ц浠诲姟鏃讹紝鍒欒繃婊�
@@ -2551,7 +2088,7 @@
}
// 鐘舵�侊細绛夊緟纭 骞朵笖 浠诲姟瀹屾垚浣� = 1
if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
- if (crnProtocol.getTaskNo() == 9999) {
+ if (crnProtocol.getTaskNo() == 32222) {
// 鍫嗗灈鏈哄浣�
crnThread.setResetFlag(true);
} else {
@@ -2564,6 +2101,9 @@
// 鍏ュ簱 + 搴撲綅杞Щ ==> 4.鍏ュ簱瀹屾垚
if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
wrkMast.setWrkSts(4L);
+ if (wrkMast.getIoType() == 3) {
+ wrkMast.setWrkSts(13L);
+ }
} else {
continue;
}
@@ -2838,6 +2378,7 @@
*/
public synchronized void storeEmptyPlt() {
for (DevpSlave devp : slaveProperties.getDevp()) {
+ if (devp.getId() == 1) continue;
// 閬嶅巻绌烘澘鍏ュ簱鍙�
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
// 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
@@ -2851,7 +2392,7 @@
// 绔欑偣鏉′欢鍒ゆ柇
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
- && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {
+ && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo() == 0) && staProtocol.isPakMk()) {
try {
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -2871,8 +2412,8 @@
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
// 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
+ staProtocol.setWorkNo(dto.getWorkNo());
+ staProtocol.setStaNo(dto.getStaNo());
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
if (!result) {
@@ -2887,6 +2428,121 @@
}
}
}
+ }
+ }
+
+ /**
+ * 鍏ュ簱 ===>> 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,1妤煎彔鐩樻満鍙犵洏
+ */
+ public synchronized void storeEmptyPlt2() {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ if (devp.getId() == 2) continue;
+ // 閬嶅巻绌烘澘鍏ュ簱鍙�
+ for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
+ // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ // 绔欑偣鏉′欢鍒ゆ柇
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
+ && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo() == 0) && staProtocol.isPakMk()) {
+ try {
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
+ if (Cools.isEmpty(wrkMastSta)) {
+ WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(), staProtocol.getSiteId());
+ wrkMastSta1.setType(2);
+ wrkMastSta1.setWrkType(1);//宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 3锛氬彇鏀� 5锛氭弧鍙� 6锛氭弧鏀�
+ wrkMastStaMapper.insert(wrkMastSta1);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ }
+ }
+ }
+
+ /**
+ * 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
+ */
+ public synchronized void storeEmptyPlt3() {
+ try {
+ RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
+ if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign() == 1) {
+ return;
+ }
+ 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�", 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.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+// && (rgvProtocol.getLoaded2()==2 || rgvProtocol.getLoaded2()==3 ) ////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗� 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3 1銆�2灞傞兘鏈夌墿 4锛氾紙锛夊彧鍏佽鎷嗙洏
+ && rgvProtocol.getLoaded2() == 3 ////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗� 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3 1銆�2灞傞兘鏈夌墿 4锛氾紙锛夊彧鍏佽鎷嗙洏
+ ) {
+ try {
+ WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
+ if (!Cools.isEmpty(wrkMast1)) {
+ continue;
+ }
+ // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
+
+ SearchLocParam param = new SearchLocParam();
+ param.setIoType(10);
+ param.setSourceStaNo(122);
+ param.setLocType1((short) 1);
+ param.setRgvNo(rgvProtocol.getRgvNo());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/empty/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+ // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep3(dto.getWorkNo());
+ if (!Cools.isEmpty(wrkMast) && wrkMast.getIoType() == 10 && wrkMast.getWrkSts() == 2) {
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
+ if (Cools.isEmpty(wrkMastSta)) {
+ WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(), wrkMast.getStaNo());
+ wrkMastSta1.setWrkNo(wrkMast.getWrkNo().longValue());
+ wrkMastSta1.setType(2);
+ wrkMastSta1.setWrkType(6);//宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 3锛氬彇鏀� 5锛氭弧鍙� 6锛氭弧鏀�
+ wrkMastStaMapper.insert(wrkMastSta1);
+ }
+ }
+ } else {
+ log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/empty/loc/v1", JSON.toJSONString(param), response);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ }
+ } 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);
}
}
@@ -2923,6 +2579,7 @@
// 鍑哄簱妯″紡
switch (wrkMast.getIoType()) {
case 1:
+ case 202:
ledCommand.setTitle("鍏ㄦ澘鍏ュ簱");
break;
case 10:
@@ -2944,6 +2601,10 @@
ledCommand.setTitle("绌烘澘鍑哄簱");
ledCommand.setEmptyMk(true);
break;
+ case 212:
+ ledCommand.setTitle("绌烘澘鍑哄簱");
+ ledCommand.setEmptyMk(true);
+ break;
default:
log.error("浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
break;
@@ -2954,7 +2615,7 @@
// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
- wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())));
+ wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl)));
}
commands.add(ledCommand);
}
@@ -2967,21 +2628,22 @@
}
// 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
if (!commands.isEmpty()) {
- if (led.getId() == 7) {
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
- log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
- continue;
- } else {
- ledThread.setLedMk(false);
- }
+// if (led.getId() == 7) {
+ if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
+ log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+ continue;
} else {
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
- log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
- continue;
- } else {
- ledThread.setLedMk(false);
- }
+ ledThread.setLedMk(false);
}
+// }
+// else {
+// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
+// log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+// continue;
+// } else {
+// ledThread.setLedMk(false);
+// }
+// }
}
@@ -3133,9 +2795,18 @@
try {
List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
LocMast loc = null;
+
+ // 鑾峰彇澶囪揣鍖洪厤缃�
+ Config config = configMapper.selectConfigByCode("auto_stock_up");
+ if (config == null) {
+ return;
+ }
+ // 澶囪揣鍙栨槸鍓嶅嚑鍒�
+ int bay1 = Integer.parseInt(config.getValue());
+
for (Integer row : rows) {
if (Utils.isDeepLoc(slaveProperties, row)) {
- loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
+ loc = locMastService.queryFreeLocMastNotBay(row, shallowLoc.getLocType1(), bay1);
if (loc != null) {
if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
@@ -3154,7 +2825,7 @@
if (null == loc) {
for (Integer row : rows) {
if (Utils.isShallowLoc(slaveProperties, row)) {
- loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
+ loc = locMastService.queryFreeLocMastNotBay(row, shallowLoc.getLocType1(), bay1);
if (null != loc) {//瀵瑰簲娣卞簱浣嶉潪鍦ㄥ簱鐘舵��,涓嶈兘绉诲簱
String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
@@ -3173,68 +2844,69 @@
if (null == loc) {
log.error("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
- throw new CoolException("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
- }
+// throw new CoolException("鍙屾繁搴撲綅 --- 娴呭簱浣嶉樆濉炲紓甯革紒 寰呯Щ杞祬搴撲綅锛�" + shallowLoc.getLocNo());
