From ed265ddfb8f08f69af064a9adf65fcbf06289ffe Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 11 二月 2025 14:07:54 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 3508 ++++++++++++++++++++++++++++++++++++----------------------
1 files changed, 2,176 insertions(+), 1,332 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 ce0449c..f37188e 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1,53 +1,35 @@
package com.zy.asrs.service.impl;
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.exception.CoolException;
+import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.*;
-import com.zy.asrs.mapper.BasCrnErrorMapper;
-import com.zy.asrs.mapper.WaitPakinMapper;
-import com.zy.asrs.mapper.WrkMastMapper;
+import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
+import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.utils.Utils;
-import com.zy.common.model.LocTypeDto;
-import com.zy.common.model.MatDto;
-import com.zy.common.model.SearchLocParam;
-import com.zy.common.model.StartupDto;
+import com.zy.common.model.*;
+import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
-import com.zy.common.utils.CollectionUtils;
-import com.zy.common.utils.HttpHandler;
-import com.zy.core.CrnThread;
-import com.zy.core.DevpThread;
-import com.zy.core.cache.MessageQueue;
+import com.zy.common.utils.*;
+import com.zy.core.News;
+import com.zy.core.action.ForkLiftAction;
+import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.SlaveConnection;
+import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.*;
import com.zy.core.model.*;
-import com.zy.core.model.command.CrnCommand;
-import com.zy.core.model.command.LedCommand;
-import com.zy.core.model.command.SteCommand;
-import com.zy.core.model.protocol.CrnProtocol;
-import com.zy.core.model.protocol.StaProtocol;
-import com.zy.core.model.protocol.SteProtocol;
+import com.zy.core.model.command.*;
+import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
-import com.zy.core.thread.BarcodeThread;
-import com.zy.core.thread.LedThread;
-import com.zy.core.thread.SteThread;
+import com.zy.core.thread.*;
+import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
-import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
-import org.springframework.transaction.annotation.Transactional;
-import org.springframework.transaction.interceptor.TransactionAspectSupport;
-import java.util.ArrayList;
-import java.util.Date;
-import java.util.List;
-import java.util.Set;
-import java.util.stream.Collectors;
+import java.util.*;
/**
* 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
@@ -55,1419 +37,2281 @@
*/
@Slf4j
@Service("mainService")
-@Transactional
public class MainServiceImpl {
- public static final long COMMAND_TIMEOUT = 5 * 1000;
-
- @Autowired
- private CommonService commonService;
+ @Value("${wms.url}")
+ private String wmsUrl;
@Autowired
private SlaveProperties slaveProperties;
@Autowired
- private WrkMastMapper wrkMastMapper;
+ private WrkMastService wrkMastService;
@Autowired
- private WrkDetlService wrkDetlService;
- @Autowired
- private WaitPakinMapper waitPakinMapper;
+ private WrkMastLogMapper wrkMastLogMapper;
@Autowired
private LocMastService locMastService;
@Autowired
- private StaDescService staDescService;
- @Autowired
- private BasCrnpService basCrnpService;
- @Autowired
private BasDevpService basDevpService;
@Autowired
- private LocDetlService locDetlService;
+ private BasShuttleErrLogService basShuttleErrLogService;
@Autowired
- private BasErrLogService basErrLogService;
+ private BasLiftErrLogService basLiftErrLogService;
@Autowired
- private BasCrnErrorMapper basCrnErrorMapper;
+ private BasShuttleErrService basShuttleErrService;
@Autowired
- private BasSteService basSteService;
- @Value("${wms.url}")
- private String wmsUrl;
+ private BasLiftErrService basLiftErrService;
+ @Autowired
+ private CommonService commonService;
+ @Autowired
+ private BasMapService basMapService;
+ @Autowired
+ private BasLiftService basLiftService;
+ @Autowired
+ private ShuttleDispatchUtils shuttleDispatchUtils;
+ @Autowired
+ private RedisUtil redisUtil;
+ @Autowired
+ private BasLiftOptService basLiftOptService;
+ @Autowired
+ private ConfigService configService;
+ @Autowired
+ private NavigateMapUtils navigateMapUtils;
+ @Autowired
+ private NavigateMapData navigateMapData;
+ @Autowired
+ private NavigateUtils navigateUtils;
+ @Autowired
+ private ShuttleOperaUtils shuttleOperaUtils;
+ @Autowired
+ private ShuttleAction shuttleAction;
+ @Autowired
+ private ForkLiftAction forkLiftAction;
+ @Autowired
+ private NotifyUtils notifyUtils;
+
+
+// /**
+// * 缁勬墭
+// * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 2
+// */
+// public void generateStoreWrkFile() {
+// try {
+// // 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()) {
+// // 鑾峰彇鍏ュ簱绔欎俊鎭�
+// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+// StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
+// if (staProtocol == null) {
+// continue;
+// } else {
+// staProtocol = staProtocol.clone();
+// }
+// Short workNo = staProtocol.getWorkNo();
+// // 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(3, errMsg));
+// }
+// continue;
+// }
+//
+// // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+// if (staProtocol.isAutoing() && staProtocol.isLoading()
+// && staProtocol.isInEnable()
+// && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
+// ) {
+//
+// // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
+// if (barcodeThread == null) {
+// continue;
+// }
+// String barcode = barcodeThread.getBarcode();
+// if (!Cools.isEmpty(barcode)) {
+//// News.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) || "empty".equals(barcode) || "00000000".equals(barcode)) {
+//// staProtocol.setWorkNo((short) 32002);
+//// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+//// devpThread.setPakMk(staProtocol.getSiteId(), false);
+//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//
+// // led 寮傚父鏄剧ず
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+// if (ledThread != null) {
+// String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+// }
+// continue;
+// }
+// } else {
+//// staProtocol.setWorkNo((short) 32002);
+//// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+//// devpThread.setPakMk(staProtocol.getSiteId(), false);