+ } else {
- // 鑾峰彇宸ヤ綔鍙�
- int workNo = commonService.getWorkNo(0);
- // 淇濆瓨宸ヤ綔妗�
- WrkMast wrkMast = new WrkMast();
- wrkMast.setWrkNo(workNo);
- wrkMast.setIoTime(new Date());
- wrkMast.setWrkSts(11L); // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
- wrkMast.setIoType(11); // 鍏ュ嚭搴撶姸鎬侊細 11.搴撴牸绉昏浇
- wrkMast.setIoPri(13D);
- wrkMast.setCrnNo(crn.getId());
- wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 婧愬簱浣�
- wrkMast.setLocNo(loc.getLocNo()); // 鐩爣搴撲綅
- wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 婊℃澘
- wrkMast.setPicking("N"); // 鎷ｆ枡
- wrkMast.setExitMk("N"); // 閫�鍑�
- wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 绌烘澘
- wrkMast.setBarcode(shallowLoc.getBarcode()); // 鎵樼洏鐮�
- wrkMast.setLinkMis("N");
- wrkMast.setAppeTime(new Date());
- wrkMast.setModiTime(new Date());
- int res = wrkMastMapper.insert(wrkMast);
- if (res == 0) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
- }
- // 宸ヤ綔妗ｆ槑缁嗕繚瀛�
- if (shallowLoc.getLocSts().equals("F")) {
- List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
- for (LocDetl locDetl : locDetls) {
- WrkDetl wrkDetl = new WrkDetl();
- wrkDetl.setWrkNo(workNo);
- wrkDetl.setIoTime(new Date());
- wrkDetl.setAnfme(locDetl.getAnfme());
- VersionUtils.setWrkDetl(wrkDetl, locDetl); // 鐗堟湰鎺у埗
- wrkDetl.setAppeTime(new Date());
- wrkDetl.setModiTime(new Date());
- if (!wrkDetlService.insert(wrkDetl)) {
- throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
+ // 鑾峰彇宸ヤ綔鍙�
+ int workNo = commonService.getWorkNo(0);
+ // 淇濆瓨宸ヤ綔妗�
+ WrkMast wrkMast = new WrkMast();
+ wrkMast.setWrkNo(workNo);
+ wrkMast.setIoTime(new Date());
+ wrkMast.setWrkSts(11L); // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
+ wrkMast.setIoType(11); // 鍏ュ嚭搴撶姸鎬侊細 11.搴撴牸绉昏浇
+ wrkMast.setIoPri(13D);
+ wrkMast.setCrnNo(crn.getId());
+ wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 婧愬簱浣�
+ wrkMast.setLocNo(loc.getLocNo()); // 鐩爣搴撲綅
+ wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 婊℃澘
+ wrkMast.setPicking("N"); // 鎷ｆ枡
+ wrkMast.setExitMk("N"); // 閫�鍑�
+ wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 绌烘澘
+ wrkMast.setBarcode(shallowLoc.getBarcode()); // 鎵樼洏鐮�
+ wrkMast.setLinkMis("N");
+ wrkMast.setAppeTime(new Date());
+ wrkMast.setModiTime(new Date());
+ int res = wrkMastMapper.insert(wrkMast);
+ if (res == 0) {
+ throw new CoolException("淇濆瓨宸ヤ綔妗ｅけ璐�");
+ }
+ // 宸ヤ綔妗ｆ槑缁嗕繚瀛�
+ if (shallowLoc.getLocSts().equals("F")) {
+ List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
+ for (LocDetl locDetl : locDetls) {
+ WrkDetl wrkDetl = new WrkDetl();
+ wrkDetl.setWrkNo(workNo);
+ wrkDetl.setIoTime(new Date());
+ wrkDetl.setAnfme(locDetl.getAnfme());
+ VersionUtils.setWrkDetl(wrkDetl, locDetl); // 鐗堟湰鎺у埗
+ wrkDetl.setAppeTime(new Date());
+ wrkDetl.setModiTime(new Date());
+ if (!wrkDetlService.insert(wrkDetl)) {
+ throw new CoolException("淇濆瓨宸ヤ綔妗ｆ槑缁嗗け璐�");
+ }
}
}
- }
- // 淇敼婧愬簱浣嶇姸鎬�
- if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
- shallowLoc.setLocSts("R"); // R.鍑哄簱棰勭害
- shallowLoc.setModiTime(new Date());
- if (!locMastService.updateById(shallowLoc)) {
- throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
+ // 淇敼婧愬簱浣嶇姸鎬�
+ if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
+ shallowLoc.setLocSts("R"); // R.鍑哄簱棰勭害
+ shallowLoc.setModiTime(new Date());
+ if (!locMastService.updateById(shallowLoc)) {
+ throw new CoolException("鏇存柊婧愬簱浣嶇姸鎬佸け璐�");
+ }
+ } else {
+ throw new CoolException("婧愬簱浣嶅嚭搴撳け璐�");
}
- } else {
- throw new CoolException("婧愬簱浣嶅嚭搴撳け璐�");
- }
- // 淇敼鐩爣搴撲綅鐘舵��
- if (loc.getLocSts().equals("O")) {
- loc.setLocSts("S"); // S.鍏ュ簱棰勭害
- loc.setModiTime(new Date());
- if (!locMastService.updateById(loc)) {
- throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
+ // 淇敼鐩爣搴撲綅鐘舵��
+ if (loc.getLocSts().equals("O")) {
+ loc.setLocSts("S"); // S.鍏ュ簱棰勭害
+ loc.setModiTime(new Date());
+ if (!locMastService.updateById(loc)) {
+ throw new CoolException("鏇存柊鐩爣搴撲綅鐘舵�佸け璐�");
+ }
+ } else {
+ throw new CoolException("绉昏浆澶辫触");
}
- } else {
- throw new CoolException("绉昏浆澶辫触");
}
} catch (Exception e) {
log.error("鍙屾繁搴撲綅闃诲锛屽娴呭簱浣嶈繘琛岀Щ杞け璐�", e);
@@ -3243,26 +2915,26 @@
}
}
- /**
- * 鍒濆鍖朢GV鍦板浘
- */
- public synchronized void initRgvMap() {
- Object data = redisUtil.get("rgv_map");
- if (data == null) {
- //閲嶆柊鑾峰彇鍏ㄨ矾寰勫湴鍥�
- BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//鑾峰彇榛樿璺緞
- if (basRgvPath != null) {
- ArrayList<RgvNode> rgvNodes = new ArrayList<>();
- List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
- for (Integer integer : rgvPath) {
- RgvNode rgvNode = new RgvNode(integer);
- rgvNodes.add(rgvNode);
- }
- //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
- redisUtil.set("rgv_map", JSON.toJSONString(rgvNodes));
- }
- }
- }
+// /**
+// * 鍒濆鍖朢GV鍦板浘
+// */
+// public synchronized void initRgvMap() {
+// Object data = redisUtil.get("rgv_map");
+// if (data == null) {
+// //閲嶆柊鑾峰彇鍏ㄨ矾寰勫湴鍥�
+// BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//鑾峰彇榛樿璺緞
+// if (basRgvPath != null) {
+// ArrayList<RgvNode> rgvNodes = new ArrayList<>();
+// List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
+// for (Integer integer : rgvPath) {
+// RgvNode rgvNode = new RgvNode(integer);
+// rgvNodes.add(rgvNode);
+// }
+// //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
+// redisUtil.set("rgv_map", JSON.toJSONString(rgvNodes));
+// }
+// }
+// }
/**
* 鍫嗗灈鏈烘紨绀� ===>> 搴撲綅绉昏浆
@@ -3478,97 +3150,6 @@
}
- public synchronized void outOfDevp() {
- List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
- for (WrkMast wrkMast : wrkMasts) {
- if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
- wrkMast.setCtnNo("Y");
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼{}宸ヤ綔妗ｅけ璐ワ紝ctn_no", wrkMast.getWrkNo());
- }
- }
-
- }
- }
-
-
- public synchronized void autoEmptyOut() {
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- Integer autoOutSite = 12;
- //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(autoOutSite);
- if (staProtocol == null) {
- return;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (staProtocol.isAutoing() //鑷姩
- && !staProtocol.isLoading() //鏃犵墿
- && staProtocol.isOutEnable() //鍙嚭淇″彿
- && staProtocol.getWorkNo() == 0
- ) {
- WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(autoOutSite);
- if (null != pakoutEmpty) {
- return;
- }
- try {
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/auto/emptyOut/v1")
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- JSONObject data = (JSONObject) jsonObject.get("data");
- log.info((String) data.get("msg"));
- } else {
- log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
- }
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
- }
- }
-
- public synchronized void autoEmptyIn() {
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- Integer autoInSite = 12;
- StaProtocol staProtocol = devpThread.getStation().get(autoInSite);
- if (staProtocol == null) {
- return;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (staProtocol.isAutoing() //鑷姩
- && staProtocol.isLoading() //鏈夌墿
- && staProtocol.isInEnable() //鍙叆淇″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�
- ) {
-
- try {