+//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//
+//// // led 寮傚父鏄剧ず
+//// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+//// if (ledThread != null) {
+//// String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+//// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+//// }
+// continue;
+// }
+//
+// // 杩囨护鐩樼偣/鎷ｆ枡/骞舵澘浠诲姟
+// WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode);
+// if (null != wrkMast1) {
+// continue;
+// }
+//
+// // 鍒ゆ柇閲嶅宸ヤ綔妗�
+// WrkMast wrkMast2 = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
+// if (wrkMast2 != null) {
+// News.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast2.getWrkNo());
+// continue;
+// }
+//
+// try {
+// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+// SearchLocParam param = new SearchLocParam();
+// param.setBarcode(barcode);
+// param.setIoType(1);
+// param.setSourceStaNo(inSta.getStaNo());
+// param.setLocType1(locTypeDto.getLocType1());
+// String response = new HttpHandler.Builder()
+// .setUri(wmsUrl)
+// .setPath("/rpc/pakin/loc/v2")
+// .setJson(JSON.toJSONString(param))
+// .build()
+// .doPost();
+// JSONObject jsonObject = JSON.parseObject(response);
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+// Integer code = jsonObject.getInteger("code");
+// if (code.equals(200)) {
+// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+// // plc 澶勭悊
+// barcodeThread.setBarcode("");
+//// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
+//// staProtocol.setStaNo(dto.getStaNo().shortValue());
+//// devpThread.setPakMk(staProtocol.getSiteId(), false);
+////
+//// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//// if (!result) {
+//// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+//// }
+//
+// // 鍒ゆ柇閲嶅宸ヤ綔妗�
+// WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
+// if (wrkMast == null) {
+// continue;
+// }
+//
+// // 鏇存柊宸ヤ綔涓绘。
+// wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
+// wrkMast.setModiTime(new Date());
+// if (wrkMastMapper.updateById(wrkMast) == 0) {
+// News.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
+// }
+//
+// } else if (code == 500) {
+// if (ledThread != null) {
+// String errorMsg = jsonObject.getString("msg");
+// if (!Cools.isEmpty(errorMsg)) {
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+// ledThread.setLedMk(false);
+// }
+// }
+// News.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/loc/v2", JSON.toJSONString(param), response);
+// } else if (code == 700) {
+//// staProtocol.setWorkNo((short) 32002);
+//// staProtocol.setRollback102(1);//102绔欏洖閫�淇″彿
+//// devpThread.setPakMk(staProtocol.getSiteId(), false);
+//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
+//
+// // led 寮傚父鏄剧ず
+// if (ledThread != null) {
+// String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
+// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
+// ledThread.setLedMk(false);
+// }
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+// }
+// }
+// }
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// }
+// }
+
+// /**
+// * 鎷ｆ枡銆佸苟鏉垮啀鍏ュ簱
+// */
+// @Transactional
+// public synchronized void stnToCrnStnPick(){
+// try {
+// for (DevpSlave devp : slaveProperties.getDevp()) {
+// // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+// for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
+// // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
+// DevpThread devpThread = (DevpThread) 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.isInEnable()
+//// && (staProtocol.getWorkNo() > 0)
+// && staProtocol.isPakMk()) {
+//
+// // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
+// if (barcodeThread == null) {
+// continue;
+// }
+// String barcode = barcodeThread.getBarcode();
+// if (Cools.isEmpty(barcode)) {
+// continue;
+// }
+// if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
+// continue;
+// }
+//
+// WrkMast wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
+// if (wrkMast == null) {//鎵句笉鍒板伐浣滄。
+// continue;
+// }
+//
+// if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104)
+// || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
+// continue;
+// }
+//
+//// //*********************鍚屽簱浣嶇粍鏍￠獙*********************
+//// boolean flag = false;
+//// String th = "";
+//// List<String> innerLoc = Utils.getGroupInnerLoc(wrkMast.getSourceLocNo());
+//// for (String loc : innerLoc) {
+//// LocMast locMast = locMastService.selectById(loc);
+//// if (locMast == null) {
+//// continue;
+//// }
+////
+//// if (!locMast.getLocSts().equals("F")) {
+//// flag = true;
+//// th = loc + "搴撲綅瀛樺湪鏈洖搴撲换鍔�";
+//// break;
+//// }
+//// }
+//// if (flag) {
+//// News.info(th);
+//// continue;
+//// }
+//// //*********************鍚屽簱浣嶇粍鏍￠獙*********************
+//
+//// // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
+//// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
+//// News.info(wrkMast.getWrkNo() + "淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
+//// continue;
+//// }
+//
+// try {
+// LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//婧愬簱浣�
+// SearchLocParam param = new SearchLocParam();
+// param.setWrkNo(wrkMast.getWrkNo());
+// param.setBarcode(wrkMast.getBarcode());
+// param.setIoType(wrkMast.getIoType());
+// param.setSourceStaNo(pickSta.getStaNo());
+// param.setLiftNo(pickSta.getLiftNo());
+// param.setLocType1(locMast.getLocType1());
+// String response = new HttpHandler.Builder()
+// .setUri(wmsUrl)
+// .setPath("/rpc/pakin/loc/v2")
+// .setJson(JSON.toJSONString(param))
+// .build()
+// .doPost();
+// JSONObject jsonObject = JSON.parseObject(response);
+// Integer code = jsonObject.getInteger("code");
+// if (code.equals(200)) {
+// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+//
+//// //鑾峰彇鍥炲簱鎻愬崌鏈虹洰鏍囩珯
+//// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
+//// if (liftStaProtocol == null) {
+//// News.info(wrkMast.getWrkNo() + "鑾峰彇鍥炲簱鎻愬崌鏈虹洰鏍囩珯澶辫触");
+//// continue;
+//// }
+////
+//// // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
+//// wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54
+//// wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
+//// wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 婧愮珯
+//// wrkMast.setStaNo(liftStaProtocol.getStaNo());//鐩爣绔�
+//// wrkMast.setLocNo(dto.getLocNo()); // 鐩爣搴撲綅
+//// wrkMast.setShuttleNo(null); // 绌挎杞︽竻绌�
+//// wrkMast.setLiftNo(null);// 鎻愬崌鏈烘竻绌�
+//// wrkMast.setModiTime(new Date());
+//// if (wrkMastMapper.updateById(wrkMast) == 0) {
+//// News.info(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
+//// continue;
+//// }
+// } else if (code == 500) {
+// News.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/loc/v2", JSON.toJSONString(param), response);
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+// }
+// }
+// }
+//
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// }
+// }
+
+// /**
+// * 鐩樼偣鍐嶅叆搴�
+// */
+// @Transactional
+// public synchronized void stnToCrnStnPlate(){
+// try {
+// for (DevpSlave devp : slaveProperties.getDevp()) {
+// // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
+// for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
+// // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
+// DevpThread devpThread = (DevpThread) 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.isInEnable()
+//// && (staProtocol.getWorkNo() > 0)
+// && staProtocol.isPakMk()) {
+//
+// // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
+// if (barcodeThread == null) {
+// continue;
+// }
+// String barcode = barcodeThread.getBarcode();
+// if (Cools.isEmpty(barcode)) {
+// continue;
+// }
+// if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
+// continue;
+// }
+// WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode);
+// if (wrkMast == null) {//鎵句笉鍒板伐浣滄。
+// continue;
+// }
+//
+// if ((wrkMast.getIoType() != 107)
+// || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
+// continue;
+// }
+//
+//// // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
+//// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
+//// News.info(wrkMast.getWrkNo() + "淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
+//// continue;
+//// }
+//
+// //鐩樼偣鎵炬柊搴撲綅
+// try {
+// LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//婧愬簱浣�
+// SearchLocParam param = new SearchLocParam();
+// param.setWrkNo(wrkMast.getWrkNo());
+// param.setBarcode(wrkMast.getBarcode());
+// param.setIoType(107);//鐩樼偣
+// param.setSourceStaNo(pickSta.getStaNo());
+// param.setLiftNo(pickSta.getLiftNo());
+// param.setLocType1(locMast.getLocType1());
+// String response = new HttpHandler.Builder()
+// .setUri(wmsUrl)
+// .setPath("/rpc/pakin/loc/v2")
+// .setJson(JSON.toJSONString(param))
+// .build()
+// .doPost();
+// JSONObject jsonObject = JSON.parseObject(response);
+// Integer code = jsonObject.getInteger("code");
+// if (code.equals(200)) {
+// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+//
+//// //鑾峰彇鍥炲簱鎻愬崌鏈虹洰鏍囩珯
+//// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
+//// if (liftStaProtocol == null) {
+//// News.info(wrkMast.getWrkNo() + "鑾峰彇鍥炲簱鎻愬崌鏈虹洰鏍囩珯澶辫触");
+//// continue;
+//// }
+////
+//// // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
+//// wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 107->57
+//// wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
+//// wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 婧愮珯
+//// wrkMast.setStaNo(liftStaProtocol.getStaNo());//鐩爣绔�
+//// wrkMast.setLocNo(dto.getLocNo()); // 鐩爣搴撲綅
+//// wrkMast.setShuttleNo(null); // 绌挎杞︽竻绌�
+//// wrkMast.setLiftNo(null);// 鎻愬崌鏈烘竻绌�
+//// wrkMast.setModiTime(new Date());
+//// if (wrkMastMapper.updateById(wrkMast) == 0) {
+//// News.info(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
+//// continue;
+//// }
+//
+//// staProtocol.setStaNo(dto.getSourceStaNo().shortValue());//鍐欏叆鐩爣绔�
+//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//
+// } else if (code == 500) {
+// News.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/loc/v2", JSON.toJSONString(param), response);
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+// }
+//
+// }
+// }
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// }
+// }
/**
- * 缁勬墭
- * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 2
+ * 鍒濆鍖栧疄鏃跺湴鍥�
*/
- @Async
- public void generateStoreWrkFile() {
- // 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()) {
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- Short workNo = staProtocol.getWorkNo();
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading()
- && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
- && staProtocol.isPakMk()) {
+ public synchronized void initRealtimeBasMap() {
+ try {
+ for (int i = 1; i <= 4; i++) {//鎬诲叡鍥涘眰妤�
+ Object data = redisUtil.get(RedisKeyType.MAP.key + i);
+ if (data == null) {//redis鍦板浘鏁版嵁涓虹┖锛屼粠鏁版嵁搴撲腑鑾峰彇
+ BasMap basMap = basMapService.selectLatestMap(i);
+ if (basMap == null) {
+ //鏁版嵁搴撲腑涔熶笉瀛樺湪鍦板浘鏁版嵁锛屼粠鍦板浘鏂囦欢涓幏鍙�
+ //杞藉叆鍦板浘
+ List<List<MapNode>> lists = navigateMapData.getJsonData(i, -1, null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
- if (barcodeThread == null) {
- continue;
- }
- String barcode = barcodeThread.getBarcode();
- if(!Cools.isEmpty(barcode)) {
- 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;
+ //瀛樺叆鏁版嵁搴�
+ basMap = new BasMap();
+ basMap.setData(JSON.toJSONString(lists));
+ basMap.setCreateTime(new Date());
+ basMap.setUpdateTime(new Date());
+ basMap.setLev(i);
+
+ if (!basMapService.insert(basMap)) {
+ log.info("鍦板浘鏁版嵁瀛樺偍澶辫触");
}
- } else {
- continue;
}
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
+ //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
+ redisUtil.set(RedisKeyType.MAP.key + i, JSON.toJSONString(basMap));
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+// /**
+// * 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
+// */
+// public synchronized void shuttleInExecute() {
+// try {
+// List<WrkMast> wrkMasts = wrkMastMapper.selectInStep4();
+// for (WrkMast wrkMast : wrkMasts) {
+// //鑾峰彇婧愮珯
+// BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
+// if (sourceBasDevp == null) {
+// continue;//绔欑偣涓嶅瓨鍦�
+// }
+//
+// //鑾峰彇鐩爣绔�
+// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(sourceBasDevp.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
+// if (liftStaProtocol == null) {
+// continue;//绔欑偣涓嶅瓨鍦�
+// }
+//
+// // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢锛岃嚜鍔ㄣ�佺┖闂层�佹湁鐗�
+// if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
+// News.info("{}浠诲姟锛岃緭閫佺珯鐐圭姸鎬佷笉婊¤冻鍏ュ簱銆傝緭閫佺珯鐐�:{}", wrkMast.getWrkNo(), JSON.toJSONString(liftStaProtocol));
+// continue;
+// }