- LocTypeDto locTypeDto = new LocTypeDto((short) 1, (short) 1, (short) 1);
-
-
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/auto/emptyIn/v1")
- .setJson(JSON.toJSONString(locTypeDto))
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- if (jsonObject.getInteger("code").equals(200)) {
- log.info((String) jsonObject.get("msg"));
- } else {
- log.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
- }
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
- }
- }
-
// /**
// * 鍏朵粬 ===>> 鐮佸灈浣嶈嚜鍔ㄨˉ鍏呯┖鏉匡細椹卞姩鎷嗙洏鏈鸿緭鍑烘墭鐩�
// */
@@ -3639,14 +3220,14 @@
*/
public synchronized void stackingCompletionDriveTray() {
try {
- int[] staNos=new int[]{216,220,123};//(3涓叆搴撶珯鐐癸紝1妤�1涓��璐х爜鍨涚珯锛�2妤间袱涓叆搴撶爜鍨涚珯)
- for (int staNo : staNos){
+ int[] staNos = new int[]{215, 219};//(2妤间袱涓叆搴撶爜鍨涚珯)
+ for (int staNo : staNos) {
BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp.getWrkNo()!=9992 || Cools.isEmpty(basDevp.getBarcode())){
+ if ((basDevp.getWrkNo() != 0 && (basDevp.getWrkNo() < 9900 || basDevp.getWrkNo() > 9999)) || Cools.isEmpty(basDevp.getBarcode())) {
continue;
}
- Integer zpallet = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", basDevp.getBarcode()).eq("status","N"));
- if (zpallet<=0){
+ Integer zpallet = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet", basDevp.getBarcode()).eq("status", "N"));
+ if (zpallet <= 0) {
continue;
}
// 鑾峰彇鍏ュ簱绔欎俊鎭�
@@ -3664,8 +3245,8 @@
// continue;
// }
- if (!staProtocol.isLoading()){
- log.info("{}绔欑偣鏃犵墿锛屾鍦ㄨ嚜鍔ㄨ皟鍑虹┖鏉匡紒",staNo);
+ if (!staProtocol.isLoading()) {
+ log.info("{}绔欑偣鏃犵墿锛屾鍦ㄨ嚜鍔ㄨ皟鍑虹┖鏉匡紒", staNo);
continue;
}
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
@@ -3673,12 +3254,11 @@
&& staProtocol.isLoading()
&& staProtocol.isInEnable()
&& !staProtocol.isEmptyMk()
- && staProtocol.getWorkNo() == 9992
+ && (basDevp.getWrkNo() == 0 || (basDevp.getWrkNo() >= 9900 && basDevp.getWrkNo() <= 9999))
) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
-
- staProtocol.setWorkNo((short)9999);
- staNo = staNo + 1;
- staProtocol.setStaNo((short)staNo);
+ int workNo = commonService.getWorkNo(5);
+ staProtocol.setWorkNo(workNo);
+ staProtocol.setStaNo(staNo + 2);
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
if (!result) {
@@ -3687,24 +3267,29 @@
}
}
- }catch (Exception e){
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ } catch (Exception e) {
+// e.printStackTrace();
+// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ log.error("鍏朵粬 ===>> 鐮佸灈瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝ワ紙鍏ュ簱鍓嶆壂鐮侊級" + e);
}
}
+
/**
* 鍏朵粬 ===>> 鐮佸灈瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�
*/
public synchronized void stackingCompletionDriveTray2() {
try {
- int[] staNos=new int[]{133,135};//(2涓叆搴撶珯鐐癸紝1妤�2涓嚭搴撶爜鍨涚珯,鏍规嵁鐜板満淇敼)
- for (int staNo : staNos){
+ int[] staNos = new int[]{131, 135};//(2涓叆搴撶珯鐐癸紝1妤�2涓嚭搴撶爜鍨涚珯,鏍规嵁鐜板満淇敼)
+ for (int staNo : staNos) {
BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp.getWrkNo()<9990){
+ if (Cools.isEmpty(basDevp) || basDevp.getReportSign() != 1) {
+ continue;
+ }
+ if (basDevp.getWrkNo() != 0 && (basDevp.getWrkNo() < 9900 || basDevp.getWrkNo() > 9999)) {
continue;
}
WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
- if (Cools.isEmpty(wrkMast)){
+ if (Cools.isEmpty(wrkMast)) {
continue;
}
// 鑾峰彇绔欑偣淇℃伅
@@ -3722,18 +3307,23 @@
// continue;
// }
- if (!staProtocol.isLoading()){
- log.info("{}绔欑偣鏃犵墿锛屽紓甯革紒",staNo);
+ if (!staProtocol.isLoading()) {
+ log.info("{}绔欑偣鏃犵墿锛屽紓甯革紒", staNo);
continue;
}
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing()
&& staProtocol.isLoading()
- && staProtocol.getWorkNo() >= 9990
+ && staProtocol.isInEnable()
+ && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() > 9899 && staProtocol.getWorkNo() < 10000))
) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ //浠诲姟瀹屾垚
+ boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
+ Thread.sleep(100);
+
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(144);
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
if (!result) {
@@ -3741,27 +3331,90 @@
}
wrkMast.setWrkSts(52L);
wrkMastMapper.updateById(wrkMast);
+ Thread.sleep(100);
+
+ //浠诲姟瀹屾垚
+ boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol));
}
}
- }catch (Exception e){
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ } catch (Exception e) {
+// e.printStackTrace();
+// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ log.error("鍏朵粬 ===>> 鐮佸灈瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�" + e);
}
}
+
+ /**
+ * 鍏朵粬 ===>> 鐮佸灈瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�
+ */
+ public synchronized void stackingCompletionDriveTrayOk2() {
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+ for (DevpSlave.Sta pickSta : devp.getPickSta2()) {
+
+ // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo() != 0 && staProtocol.isOutEnable()) {//
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
+
+ if (wrkMast == null) {
+ log.error("绔欑偣鍙�" + staProtocol.getSiteId() + "鏈煡璇㈠埌宸ヤ綔妗ｆ锛�");
+ // 鏃犳嫞鏂欐暟鎹�
+ continue;
+ }
+ if (Cools.isEmpty(wrkMast.getSheetNo()) || !wrkMast.getSheetNo().equals("2") || wrkMast.getIoType() < 100 || wrkMast.getWrkSts() != 14) {
+ continue;
+ }
+ if (wrkMast.getIoType() == 101) {
+ //浠诲姟瀹屾垚
+ boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
+ wrkMast.setSheetNo("3");
+ wrkMastMapper.updateById(wrkMast);
+ } else {
+ if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
+ || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
+ continue;
+ }
+ //浠诲姟瀹屾垚
+ boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol));
+ wrkMast.setSheetNo("3");
+ wrkMastMapper.updateById(wrkMast);
+
+ try {
+ Thread.sleep(100);
+ } catch (Exception e) {
+
+ }
+
+ boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol));
+
+ }
+ }
+ }
+ }
+ }
+
/**
* 鍏朵粬 ===>> 璐存爣瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�
*/
public synchronized void stackingCompletionDriveTray3() {
try {
- int[] staNos=new int[]{144};//(1妤�1涓创鏍囦綅,鏍规嵁鐜板満淇敼)
- for (int staNo : staNos){
+ int[] staNos = new int[]{144};//(1妤�1涓创鏍囦綅,鏍规嵁鐜板満淇敼)
+ for (int staNo : staNos) {
BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp.getWrkNo()<9990){
+ if ((basDevp.getWrkNo() < 9900 || basDevp.getWrkNo() > 9999) && basDevp.getWrkNo() != 32222) {
continue;
}
WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
- if (Cools.isEmpty(wrkMast)){
+ if (Cools.isEmpty(wrkMast)) {
continue;
}
// 鑾峰彇绔欑偣淇℃伅
@@ -3779,20 +3432,20 @@
// continue;
// }
- if (!staProtocol.isLoading()){
- log.info("{}绔欑偣鏃犵墿锛屽紓甯革紒",staNo);
+ if (!staProtocol.isLoading()) {
+ log.info("{}绔欑偣鏃犵墿锛屽紓甯革紒", staNo);
continue;
}
- if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo().shortValue())){
- log.info("绔欑偣宸ヤ綔鍙�={} 涓庤创鏍囧伐浣滃彿={} 涓嶄竴鑷达紝寮傚父锛�",staProtocol.getWorkNo(),wrkMast.getWrkNo().shortValue());
+ if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo())) {
+ log.info("绔欑偣宸ヤ綔鍙�={} 涓庤创鏍囧伐浣滃彿={} 涓嶄竴鑷达紝寮傚父锛�", staProtocol.getWorkNo(), wrkMast.getWrkNo().shortValue());
}
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing()
&& staProtocol.isLoading()
) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(wrkMast.getStaNo());
devpThread.setPakMk(staProtocol.getSiteId(), false);
boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
if (!result) {
@@ -3803,18 +3456,169 @@
}
}
- }catch (Exception e){
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ } catch (Exception e) {
+// e.printStackTrace();
+// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ log.error("鍏朵粬 ===>> 璐存爣瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�" + e);
}
}
/**
- * 瀹屾垚灏忚溅浠诲姟
+ * 鍏朵粬 ===>> 閫�璐х爜鍨涘畬鎴愭墭鐩樼户缁笅涓�姝�
+ */
+ public synchronized void stackingCompletionDriveTrayOk3() {
+ try {
+ int[] staNos = new int[]{118};
+ for (int staNo : staNos) {
+ BasDevp basDevp = basDevpService.selectById(staNo);
+ if (Cools.isEmpty(basDevp) || basDevp.getWrkNo() != 0 || basDevp.getReportSign() != 3) {
+ continue;
+ }
+ WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne145(145);
+ if (Cools.isEmpty(wrkMast)) {
+ continue;
+ }
+ // 鑾峰彇绔欑偣淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ StaProtocol staProtocol147 = devpThread.getStation().get(147);
+ if (staProtocol147 == null) {
+ continue;
+ } else {
+ staProtocol147 = staProtocol147.clone();
+ }
+
+ if (!staProtocol.isLoading()) {
+ log.info("{}绔欑偣鏃犵墿锛屽紓甯革紒", staNo);
+ continue;
+ }
+
+ if (staProtocol147.isLoading()) {
+ log.info("{}绔欑偣鏈夌墿锛�", staProtocol147.getSiteId());
+ continue;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
+ && !staProtocol.isEmptyMk()
+ ) {
+
+ boolean result3 = MessageQueue.offer(SlaveType.Devp, 1, new Task(3, staProtocol147));
+
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(wrkMast.getStaNo());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
+ if (!result) {
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触==>椹卞姩鐮佸灈浣嶆墭鐩樺墠杩涘け璐ワ紒");
+ }
+
+ wrkMast.setSheetNo("5");
+ wrkMastMapper.updateById(wrkMast);
+
+ boolean result4 = MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol147));
+
+ }
+ }
+ } catch (Exception e) {
+// e.printStackTrace();
+// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ log.error("鍏朵粬 ===>> 閫�璐х爜鍨涘畬鎴愭墭鐩樼户缁笅涓�姝�" + e);
+ }
+ }
+
+ /**
+ * 鍏朵粬 ===>> 鎷嗗灈瀹屾垚缁х画涓嬩竴姝� 杩愯閫斾腑鑷姩閬胯绌烘澘
+ */
+ public synchronized void stackingCompletionDriveTray4() {
+ try {
+ int[] staNos = new int[]{134};//(134鏈変换鍔★紝135绌洪棽锛屽垯閬胯)
+ for (int staNo : staNos) {
+ BasDevp basDevp = basDevpService.selectById(staNo);
+ BasDevp basDevp135 = basDevpService.selectById(135);
+ if (basDevp.getWrkNo() == 0 || (basDevp.getWrkNo() < 10000 && basDevp.getWrkNo() > 9899)) {
+ continue;
+ }
+ if (basDevp135.getReportSign() != 0) {
+ continue;
+ }
+ WrkMast wrkMast131 = wrkMastMapper.selectWrkMastUnstackingOne202Two(131);
+ if (Cools.isEmpty(wrkMast131)) {
+ continue;
+ }
+ // 鑾峰彇绔欑偣淇℃伅
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol135 = devpThread.getStation().get(135);
+ if (staProtocol135 == null) {
+ continue;
+ } else {
+ staProtocol135 = staProtocol135.clone();
+ }
+ if (staProtocol135.getWorkNo() < 9900 || staProtocol135.getWorkNo() > 9999 || staProtocol135.getWorkNo() == 0
+ || !staProtocol135.isLoading() || !staProtocol135.isAutoing()) {
+ continue;
+ }
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ if (!staProtocol.isLoading()) {
+ continue;
+ }
+// if (!staProtocol.getWorkNo().equals(wrkMast131.getWrkNo())){
+// log.info("绔欑偣宸ヤ綔鍙�={} 涓庤创鏍囧伐浣滃彿={} 涓嶄竴鑷达紝寮傚父锛�",staProtocol.getWorkNo(),wrkMast131.getWrkNo().shortValue());
+// }
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing()
+ && staProtocol.isLoading()
+ && basDevp.getReportSign() == 0
+ ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
+// if (true){
+// return;
+// }
+
+ //浠诲姟瀹屾垚
+ boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));
+ try {
+ Thread.sleep(100);
+ } catch (Exception e) {
+ }
+ basDevp135.setReportSign(2);
+ basDevpService.updateById(basDevp135);
+ int workNo = commonService.getWorkNo(5);
+ staProtocol135.setWorkNo(workNo);
+ staProtocol135.setStaNo(144);
+ devpThread.setPakMk(staProtocol135.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol135));
+ if (!result) {
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触==>椹卞姩鐮佸灈浣嶆墭鐩樺墠杩涘け璐ワ紒");
+ }
+ boolean result2 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(4, staProtocol135));
+
+ }
+ }
+ } catch (Exception e) {
+// e.printStackTrace();
+// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ log.error("鍏朵粬 ===>> 璐存爣瀹屾垚椹卞姩鎵樼洏杩涘叆涓嬩竴姝�" + e);
+ }
+ }
+
+ /**
+ * 瀹屾垚灏忚溅浠诲姟
*/
public synchronized void rgvCompleteWrkMastSta() {
- try{
- for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ try {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
@@ -3827,51 +3631,733 @@
}
// 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
- if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
+ if (rgvProtocol.getStatusType() == RgvStatusType.WORKING
&& rgvProtocol.getModeType() == RgvModeType.AUTO
+ && ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType2() == RgvStatusType.WAITING) ||
+ (rgvProtocol.getStatusType1() == RgvStatusType.FETCHWAITING || rgvProtocol.getStatusType2() == RgvStatusType.FETCHWAITING))
) {
- 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()!=0){
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
- if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1 || 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);
+ 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() != 0 && (rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1() == RgvStatusType.FETCHWAITING)) {
+ if (rgvProtocol.getTaskNo1() == (short) 32222) {
+ boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
+ if (!rgvComplete) {
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+ rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
+ break;
+ }
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
+ if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType() != 1 || 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;
}
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
+ if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType() != 5) {
+ Thread.sleep(200);
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ if (!staProtocol.isAutoing() || !staProtocol.isLoading()) {
+ continue;
+ }
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(wrkMast.getStaNo());
+ if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
+ continue;
+ }
+ log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟锛�" + staProtocol);
+// try{
+// Thread.sleep(1000);
+// DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+// StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
+// log.error("灏忚溅浠诲姟瀹屾垚璇诲彇杈撻�佺嚎浠诲姟锛�"+staProtocolEnd);
+// if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
+// staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
+// staProtocolEnd.setStaNo(wrkMast.getStaNo());
+// if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
+// continue;
+// }
+// log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟绗簩娆★細"+staProtocolEnd);
+// }
+// }catch (Exception e){
+//
+// }
+ }
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
- if (!rgvComplete){
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+ if (!rgvComplete) {
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
break;
}
wrkMastSta.setWrkSts(3);
wrkMastStaMapper.updateById(wrkMastSta);
- }else if (rgvProtocol.getTaskNo2()!=0){
- WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().intValue());
- if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=2){
- 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);
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+ rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
+ } else if (rgvProtocol.getTaskNo2() != 0 && (rgvProtocol.getStatusType2() == RgvStatusType.WAITING || rgvProtocol.getStatusType2() == RgvStatusType.FETCHWAITING)) {
+ if (rgvProtocol.getTaskNo2() == (short) 32222) {
+ boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
+ if (!rgvComplete) {
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+ }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+ rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
+ break;
+ }
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().longValue());
+ if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType() != 2) {
+ 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;
}
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
+ if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType() != 5) {
+ Thread.sleep(200);
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
+ if (!staProtocol.isAutoing() || !staProtocol.isLoading()) {
+ continue;
+ }
+ // 涓嬪彂绔欑偣淇℃伅
+ staProtocol.setWorkNo(wrkMast.getWrkNo());
+ staProtocol.setStaNo(wrkMast.getStaNo());
+ if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
+ continue;
+ }
+ log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟锛�" + staProtocol);
+// try{
+// Thread.sleep(1000);
+// DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+// StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
+// log.error("灏忚溅浠诲姟瀹屾垚璇诲彇杈撻�佺嚎浠诲姟锛�"+staProtocolEnd);
+// if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
+// staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
+// staProtocolEnd.setStaNo(wrkMast.getStaNo());
+// if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
+// continue;
+// }
+// log.error("灏忚溅浠诲姟瀹屾垚涓嬪彂杈撻�佺嚎浠诲姟绗簩娆★細"+staProtocolEnd);
+// }
+// }catch (Exception e){
+//
+// }
+ }
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
- if (!rgvComplete){
- log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�",rgvProtocol.getRgvNo());
+ if (!rgvComplete) {
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
break;
}
wrkMastSta.setWrkSts(3);
wrkMastStaMapper.updateById(wrkMastSta);
- }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());
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+ rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
+ } 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());
}
}
}
- }catch (Exception e){
- log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�"+e);
+ } catch (Exception e) {
+ log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
}
}
+
+ /**
+ * 鍏ュ嚭搴� ===>> 灏忚溅浣滀笟涓嬪彂
+ */
+ public synchronized boolean rgvIoExecute(Integer sign) {
+ boolean rgvIoExecuteSign = false;
+ try {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ // 鑾峰彇灏忚溅淇℃伅
+ boolean signWork = false;
+ 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�", rgvSlave.getId());
+ continue;
+ }
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1() == 0
+ && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+ ) {
+ switch (sign) {
+ //鎵ц灏忚溅璐х墿鎼繍浠诲姟
+ case 1:
+ signWork = rgvRunWrkMastFullSta(rgvSlave);
+ break;
+ //鎵ц灏忚溅绌烘澘鎼繍浠诲姟
+ case 2://鏀�//鎷嗙洏
+ signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
+ break;
+ case 3://婊℃斁
+ signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
+ break;
+ case 4://鍙栧彔鐩�
+ signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
+ break;
+ case 5:////婊″彇
+ signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
+ break;
+ case 6:////鎻愬崌
+// signWork = qwe();
+ break;
+ default:
+ break;
+ }
+ for (int signCount = 1; !signWork && signCount < 7; signCount++) {
+ switch (signCount) {
+ case 1://鎵ц灏忚溅璐х墿鎼繍浠诲姟
+ signWork = rgvRunWrkMastFullSta(rgvSlave);
+ break;
+ case 2://鏀�//鎷嗙洏
+ signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
+ break;
+ case 3://婊℃斁
+ signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
+ break;
+ case 4://鍙栧彔鐩�
+ signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
+ break;
+ case 5:////婊″彇
+ signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
+ break;
+ case 6:////鎻愬崌
+// signWork = rgvRunWrkMastEmptyStaPut();
+ break;
+ default:
+ break;
+ }
+ }
+ } else {
+ continue;
+ }
+ if (!rgvIoExecuteSign) {
+ rgvIoExecuteSign = signWork;
+ }
+ }
+// if (!rgvIoExecuteSign){
+// if (sign>6){
+//
+// }
+// }
+ } catch (Exception e) {
+ log.error("RGV灏忚溅浠诲姟涓嬪彂鎶ラ敊" + e);
+ }
+ return rgvIoExecuteSign;
+ }
+
/**
* 鎵ц灏忚溅鎼繍浠诲姟
*/
- public synchronized void rgvRunWrkMastFullSta() {
- try{
- for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
+ try {
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ return false;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ return false;
+ }
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1() == 0
+ && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+ ) {
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
+ if (basRgvMap == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱鍦板浘涓繘琛岀淮鎶わ紒", rgvProtocol.getRgvNo());
+ return false;
+ }
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ if (rgvProtocol.getRgvNo() == 1) {//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
+ List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+ for (WrkMastSta wrkMastSta : wrkMastStaList) {
+ if (wrkMastSta.getType() != 1 || wrkMastSta.getWrkType() != 3) {//1:婊＄増 3锛氬彇鏀�
+ continue;
+ }
+ BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
+ if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo() != 0) {
+ continue;
+ }
+ List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
+ add(101);
+ add(102);
+ add(104);
+ add(105);
+ add(107);
+ add(108);
+ add(118);
+ add(119);
+ add(122);
+ }};
+ List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
+ add(110);
+ add(111);
+ add(113);
+ add(114);
+ add(116);
+ add(117);
+ add(120);
+ add(121);
+ add(122);
+ add(123);
+ }};
+ if (basRgv.getRgvNo() == 1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())) {
+ continue;
+ } else if (basRgv.getRgvNo() == 2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())) {
+ continue;
+ }
+
+ if (basDevp.getDevNo() >= 118 && basDevp.getDevNo() <= 123) {
+ if (!basDevp.getEmptyMk().equals("Y")) {
+ continue;
+ }
+ }
+ Date date = new Date();
+ log.info(date + "鍙栨斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�" + wrkMastSta);
+ log.info(date + "鍙栨斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細" + basDevp);
+ boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
+ if (sign) {
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(), rgvProtocol.getRgvNo() == 1);
+ 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 true;
+ } else {
+ log.error("3864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("3875琛屾墽琛屽皬杞︽惉杩愪换鍔′笅鍙戝け璐�");
+ log.error("3875琛�" + e);