+//
+// boolean step1 = this.shuttleInExecuteStep1(wrkMast, liftStaProtocol);//灏忚溅鎼叆搴撲腑
+// if (!step1) {
+// continue;
+// }
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// }
+// }
+
+// /**
+// * 鍏ュ簱-灏忚溅鎼叆搴撲腑
+// * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+// * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+// */
+// public boolean shuttleInExecuteStep1(WrkMast wrkMast, LiftStaProtocol liftStaProtocol) {
+// if (wrkMast.getWrkSts() == 4) {
+// if (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
+// boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄨ緭閫佺珯鐐硅繘琛屽彇璐�
+// News.info("{}浠诲姟锛岃皟搴﹀皬杞}绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), result ? "鎴愬姛" : "澶辫触");
+// return false;
+// }
+//
+// //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+// if (shuttleThread == null) {
+// return false;
+// }
+// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+// if (shuttleProtocol == null) {
+// return false;
+// }
+// if (!shuttleThread.isIdle()) {
+// News.info("{}浠诲姟锛寋}灏忚溅蹇欑涓�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+// return false;
+// }
+//// //鍒ゆ柇灏忚溅浠ょ墝鏄惁鏈鍗犻
+//// if (shuttleProtocol.getToken() != 0) {
+//// News.info("{}浠诲姟锛寋}灏忚溅锛屼护鐗屽凡琚嫭鍗狅紝绂佹娲惧彂浠诲姟", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+//// return false;//灏忚溅宸茶鐙崰锛岀姝㈠啀娲惧彂浠诲姟
+//// }
+//
+// //鍒ゆ柇灏忚溅鏄惁瀛樺湪绉诲姩浠诲姟
+// WrkMast hasMoveWorking = wrkMastMapper.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
+// if (hasMoveWorking != null) {
+// News.info("{}浠诲姟锛寋}灏忚溅锛屽瓨鍦ㄧЩ鍔ㄤ换鍔★紝绂佹娲惧彂浠诲姟", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+// return false;//瀛樺湪绉诲姩浠诲姟锛岀姝㈡墽琛屽叆搴撲换鍔�
+// }
+//
+// //鍒ゆ柇灏忚溅鏄惁鍒拌揪杈撻�佺珯鐐瑰簱浣�
+// if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
+// //灏忚溅涓嶅湪杈撻�佺珯鐐逛綅缃�
+// shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄨ緭閫佺珯鐐硅繘琛屽彇璐�
+// News.info("{}浠诲姟锛寋}灏忚溅锛屾湭鍒拌揪杈撻�佺珯鐐癸紝绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+// return false;
+// }
+//
+// //灏忚溅宸叉姷杈捐緭閫佺珯鐐逛綅缃紝杩涜鎼繍璐х墿
+// ShuttleOperaResult result = ShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo());
+// if (result == null) {//璺緞璁＄畻澶辫触
+// News.info("{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐ワ紝绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+// return false;
+// }
+//
+// //鍒涘缓鍒嗛厤鍛戒护
+// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+// assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+// assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id);//鍏ュ簱妯″紡
+// assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+// assignCommand.setCommands(result.getCommands());//杩愯鍛戒护
+// assignCommand.setNodes(result.getNodes());//璺緞鑺傜偣
+//
+// wrkMast.setWrkSts(5L);//4.鎻愬崌鏈烘惉杩愬畬鎴� => 5.灏忚溅鎼繍涓�
+// wrkMast.setModiTime(new Date());
+//// shuttleProtocol.setToken(wrkMast.getWrkNo());//鐙崰灏忚溅浠ょ墝
+// if (wrkMastMapper.updateById(wrkMast) > 0) {
+// //涓嬪彂浠诲姟
+// MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+// }
+//
+// return false;
+// }
+// return true;
+// }
+
+// /**
+// * 鍑哄簱 ===>> 鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
+// */
+// public synchronized void shuttleOutExecute() {
+// try {
+// for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
+// boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//灏忚溅鎼嚭搴撲腑
+// if (!step1) {
+// continue;
+// }
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// }
+// }
+//
+// /**
+// * 鍑哄簱-灏忚溅鎼嚭搴撲腑
+// * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+// * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+// */
+// public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
+// //21.鐢熸垚鍑哄簱浠诲姟 => 22.灏忚溅鎼繍涓�
+// if (wrkMast.getWrkSts() == 21) {
+// EntityWrapper<StaDesc> wrapper = new EntityWrapper<>();
+// wrapper.eq("type_no", wrkMast.getIoType());//璺緞绫诲瀷
+// wrapper.eq("stn_no", wrkMast.getStaNo());//鍑哄簱绔欑偣缂栧彿
+// StaDesc staDesc = staDescService.selectOne(wrapper);
+// if (staDesc == null) {
+// News.info("{}浠诲姟锛屽嚭搴撹矾寰勪笉瀛樺湪", wrkMast.getWrkNo());
+// return false;//鍑哄簱璺緞涓嶅瓨鍦�
+// }
+//
+// //鑾峰彇鍑哄簱绔欑偣
+// BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
+// if (basDevp == null) {
+// return false;//鍑哄簱绔欑偣涓嶅瓨鍦�
+// }
+//
+//// if (!basDevp.getAutoing().equals("Y")) {
+//// News.info("{}浠诲姟锛寋}绔欑偣锛屼笉鏄嚜鍔ㄧ姸鎬�",wrkMast.getWrkNo(),basDevp.getDevNo());
+//// return false;//涓嶆槸鑷姩鐘舵��
+//// }
+////
+//// if (!basDevp.getOutEnable().equals("Y")) {
+//// News.info("{}浠诲姟锛寋}绔欑偣锛屾病鏈夊彲鍑轰俊鍙�", wrkMast.getWrkNo(), basDevp.getDevNo());
+//// return false;//鍑哄簱绔欑偣涓嶅彲鍑�
+//// }
+//
+// Integer liftNo = basDevp.getLiftNo();//鎼滅储鍑哄簱鎻愬崌鏈烘槸鍚﹀瓨鍦ㄥ叆搴撲换鍔★紝濡傚瓨鍦ㄧ姝㈠嚭搴�
+// List<WrkMast> liftWrkMasts = wrkMastMapper.selectInWrkMastByLiftNo(liftNo);
+// if (!liftWrkMasts.isEmpty()) {
+// News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屽瓨鍦ㄥ叆搴撲换鍔★紝绯荤粺绂佹鍑哄簱", wrkMast.getWrkNo(), liftNo);
+// return false;//瀛樺湪鍏ュ簱浠诲姟锛岀姝㈠嚭搴�
+// }
+//
+// //鍚屽簱浣嶇粍鏍￠獙
+// List<String> outerLoc = Utils.getGroupOuterLoc(wrkMast.getSourceLocNo());
+// List<LocMast> outerLocMasts = locMastService.selectNotEmptyLocNos(outerLoc);
+// if (!outerLocMasts.isEmpty()) {
+// News.info("{}浠诲姟锛屾祬搴撲綅瀛樺湪璐х墿锛岀郴缁熺瓑寰呬腑", wrkMast.getWrkNo());
+// return false;//娴呭簱浣嶅瓨鍦ㄦ湭鎵ц浠诲姟
+// }
+//
+// //鑾峰彇婧愮珯
+// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
+// if (liftStaProtocol == null) {
+// return false;//鎵句笉鍒扮珯鐐�
+// }
+//
+// if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray())) {
+// News.info("{}浠诲姟锛寋}鍐呴儴杈撻�佺珯锛屼笉婊¤冻鑷姩銆佺┖闂层�佹棤鎵樼洏鐘舵��", wrkMast.getWrkNo(), liftStaProtocol.getStaNo());
+// return false;//绔欑偣蹇呴』鑷姩銆佺┖闂层�佹病鏈夋墭鐩�
+// }
+//
+// if (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
+// //寮哄埗棰勭暀涓�鍙板皬杞︾粰鍏ュ簱浠诲姟
+// int lev = Utils.getLev(wrkMast.getSourceLocNo());
+// //鑾峰彇褰撳墠妤煎眰鏈夊嚑鍙板彲鐢ㄥ皬杞�
+// int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
+// if (shuttleCount >= 2) {//鍙湁鍙敤灏忚溅鏁伴噺澶т簬2锛屾墠杩涜鍏ュ簱浠诲姟棰勭暀灏忚溅
+// int shuttleWrkInObligateCount = 1;//棰勭暀灏忚溅鏁伴噺
+// Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
+// if (config != null) {
+// shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
+// }
+// //鍙敤鍑哄簱灏忚溅鏁伴噺(缁欏叆搴撲换鍔￠鐣欎竴鍙拌溅)
+// int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
+// //鏌ヨ妤煎眰宸插垎閰嶈溅杈嗙殑鍑哄簱浠诲姟鏁伴噺
+// List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
+// if (wrkMasts.size() >= useShuttleCount) {
+// News.info("{}浠诲姟锛屽綋鍓嶆ゼ灞傚彲鐢ㄥ皬杞}鍙帮紝鍑哄簱浠诲姟宸插垎閰峽}鍙帮紝绯荤粺绛夊緟涓��", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
+// return false;
+// }
+// }
+// boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄥ簱浣嶈繘琛屽彇璐�
+// News.info("{}浠诲姟锛岃皟搴﹀皬杞}绯荤粺绛夊緟涓��", wrkMast.getWrkNo(), result ? "鎴愬姛" : "澶辫触");
+// return false;
+// }
+//
+// //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+// NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+// if (shuttleThread == null) {
+// return false;
+// }
+// NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+// if (shuttleProtocol == null) {
+// return false;
+// }
+// if (!shuttleProtocol.isIdle()) {
+// News.info("{}浠诲姟锛寋}灏忚溅锛屽繖纰屼腑", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+// return false;
+// }
+// //鍒ゆ柇灏忚溅浠ょ墝鏄惁鏈鍗犻
+// if (shuttleProtocol.getToken() != 0) {
+// News.info("{}浠诲姟锛寋}灏忚溅锛屼护鐗屽凡琚嫭鍗狅紝绂佹娲惧彂浠诲姟", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+// return false;//灏忚溅宸茶鐙崰锛岀姝㈠啀娲惧彂浠诲姟
+// }
+//
+// //鍒ゆ柇灏忚溅鏄惁鍒拌揪璐х墿搴撲綅
+// if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
+// //灏忚溅涓嶅湪杈撻�佺珯鐐逛綅缃�
+// shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄥ簱浣嶈繘琛屽彇璐�
+// News.info("{}浠诲姟锛寋}灏忚溅锛屾湭鍒拌揪杈撻�佺珯鐐癸紝绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+// return false;
+// }
+//
+// //灏忚溅宸叉姷杈捐揣鐗╀綅缃紝杩涜鎼繍璐х墿
+// ShuttleOperaResult result = ShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftStaProtocol.getLocNo());//灏嗚揣鐗╂惉杩愯嚦鎻愬崌鏈鸿緭閫佺珯鐐�
+// if (result == null) {//鍑哄簱璺緞璁＄畻澶辫触
+// News.info("{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐ワ紝绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+// return false;
+// }
+//
+// //鍒涘缓鍒嗛厤鍛戒护
+// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+// assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());//鍑哄簱妯″紡
+// assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+// assignCommand.setCommands(result.getCommands());//杩愯鍛戒护
+// assignCommand.setNodes(result.getNodes());//璺緞鑺傜偣
+//
+// wrkMast.setWrkSts(22L);//21.鐢熸垚鍑哄簱浠诲姟 => 22.灏忚溅鎼繍涓�
+// wrkMast.setModiTime(new Date());
+// shuttleProtocol.setToken(wrkMast.getWrkNo());//鐙崰灏忚溅浠ょ墝
+// if (wrkMastMapper.updateById(wrkMast) > 0) {
+// //涓嬪彂浠诲姟
+// MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+// }
+// return false;
+// }
+// return true;
+// }
+
+ /**
+ * 鍥涘悜绌挎杞︿换鍔″畬鎴�
+ */
+ public synchronized void shuttleFinished() {
+ try {
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︿俊鎭�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ //鍥涘悜绌挎杞︾姸鎬佷负绛夊緟纭銆佸皬杞﹀浜庣┖闂茬姸鎬�
+ if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //浠诲姟瀹屾垚绛夊緟纭
+ && shuttleProtocol.getTaskNo() != 0
+ ) {
+ //灏嗕换鍔℃。鏍囪涓哄畬鎴�
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
if (wrkMast != null) {
- log.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
- continue;
- }
-
- try {
- LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
- SearchLocParam param = new SearchLocParam();
- param.setBarcode(barcode);
- param.setIoType(1);
- param.setSourceStaNo(inSta.getStaNo());
- param.setLocType1(locTypeDto.getLocType1());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/pakin/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);
- // plc 澶勭悊
- barcodeThread.setBarcode("");
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) {
+ //302.灏忚溅绉诲姩鑷崇珯鐐� ==> 303.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
+ shuttleThread.setSyncTaskNo(0);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
+ //308.灏忚溅杩佸嚭鎻愬崌鏈轰腑 ==> 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
+ shuttleThread.setSyncTaskNo(0);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
+ //310.灏忚溅绉诲姩涓� ==> 311.灏忚溅绉诲姩瀹屾垚
+ wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
+ shuttleThread.setSyncTaskNo(0);
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//瑙﹀彂閫氱煡
+ } else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
+ //204.灏忚溅鍏呯數涓� ==> 205.灏忚溅鍏呯數瀹屾垚
+ wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
+ shuttleThread.setSyncTaskNo(0);
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
+ } else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts) {
+ //502.灏忚溅鎼繍涓� ==> 509.绉诲簱瀹屾垚
+ wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);
+ shuttleThread.setSyncTaskNo(0);
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), NotifyMsgType.SHUTTLE_DELIVERY);//瑙﹀彂閫氱煡
} 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/loc/v1", JSON.toJSONString(param), response);
+ continue;
}
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
- }
- }
- }
- }
+// switch (wrkMast.getWrkSts().intValue()) {
+//// case 5://5.灏忚溅鎼繍涓� ==> 9.鍏ュ簱瀹屾垚
+//// wrkMast.setWrkSts(9L);
+//// shuttleProtocol.setTaskNo(0);
+//// if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
+//// //閲婃斁灏忚溅浠ょ墝
+//// shuttleProtocol.setToken(0);
+//// }
+//// break;
+//// case 22://22.灏忚溅鎼繍涓� ==> 23.灏忚溅鎼繍瀹屾垚
+//// wrkMast.setWrkSts(23L);
+//// shuttleProtocol.setTaskNo(0);
+//// if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
+//// //閲婃斁灏忚溅浠ょ墝
+//// shuttleProtocol.setToken(0);
+//// }
+//// break;
+// case 302:
+// wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
+// break;
+// case WrkStsType.MOVE_SHUTTLE.sts:
+// wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
+// shuttleThread.setSyncTaskNo(0);
+// break;
+// default:
+// }
- /**
- * 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
- */
- @Async
- public void generateStoreWrkFile0() {
- // 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()) {
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- Short workNo = staProtocol.getWorkNo();
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading()
- && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
- && staProtocol.isPakMk()) {
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
- if (wrkMast == null) { continue; }
-
- // 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());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (result) {
- // 鏇存柊宸ヤ綔涓绘。
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
+ if (wrkMastService.updateById(wrkMast)) {
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
+ } else {
+ News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
}
} else {
- 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());
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
+ if(object != null){
+ ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class);
+ if (!assignCommand.getAuto()) {
+ //鎵嬪姩妯″紡
+ //宸ヤ綔鍙锋竻闆�
+ shuttleThread.setTaskNo(0);
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
+ }
+ }
}
}
+
}
+ } catch (Exception e) {
+ e.printStackTrace();
}
}
/**
- * 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
+ * 鎵ц绉诲簱浠诲姟
*/
- public synchronized void stnToCrnStnPick(){
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
- for (DevpSlave.Sta pickSta : devp.getPickSta()) {
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
- if (barcodeThread == null) {
- continue;
- }
- 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{}", pickSta.getBarcode(), barcode);
- if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
- continue;
- }
- } else {
+ public synchronized void shuttleLocMoveExecute() {
+ try {
+ //鏌ヨ绉诲簱浠诲姟
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts));
+ for (WrkMast wrkMast : wrkMasts) {
+ boolean stepToTarget = this.shuttleLocMoveExecuteToTarget(wrkMast);//绉诲簱浠诲姟-灏忚溅鍘荤洰鏍囩偣
+ if (!stepToTarget) {
continue;
}
- // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
- if (staProtocol == null) {
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ /**
+ * 绉诲簱浠诲姟-灏忚溅鍘荤洰鏍囩偣
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleLocMoveExecuteToTarget(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅绉诲姩鑷崇珯鐐�-----------------------------------------//
+ Date now = new Date();
+
+ //灏忚溅绉诲姩鑷崇珯鐐� 501.鐢熸垚绉诲簱浠诲姟 ==> 502.灏忚溅鎼繍涓�
+ if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
+ if (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
+ boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//璋冨害灏忚溅鍒拌揣鐗╃偣杩涜鍙栬揣
+ News.info("{}浠诲姟锛岃皟搴﹀皬杞}绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), result ? "鎴愬姛" : "澶辫触");
+ return false;
+ }
+
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽皬杞︽湭鍒拌揪鍙栬揣浣嶇疆", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
+ return false;
+ }
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setAuto(true);//鑷姩妯″紡
+
+ //鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
+ if (commands == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
+ if (liftCommand == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇椤跺崌鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
+ if (liftCommand2 == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇涓嬮檷鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ commands.add(0, liftCommand.get(0));
+ commands.add(liftCommand2.get(0));
+ assignCommand.setCommands(commands);
+
+ wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts);//灏忚溅鎼繍涓� 501.鐢熸垚绉诲簱浠诲姟 ==> 502.灏忚溅鎼繍涓�
+ wrkMast.setModiTime(now);
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ if (wrkMastService.updateById(wrkMast)) {
+ //涓嬪彂浠诲姟
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+ //瑙﹀彂閫氱煡
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), NotifyMsgType.SHUTTLE_MOVING);
+ return false;
+ }
+ return false;
+ }
+ return true;
+ }
+
+// /**
+// * 鎻愬崌鏈轰换鍔�
+// */
+// public synchronized void liftIoExecute() {
+// try {
+// for (LiftSlave liftSlave : slaveProperties.getLift()) {
+// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
+// if (liftThread == null) {
+// continue;
+// }
+// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+// if (liftProtocol == null) {
+// continue;
+// }
+//
+// if (!liftProtocol.isIdle()) {
+// News.info("{}鍙锋彁鍗囨満锛屽繖纰屼腑", liftSlave.getId());
+// continue;
+// }
+//
+// //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚﹁鍗犵敤
+// if (liftProtocol.getToken() != 0) {
+// News.info("{}鍙锋彁鍗囨満锛屼护鐗屽凡琚嫭鍗�", liftSlave.getId());
+// continue;
+// }
+//
+// //鎼滅储鏄惁鏈夊緟澶勭悊鐨勪换鍔�
+// List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep223103();
+// if (wrkMasts.isEmpty()) {
+// continue;
+// }
+//
+// for (WrkMast wrkMast : wrkMasts) {
+// //鎼滅储鏄惁鏈夊叾浠栦换鍔″崰鐢ㄤ簡鎻愬崌鏈猴紝濡傛灉鍗犵敤鎻愬崌鏈虹殑浠诲姟鍜屽綋鍓嶄换鍔＄浉鍚岋紝鍒欒繍琛屾墽琛�
+// WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
+// if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
+// News.info("{}鍙锋彁鍗囨満锛岃鍏朵粬浠诲姟{}鍗犵敤涓斿拰褰撳墠浠诲姟{}涓嶇浉鍚岋紝绂佹娲惧彂", liftSlave.getId(), wrkMast1.getWrkNo(), wrkMast.getWrkNo());
+// continue;
+// }
+//
+// boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//鎻愬崌鏈哄叆搴�
+// if (!stepIn) {
+// continue;
+// }
+//
+// boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//鎻愬崌鏈哄嚭搴�
+// if (!stepOut) {
+// continue;
+// }
+// }
+//
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// }
+// }
+//
+// /**
+// * 鎻愬崌鏈哄叆搴�
+// * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+// * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+// */
+// private boolean liftIoExecuteStepIn(WrkMast wrkMast) {
+// //--------------------------------------鎻愬崌鏈哄叆搴�-----------------------------------------//
+// Date now = new Date();
+//
+// //2.璁惧涓婅蛋 ==> 3.鎻愬崌鏈烘惉杩愪腑
+// if (wrkMast.getWrkSts() == 2) {
+// //鑾峰彇婧愮珯
+// BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
+// if (sourceBasDevp == null) {
+// return false;//鎵句笉鍒扮珯鐐�
+// }
+//
+// if (!sourceBasDevp.getInEnable().equals("Y")) {
+// News.info("{}浠诲姟锛寋}婧愮珯锛屾病鏈夊彲鍏ヤ俊鍙�", wrkMast.getWrkNo(), sourceBasDevp.getDevNo());
+// return false;//绔欑偣涓嶅彲鍏�
+// }
+//
+// Integer barcodeId = Utils.getBarcodeIdByStaNo(wrkMast.getSourceStaNo());
+// if (barcodeId == null) {
+// News.info("{}浠诲姟锛寋}婧愮珯锛屾壘涓嶅埌鍙敤鏉＄爜鍣↖D", wrkMast.getWrkNo(), sourceBasDevp.getDevNo());
+// return false;//绔欑偣涓嶅彲鍏�
+// }
+//
+// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId);
+// if (barcodeThread == null) {
+// News.info("{}浠诲姟锛寋}婧愮珯锛屾潯鐮佸櫒{}绾跨▼涓虹┖", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId);
+// return false;//绔欑偣涓嶅彲鍏�
+// }
+// String barcode = barcodeThread.getBarcode();
+// if(!Cools.isEmpty(barcode)) {
+// if(!("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode))) {
+// //瀛樺湪鏉＄爜鍊硷紝鍒ゆ柇鏄惁鍜屽綋鍓嶅伐浣滄。涓�鑷�
+// if (!barcode.equals(wrkMast.getBarcode())) {
+// News.info("{}浠诲姟,{}绔欑偣锛屾潯鐮佸櫒{}鍊納}涓庡伐浣滄。鏉＄爜鍊納}涓嶄竴鑷达紝绯荤粺璺宠繃鎵ц", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId, barcode,wrkMast.getBarcode());
+// return false;//绔欑偣涓嶅彲鍏�
+// }
+// }
+// }else {
+// return false;
+// }
+//
+// //鍒ゆ柇鎻愬崌鏈烘暣涓笁妤兼槸鍚﹂兘澶勪簬鍏ュ簱妯″紡
+// Integer outInModel1 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 1);
+// Integer outInModel2 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 5);