+ }
+ return false;
+ }
+
+ /**
+ * 鎵ц灏忚溅鎼繍浠诲姟//鎷嗙洏
+ */
+ public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//鎷嗙洏
+ try {
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ return false;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ return false;
+ }
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//rgv鍙敤//鎷嗙洏
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+ && (rgvProtocol.getLoaded2() == 3 || rgvProtocol.getLoaded2() == 1 || rgvProtocol.getLoaded2() == 4)////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗� 锛堝彧鑳芥媶鍙狅級 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗�() 锛�3 1銆�2灞傞兘鏈夌墿 4锛氾紙锛夊彧鍏佽鎷嗙洏
+ ) {
+ 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());
+ return false;
+ }
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
+ List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+ if (rgvProtocol.getRgvNo() == 2) {//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
+ 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) {// 2:绌烘澘 || 宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 5锛氭弧鍙� 6锛氭弧鏀�
+ continue;
+ }
+ boolean sign = false;
+ if (wrkMastSta.getStaEnd() != 0) {//鏀�
+ BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
+ if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo() != 0) {
+ continue;
+ }
+ if (basDevp.getDevNo() >= 118 && basDevp.getDevNo() <= 123) {
+ if (!basDevp.getEmptyMk().equals("Y")) {
+ continue;
+ }
+ }
+ Date date = new Date();
+ log.info(date + "鎷嗙洏浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�" + wrkMastSta);
+ log.info(date + "鎷嗙洏浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細" + basDevp);
+ sign = rgvPutEmpty(rgvProtocol.getRgvNo(), wrkMastSta);//鎷嗙洏
+ } else {
+ continue;
+ }
+ if (sign) {
+ boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(), rgvProtocol.getRgvNo() == 2);
+ 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 true;
+ } 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);
+ }
+ return false;
+ }
+
+ /**
+ * 鎵ц灏忚溅鎼繍浠诲姟
+ */
+ public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//婊℃斁
+ try {
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ return false;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ return false;
+ }
+
+ // 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.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+ && (rgvProtocol.getLoaded2() == 2 || rgvProtocol.getLoaded2() == 3) ////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗� 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3 1銆�2灞傞兘鏈夌墿 4锛氾紙锛夊彧鍏佽鎷嗙洏
+ ) {
+ 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());
+ return false;
+ }
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//鑾峰彇娲诲姩鑼冨洿
+ List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+ if (rgvProtocol.getRgvNo() == 2) {//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
+ 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() != 6) {// 2:绌烘澘 || 宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 5锛氭弧鍙� 6锛氭弧鏀� 7:鎻愬崌
+ continue;
+ }
+ boolean sign = false;
+ if (wrkMastSta.getStaEnd() != 0) {//婊℃斁
+ BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
+ if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo() != 0) {
+ continue;
+ }
+ if (basDevp.getDevNo() >= 118 && basDevp.getDevNo() <= 123) {
+ if (!basDevp.getEmptyMk().equals("Y")) {
+ continue;
+ }
+ }
+ Date date = new Date();
+ log.info(date + "婊℃斁浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�" + wrkMastSta);
+ log.info(date + "婊℃斁浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細" + basDevp);
+ sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(), wrkMastSta);
+ } else {
+ continue;
+ }
+ if (sign) {
+ boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd(), rgvProtocol.getRgvNo() == 2);
+ 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 true;
+ } 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);
+ }
+ return false;
+ }
+
+ public synchronized boolean rgvRunWrkMastEmptyStaTake(RgvSlave rgvSlave) {//鍙犵洏
+ try {
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ return false;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ return false;
+ }
+
+ // 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.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+ && (rgvProtocol.getLoaded2() == 0 || rgvProtocol.getLoaded2() == 1) //鐜板満淇敼锛氬彔鐩樻満锛�////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗╋紙鍙兘鎷嗗彔锛� 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3 1銆�2灞傞兘鏈夌墿 4锛氾紙锛夊彧鍏佽鎷嗙洏
+ ) {
+ 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());
+ return false;
+ }
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+ if (rgvProtocol.getRgvNo() == 2) {//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
+ 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 || 宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 5锛氭弧鍙� 6锛氭弧鏀�
+ continue;
+ }
+ boolean sign = false;
+ if (wrkMastSta.getStaStart() != 0) {//鍙�
+ BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
+ if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")) {
+ continue;
+ }
+ List<Integer> STA_WORK_CU1 = new ArrayList<Integer>() {{
+ add(101);
+ add(102);
+ add(104);
+ add(105);
+ add(107);
+ add(108);
+ add(118);
+ add(119);
+ add(122);
+ }};
+ List<Integer> STA_WORK_CU2 = new ArrayList<Integer>() {{
+ add(110);
+ add(111);
+ add(113);
+ add(114);
+ add(116);
+ add(117);
+ add(120);
+ add(121);
+ add(122);
+ add(123);
+ }};
+ if (basRgv.getRgvNo() == 1 && !STA_WORK_CU1.contains(wrkMastSta.getStaStart())) {
+ continue;
+ } else if (basRgv.getRgvNo() == 2 && !STA_WORK_CU2.contains(wrkMastSta.getStaStart())) {
+ continue;
+ }
+ if (basDevp.getDevNo() >= 118 && basDevp.getDevNo() <= 123) {
+ if (!basDevp.getEmptyMk().equals("Y")) {
+ continue;
+ }
+ }
+ Date date = new Date();
+ log.info(date + "鍙犵洏浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�" + wrkMastSta);
+ log.info(date + "鍙犵洏浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細" + basDevp);
+ sign = rgvTakeEmpty(rgvProtocol.getRgvNo(), wrkMastSta);//鍙犵洏
+ } else {
+ continue;
+ }
+ if (sign) {
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(), rgvProtocol.getRgvNo() == 2);
+ 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 true;
+ } 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);
+ }
+ return false;
+ }
+
+ public synchronized boolean rgvRunWrkMastEmptyStaTakeFull(RgvSlave rgvSlave) {//婊″彇
+ try {
+// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ return false;
+ }
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ return false;
+ }
+
+ // 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.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
+ && rgvProtocol.getLoaded2() == 0 //鐜板満淇敼锛氬彔鐩樻満锛�////0 鏃犵墿锛�1 涓�灞傛棤鐗╀簩灞傛湁鐗╋紙鍙兘鎷嗗彔锛� 锛�2涓�灞傛湁鐗╀簩灞傛棤鐗� 锛堝彧鑳芥弧鏀撅級锛�3 1銆�2灞傞兘鏈夌墿 4锛氾紙锛夊彧鍏佽鎷嗙洏
+ ) {
+ 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());
+ return false;
+ }
+ List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //鏇存柊灏忚溅褰撳墠浣嶇疆绔欑偣鍙�
+ List<Integer> routeNear = RouteUtils.getRoute(basRgvMap.getStartRouteOther(), basRgvMap.getEndRouteOther());
+ if (rgvProtocol.getRgvNo() == 2) {//鍒囨崲杩戣寖鍥�
+ route = routeNear;
+ }
+ List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
+ WrkMast wrkMast = wrkMastMapper.selectBy122ManQu(122, 110, 15L);
+ if (!Cools.isEmpty(wrkMast)) {
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
+ if (!Cools.isEmpty(wrkMastSta) && wrkMastSta.getType() == 2 && wrkMastSta.getWrkType() == 5) {
+ wrkMastStaList.add(wrkMastSta);
+ }
+ }
+ for (WrkMastSta wrkMastSta : wrkMastStaList) {
+ if (wrkMastSta.getType() != 2 || wrkMastSta.getWrkType() != 5) {// 2:绌烘澘 || 宸ヤ綔绫诲瀷 1:鍙栵紙鍙犵洏锛� 2锛氭媶鐩� 5锛氭弧鍙� 6锛氭弧鏀�
+ continue;
+ }
+ boolean sign = false;
+ if (wrkMastSta.getStaStart() != 0) {//婊″彇
+ BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
+ if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")) {
+ continue;
+ }
+ Date date = new Date();
+ log.info(date + "婊″彇浠诲姟涓嬪彂锛氬皬杞﹀伐浣滄。锛�" + wrkMastSta);
+ log.info(date + "婊″彇浠诲姟涓嬪彂锛氱洰鏍囩珯鐘舵�侊細" + basDevp);
+ sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(), wrkMastSta);
+ } else {
+ continue;
+ }
+ if (sign) {
+ boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute(), rgvProtocol.getRgvNo() == 2);
+ 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 true;
+ } 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);
+ }
+ return false;
+ }
+
+ /*
+ * 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;
+// }
+ WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
+ if (Cools.isEmpty(wrkMastSta)) {
+ return;
+ }
+ Integer[] rgvRunSta = RouteUtils.RgvRunSta(wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
+ boolean signRgv = true;
+ boolean signRgv1 = true;
+ boolean signRgv2 = true;
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
@@ -3886,52 +4372,68 @@
// 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
&& rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getLoaded1()==0
+ && rgvProtocol.getLoaded1() == 0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+ && rgvProtocol.getTaskNo1() == 0
+ && rgvProtocol.getTaskNo2() == 0
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
) {
- BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
- if (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());
+// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
+// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
+ if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(), rgvRunSta[rgvProtocol.getRgvNo() - 1], rgvProtocol.getRgvNo())) {
+ if (rgvProtocol.getRgvNo() == 1) {
+ signRgv1 = false;
+ } else {
+ signRgv2 = false;
+ }
+ }
+ if (rgvProtocol.getRgvNo() == 1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102))) {
+ signRgv = false;
+ break;
+ } else if (rgvProtocol.getRgvNo() == 2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117))) {
+ signRgv = false;
+ break;
+ }
+ } else {
+ signRgv = false;
+ break;
+ }
+ }
+ if (signRgv && (signRgv1 || signRgv2)) {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
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()!=1 || wrkMastSta.getWrkType()!=3){//1:婊＄増 3锛氬彇鏀�
- continue;
- }
- boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
- if (sign){
- boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
- 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("3864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;
+
+ // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅涓�鏃犵墿//rgv鍙敤
+ if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getLoaded1() == 0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+ && rgvProtocol.getTaskNo1() == 0
+ && rgvProtocol.getTaskNo2() == 0
+ && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
+ && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
+ ) {
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
+ rgvAvoidanceXY(rgvProtocol.getRgvNo(), rgvRunSta);
+ rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
}
}
}
- }catch (Exception e){
- log.error("3875琛屾墽琛屽皬杞︽惉杩愪换鍔′笅鍙戝け璐�");
- log.error("3875琛�"+e);
+ } 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);
}
}
- /**
- * 鎵ц灏忚溅鎼繍浠诲姟
- */
- public synchronized void rgvRunWrkMastEmptyStaPut() {//鏀�
- try{
- for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
+
+ /*
+ * 鍒锋柊鍦板浘鏁版嵁
+ * */
+ public synchronized void refreshRgvMap() {
+ try {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
if (rgvProtocol == null) {
@@ -3943,124 +4445,82 @@
continue;
}
- // 鍙湁褰揜GV绌洪棽銆佽嚜鍔�,宸ヤ綅浜屾湁鐗�//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
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
&& rgvProtocol.getModeType() == RgvModeType.AUTO
- && rgvProtocol.getLoaded2()==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
+ && rgvProtocol.getLoaded1() == 0 //鐜板満淇敼锛氬彔鐩樻満锛屼笉婊￠兘绠楁棤鐗╋紝鎬庝箞鍒ゆ柇闇�瑕佽窡鐢垫帶瀵规帴
+ && rgvProtocol.getTaskNo1() == 0
+ && rgvProtocol.getTaskNo2() == 0
) {
- 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){// 2:绌烘澘 2:鏀�
- 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;
- }
+ BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId());
+ basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
+ rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), basRgvMap.getStartRoute());
}
}
- }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);
+ } 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);
}
}
- 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;
+ /*
+ * 灏忚溅XY绉诲姩 閬胯
+ * */
+ public synchronized boolean rgvAvoidanceXY(Integer rgvId, Integer[] rgvRunSta) {
+ if (rgvId == 2) {
+ try {
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
+ // 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(rgvRunSta[1].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;
}
- BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
- if (basRgv == null) {
- log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
- continue;
- }
+ } catch (Exception e) {
+ return false;
- // 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.getLoaded2()==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);
+ } else {
+ try {
+// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
+ // 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((short) 32222); // 宸ヤ綅2宸ヤ綔鍙�
+ rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 宸ヤ綅2浠诲姟妯″紡: 鍥炲師鐐�
+ rgvCommand.setSourceStaNo2(rgvRunSta[0].shortValue());
+ rgvCommand.setCommand((short) 2); //宸ヤ綅2浠诲姟纭
+ 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� 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;
+
+ }
}
}
/*
- * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
- * */
- public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
- try{
+ * 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
+ * */
+ public synchronized boolean rgvTakeFullAll(Integer rgvId, WrkMastSta wrkMastSta) {
+ try {
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
RgvCommand rgvCommand = new RgvCommand();
rgvCommand.setRgvNo(rgvId); // RGV缂栧彿
@@ -4070,14 +4530,14 @@
rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //宸ヤ綅1璧风偣
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.Crn, rgvId, new Task(4, rgvCommand))) {
+ 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){
+ } catch (Exception e) {
return false;
}
}
@@ -4085,8 +4545,8 @@
/*