+// Integer outInModel3 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 8);
+// if (outInModel1 == null || outInModel2 == null || outInModel3 == null) {
+// News.info("{}浠诲姟锛屾病鏈夊嚭鍏ュ簱妯″紡", wrkMast.getWrkNo());
+// return false;//涓嶅瓨鍦ㄥ嚭鍏ュ簱妯″紡
+// }
+//
+// if (outInModel1 == 2 || outInModel2 == 2 && outInModel3 == 2) {
+// News.info("{}浠诲姟锛屾湁绔欑偣澶勪簬鍑哄簱妯″紡锛岀姝㈠叆搴�", wrkMast.getWrkNo());
+// return false;//鍙鏈変竴涓浜庡嚭搴撴ā寮忥紝绂佹鍏ュ簱
+// }
+//
+// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, sourceBasDevp.getLiftNo());
+// if (liftThread == null) {
+// return false;
+// }
+// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+// if (liftProtocol == null) {
+// return false;
+// }
+// if (!liftProtocol.isIdle()) {
+// News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屽繖纰屼腑", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+// return false;
+// }
+// //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚︽湭琚崰棰�
+// if (liftProtocol.getToken() != 0) {
+// News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屼护鐗屽凡琚嫭鍗狅紝绂佹娲惧彂", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+// return false;//鎻愬崌鏈哄凡琚嫭鍗狅紝绂佹鍐嶆淳鍙戜换鍔�
+// }
+//
+// //鍒ゆ柇鎻愬崌鏈哄唴鏄惁鏈夊皬杞�
+// if (liftProtocol.getHasCar()) {
+// News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満鍐呴儴鏈夊皬杞︼紝绂佹娲惧彂", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+// return false;//鏈夊皬杞︼紝绂佹娲惧彂
+// }
+//
+// //鍒ゆ柇鎻愬崌鏈哄唴鏄惁鏈夋墭鐩�
+// if (liftProtocol.getHasTray()) {
+// News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満鍐呴儴鏈夋墭鐩橈紝绂佹娲惧彂", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+// return false;//鏈夋墭鐩橈紝绂佹娲惧彂
+// }
+//
+// //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+// WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
+// if (liftWrkMast != null) {
+// News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屽綋鍓嶆彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+// return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+// }
+//
+// //鑾峰彇婧愮珯瀵瑰簲鐨勭墰鐪兼彁鍗囨満绔欑偣缂栧彿(璧风偣缂栧彿)
+// Integer startSta = Integer.parseInt(sourceBasDevp.getQrCodeValue());
+// //鑾峰彇鎻愬崌鏈虹珯鐐�
+// LiftStaProtocol targetStaProtocol = NyLiftUtils.getLiftStaByLev(liftThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo()));
+// if (targetStaProtocol == null) {
+// return false;//绔欑偣涓嶅瓨鍦�
+// }
+//
+// if (targetStaProtocol.getHasTray()) {
+// News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛寋}绔欑偣锛屾彁鍗囨満绔欑偣鏈夋墭鐩橈紝绂佹娲惧彂", wrkMast.getWrkNo(), liftProtocol.getLiftNo(), targetStaProtocol.getStaNo());
+// return false;//鎻愬崌鏈虹珯鐐规湁鎵樼洏锛岀姝㈡淳鍙�
+// }
+//
+// Integer targetSta = targetStaProtocol.getStaNo();
+//
+// //鑾峰彇鎻愬崌鏈哄懡浠�
+// NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
+// if (wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) {
+// //鎷ｆ枡鍐嶅洖搴擄紝閲嶆柊鍒嗛厤璁惧宸ヤ綔鍙�
+// int deviceWrk = commonService.getWorkNo(8);//鐢熸垚鎻愬崌鏈鸿澶囧伐浣滃彿
+// BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(String.valueOf(deviceWrk), liftThread.getSlave().getId());
+// if (basLiftOpt != null) {
+// News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛岃澶囧伐浣滃彿鍑虹幇閲嶅鎯呭喌锛岃鑱旂郴鎶�鏈汉鍛樻敮鎸併��", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+// return false;
+// }
+// liftCommand.setTaskNo((short) deviceWrk);
+// }
+// ArrayList<NyLiftCommand> commands = new ArrayList<>();
+// commands.add(liftCommand);
+//
+// //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+// LiftAssignCommand assignCommand = new LiftAssignCommand();
+// assignCommand.setCommands(commands);
+// assignCommand.setLiftNo(liftProtocol.getLiftNo());
+// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+// assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
+//
+// wrkMast.setWrkSts(3L);//2.璁惧涓婅蛋 ==> 3.鎻愬崌鏈烘惉杩愪腑
+// wrkMast.setLiftNo(liftThread.getSlave().getId());//浠诲姟妗ｇ粦瀹氭彁鍗囨満鍙�
+// wrkMast.setModiTime(now);
+// liftProtocol.setToken(wrkMast.getWrkNo());//鐙崰鎻愬崌鏈轰护鐗�
+// if (wrkMastMapper.updateById(wrkMast) > 0) {
+// //涓嬪彂浠诲姟
+// MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+// }
+//
+// return false;
+// }
+// return true;
+// }
+//
+// /**
+// * 鎻愬崌鏈哄嚭搴�
+// * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+// * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+// */
+// private boolean liftIoExecuteStepOut(WrkMast wrkMast) {
+// //--------------------------------------鎻愬崌鏈哄嚭搴�-----------------------------------------//
+// Date now = new Date();
+//
+// //23.灏忚溅鎼繍瀹屾垚 ==> 24.鎻愬崌鏈烘惉杩愪腑
+// if (wrkMast.getWrkSts() == 23) {
+// NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+// if (shuttleThread == null) {
+// return false;
+// }
+//
+// //鑾峰彇鍑哄簱绔欑偣(鐩爣绔�)
+// BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
+// if (basDevp == null) {
+// News.info("{}浠诲姟锛屽嚭搴撶珯鐐逛笉瀛樺湪锛岀姝㈡淳鍙�", wrkMast.getWrkNo());
+// return false;//鍑哄簱绔欑偣涓嶅瓨鍦�
+// }
+//
+// //鑾峰彇婧愮珯瀵瑰簲鐨勭墰鐪兼彁鍗囨満绔欑偣缂栧彿(璧风偣缂栧彿)
+// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
+// if (liftStaProtocol == null) {
+// News.info("{}浠诲姟锛屾壘涓嶅埌绔欑偣锛岀姝㈡淳鍙�", wrkMast.getWrkNo());
+// return false;//鎵句笉鍒扮珯鐐�
+// }
+// Integer startSta = liftStaProtocol.getStaNo();
+//
+// NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+// if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
+// //灏忚溅杩樺湪杈撻�佺珯鐐�
+// //璋冨害灏忚溅閬胯
+// boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
+// if (!result) {
+// News.info("{}浠诲姟锛寋}灏忚溅锛屽皬杞﹀湪杈撻�佺珯鐐硅皟搴﹀皬杞﹂伩璁╁け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+// return false;
+// }
+// }
+//
+// if (!basDevp.getAutoing().equals("Y")) {
+// News.info("{}浠诲姟锛寋}绔欑偣锛屾病鏈夎嚜鍔ㄤ俊鍙凤紝绂佹娲惧彂", wrkMast.getWrkNo(), basDevp.getDevNo());
+// return false;//鍑哄簱绔欑偣涓嶅彲鍑�
+// }
+//
+// if (basDevp.getLoading().equals("Y")) {
+// News.info("{}浠诲姟锛寋}绔欑偣锛屽瓨鍦ㄦ湁鐗╀俊鍙凤紝绂佹娲惧彂", wrkMast.getWrkNo(), basDevp.getDevNo());
+// return false;//鍑哄簱绔欑偣涓嶅彲鍑�
+// }
+//
+// if (!basDevp.getOutEnable().equals("Y")) {
+// News.info("{}浠诲姟锛寋}绔欑偣锛屾病鏈夊彲鍑轰俊鍙凤紝绂佹娲惧彂", wrkMast.getWrkNo(), basDevp.getDevNo());
+// return false;//鍑哄簱绔欑偣涓嶅彲鍑�
+// }
+//
+// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
+// if (liftThread == null) {
+// return false;
+// }
+// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+// if (liftProtocol == null) {
+// return false;
+// }
+//
+// if (!liftProtocol.isIdle()) {
+// News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屽繖纰屼腑", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+// return false;