* 灏忚溅鍙栬揣鑷冲伐浣嶄换鍔�
* */
- public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
- try{
+ 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
@@ -4095,23 +4555,23 @@
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.Crn, rgvId, new Task(4, rgvCommand))) {
+ 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){
+ } catch (Exception e) {
return false;
}
}
/*
- * 灏忚溅鏀捐揣鑷宠緭閫佺嚎浠诲姟
- * */
- public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
- try{
+ * 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
@@ -4120,23 +4580,23 @@
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.Crn, rgvId, new Task(4, rgvCommand))) {
+ 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){
+ } catch (Exception e) {
return false;
}
}
/*
- * 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟
+ * 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟 鍙犵洏
* */
- public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
- try{
+ 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
@@ -4145,23 +4605,23 @@
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))) {
+ 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;
}
- }catch (Exception e){
+ } catch (Exception e) {
return false;
}
}
/*
- * 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟
+ * 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟 //鎷嗙洏
* */
- public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
- try{
+ 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
@@ -4170,14 +4630,64 @@
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))) {
+ 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;
}
- }catch (Exception e){
+ } catch (Exception e) {
+ return false;
+ }
+ }
+
+ /*
+ * 灏忚溅鍙栫┖鏉胯嚦宸ヤ綅浠诲姟 婊″彇
+ * */
+ public synchronized boolean rgvTakeEmptyFull(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_5); // 宸ヤ綅2浠诲姟妯″紡: 婊″彇
+ 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.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;
+ }
+ } catch (Exception e) {
+ return false;
+ }
+ }
+
+ /*
+ * 灏忚溅鏀剧┖鏉胯嚦杈撻�佺嚎浠诲姟 //婊℃斁
+ * */
+ public synchronized boolean rgvPutEmptyFull(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_6); // 宸ヤ綅2浠诲姟妯″紡: 婊℃斁
+ 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.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;
+ }
+ } catch (Exception e) {
return false;
}
}
@@ -4185,17 +4695,19 @@
/*
* 灏忚溅澶嶄綅
* */
- public synchronized boolean rgvComplete(Integer rgvId){
- try{
+ public synchronized boolean rgvComplete(Integer rgvId) {
+ try {
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- if (!MessageQueue.offer(SlaveType.Crn, rgvId, new Task(3, new RgvCommand()))) {
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new 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�={}",rgvId);
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}", rgvId);
return false;
} else {
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}", rgvId);
return true;
}
- }catch (Exception e){
+ } catch (Exception e) {
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}銆傚紓甯革細" + e, rgvId);
return false;
}
}
@@ -4203,27 +4715,112 @@
/*
* 灏忚溅鍦板浘鏇存柊 鏇存柊閿�
* */
- public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
+ public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent, Integer staStart, Integer staEnd, boolean sign) {
+ if (sign) {
+ staStart = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(), staStart);
+ staEnd = RouteUtils.RouteIndexFarMasOtherNearUpMap(basRgvMapCurrent.getRgvNo(), staEnd);
+ }
+ return rgvMapUpdate(basRgvMapCurrent, staStart, staEnd);
+ }
+
+ public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent, Integer staStart, Integer staEnd) {
// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
//鏇存柊褰撳墠灏忚溅閿�
- try{
+ try {
Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//鑾峰彇鏈�杩滅珯鐐�
- basRgvMapCurrent.setLockEndRoute(farCurrentStaNo);
+ Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //鑾峰彇鍚堝苟骞叉秹椤�
+ basRgvMapCurrent.setLockEndRoute(fallMerge);
basRgvMapMapper.updateById(basRgvMapCurrent);
//鏇存柊鍙︿竴鍙板皬杞﹀湴鍥�
Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther();
BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
- List<Integer> integers = RouteUtils.RouteMapCurrentFar(farCurrentStaNo, basRgvMapCurrent.getLockStartRoute());
+ List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//鍙︿竴鍙板皬杞﹀彲娲诲姩鏈�杩滀綅缃�
- basRgvMapOther.setStartRoute(lockEndRoute);
+ basRgvMapOther.setEndRoute(lockEndRoute);
+ basRgvMapOther.setEndRouteOther(RouteUtils.RouteIndexFarMasOtherNear(rgvNoOther, lockEndRoute));
basRgvMapMapper.updateById(basRgvMapOther);
return true;
- }catch (Exception e){
+ } catch (Exception e) {
log.error("灏忚溅鍦板浘鏇存柊鍑洪敊锛�");
return false;
}
}
+ /**
+ * 浜屾ゼ绌烘墭鍥炴祦鍒颁竴妤硷紝3.绔欏埌绔欎换鍔�
+ */
+ public synchronized void emptyTrayReflux() {
+ for (CrnSlave crn : slaveProperties.getCrn()) {
+ List<WrkMast> wrkMastList = wrkMastMapper.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 2)
+ .eq("crn_no", crn.getId()).eq("io_type", 3));
+ for (WrkMast wrkMast : wrkMastList) {
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
+ CrnProtocol crnProtocol = crnThread.getCrnProtocol();
+ if (crnProtocol == null) {
+ continue;
+ }
+ if (crnProtocol.getStatusType() == CrnStatusType.IDLE
+ && crnProtocol.getTaskNo() == 0
+ && crnProtocol.getModeType() == CrnModeType.AUTO
+ && crnProtocol.getLoaded() == 0
+ && crnProtocol.getForkPos() == 0) {
+
+ CrnSlave.CrnStn crnStn = null;
+ CrnSlave.CrnStn crnStn2 = null;
+ for (CrnSlave.CrnStn crnStn1 : crn.getCrnOutStn()) {
+ if (crnStn1.getStaNo().equals(wrkMast.getStaNo())) {
+ crnStn = crnStn1;
+ break;
+ }
+ }
+ for (CrnSlave.CrnStn crnStn1 : crn.getCrnInStn()) {
+ if (crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())) {
+ crnStn2 = crnStn1;
+ break;
+ }
+ }
+ if (Cools.isEmpty(crnStn) || Cools.isEmpty(crnStn2)) {
+ continue;
+ }
+
+ // 鍏ュ簱鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ CrnCommand crnCommand = new CrnCommand();
+ crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
+ crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 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(crnStn2.getRow().shortValue()); // 婧愬簱浣嶆帓
+ crnCommand.setSourcePosY(crnStn2.getBay().shortValue()); // 婧愬簱浣嶅垪
+ crnCommand.setSourcePosZ(crnStn2.getLev().shortValue()); // 婧愬簱浣嶅眰
+ crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 鐩爣搴撲綅鎺�
+ crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 鐩爣搴撲綅鍒�
+ crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 鐩爣搴撲綅灞�
+// crnCommand.setSourceStaNo(crnStn.getPlatNo().shortValue()); // 婧愬簱浣嶆帓
+ if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
+ log.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
+ } else {
+ // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓�
+ Date now = new Date();
+ wrkMast.setWrkSts(3L);
+ wrkMast.setCrnStrTime(now);
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ log.error("淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
+ }
+ }
+ break;
+ }
+
+ }
+ }
+ }
+
+ /**
+ * 12.璺ㄥ贩閬撶Щ搴�
+ */
+ public synchronized void autoMoveLoc() {
+
+ }
}
--
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