+// }
+// //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚︽湭琚崰棰�
+// if (liftProtocol.getToken() != 0) {
+// News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屼护鐗屽凡琚嫭鍗狅紝绂佹娲惧彂", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+// return false;//鎻愬崌鏈哄凡琚嫭鍗狅紝绂佹鍐嶆淳鍙戜换鍔�
+// }
+// //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+// WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
+// if (liftWrkMast != null) {
+// News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屽綋鍓嶆彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+// return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+// }
+//
+// //鑾风洰鏍囩珯婧愮珯瀵瑰簲鐨勮緭閫佺珯鐐�
+// BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
+// if (targetBasDevp == null) {
+// News.info("{}浠诲姟锛寋}绔欑偣锛岀珯鐐逛笉瀛樺湪锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), wrkMast.getStaNo());
+// return false;//绔欑偣涓嶅瓨鍦�
+// }
+// //鑾峰彇鐗涚溂鎻愬崌鏈虹珯鐐圭紪鍙�(鐩爣缂栧彿)
+// Integer targetSta = Integer.parseInt(targetBasDevp.getQrCodeValue());
+//
+// //鑾峰彇鎻愬崌鏈哄懡浠�
+// NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftThread.getSlave().getId(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
+//
+// ArrayList<NyLiftCommand> commands = new ArrayList<>();
+// commands.add(liftCommand);
+//
+// //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+// LiftAssignCommand assignCommand = new LiftAssignCommand();
+// assignCommand.setCommands(commands);
+// assignCommand.setLiftNo(liftProtocol.getLiftNo());
+// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+// assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
+//
+// wrkMast.setWrkSts(24L);//23.灏忚溅鎼繍瀹屾垚 ==> 24.鎻愬崌鏈烘惉杩愪腑
+// wrkMast.setLiftNo(liftThread.getSlave().getId());//浠诲姟妗ｇ粦瀹氭彁鍗囨満鍙�
+// wrkMast.setModiTime(now);
+// liftProtocol.setToken(wrkMast.getWrkNo());//鐙崰鎻愬崌鏈轰护鐗�
+// if (wrkMastMapper.updateById(wrkMast) > 0) {
+// //涓嬪彂浠诲姟
+// MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+// }
+//
+// return false;
+// }
+// return true;
+// }
+//
+ /**
+ * 璐у弶鎻愬崌鏈轰换鍔″畬鎴�
+ */
+ public synchronized void forkLiftFinished() {
+ try {
+ for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
+ //鑾峰彇鎻愬崌鏈轰俊鎭�
+ ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
+ ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
+ if (forkLiftProtocol == null) {
continue;
- } else {
- staProtocol = staProtocol.clone();
}
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){
- WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
- if (wrkMast == null) {
- // 鏃犳嫞鏂欐暟鎹�
- continue;
- }
- if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
- || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
- continue;
- }
- // 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�");
+ //鎻愬崌鏈轰负绛夊緟纭涓旂┖闂�
+ if (forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.WAITING.id
+ && forkLiftProtocol.getWrkNo() != 0
+ ) {
+ //灏嗕换鍔℃。鏍囪涓哄畬鎴�
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo());
+ if (wrkMast != null) {
+ switch (wrkMast.getWrkSts().intValue()) {
+// case 3://3.鎻愬崌鏈烘惉杩愪腑 ==> 4.鎻愬崌鏈烘惉杩愬畬鎴�
+// wrkMast.setWrkSts(4L);
+// wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+// if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
+// //閲婃斁鎻愬崌鏈轰护鐗�
+// liftProtocol.setToken(0);
+// }
+// break;
+// case 24://24.鎻愬崌鏈烘惉杩愪腑 ==> 25.鎻愬崌鏈烘惉杩愬畬鎴�
+// wrkMast.setWrkSts(25L);
+// if (wrkMast.getIoType() == 11) {//搴撲綅绉昏浆
+// wrkMast.setWrkSts(4L);//4.鎻愬崌鏈烘惉杩愬畬鎴�
+// } else {
+// if (wrkMast.getMk() == null || !wrkMast.getMk().equals("Y")) {
+// //涓嶉渶瑕佺敤鍒版満姊拌噦锛岀洿鎺ヨ浆29.鍑哄簱瀹屾垚
+// wrkMast.setWrkSts(29L);
+// wrkMast.setShuttleNo(null);//閲婃斁灏忚溅
+// wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+// wrkMast.setModiTime(new Date());
+// }
+// }
+// break;
+ case 306://306.鎻愬崌鏈烘惉杩愪腑 ==> 307.鎻愬崌鏈烘惉杩愬畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
+ forkLiftThread.setSyncTaskNo(0);
+ break;
+ default:
}
- // 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.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(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
+ if (wrkMastService.updateById(wrkMast)) {
+ forkLiftThread.reset();
+ News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬併�傛彁鍗囨満鍙�={}", forkLiftProtocol.getLiftNo());
+ } else {
+ News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", forkLiftProtocol.getLiftNo(), forkLiftProtocol.getWrkNo());
}
- // 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().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());
- }
-
}
-
}
-
+ } catch (Exception e) {
+ e.printStackTrace();
}
}
/**
- * 鍫嗗灈鏈虹珯鍑哄簱鍒板嚭搴撶珯
+ * 寮傚父淇℃伅璁板綍
*/
- @Async
- public void crnStnToOutStn() {
- for (CrnSlave crnSlave : slaveProperties.getCrn()) {
- // 閬嶅巻鍫嗗灈鏈哄嚭搴撶珯
- for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃伅
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
- StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
- if (staProtocol == null) {
- continue;
+ public void recErr() {
+ try {
+ this.recShuttleErr();
+ this.recLiftErr();
+ } catch (Exception e) {
+ News.error("recErr fail", e);
+ }
+ }
+
+ /**
+ * 鍥涘悜绌挎杞﹀紓甯镐俊鎭褰�
+ */
+ private void recShuttleErr() {
+ Date now = new Date();
+ for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
+ // 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getTaskNo() != 0) {
+ //鏈変换鍔�
+ BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo());
+ // 鏈夊紓甯�
+ if (latest == null) {
+ if (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) {
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
+ if (wrkMast == null) {
+ continue;
+ }
+ int errorCode = Integer.parseInt(shuttleProtocol.getErrorCode());
+ BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(errorCode);
+ String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName();
+ BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
+ null, // 缂栧彿
+ wrkMast.getWrkNo(), // 宸ヤ綔鍙�
+ now, // 鍙戠敓鏃堕棿
+ null, // 缁撴潫鏃堕棿
+ wrkMast.getWrkSts(), // 宸ヤ綔鐘舵��
+ wrkMast.getIoType(), // 鍏ュ嚭搴撶被鍨�
+ shuttleSlave.getId(), // 鍥涘悜绌挎杞�
+ null, // plc
+ wrkMast.getLocNo(), // 鐩爣搴撲綅
+ wrkMast.getStaNo(), // 鐩爣绔�
+ wrkMast.getSourceStaNo(), // 婧愮珯
+ wrkMast.getSourceLocNo(), // 婧愬簱浣�
+ wrkMast.getBarcode(), // 鏉＄爜
+ errorCode, // 寮傚父鐮�
+ errName, // 寮傚父
+ 1, // 寮傚父鎯呭喌
+ now, // 娣诲姞鏃堕棿
+ null, // 娣诲姞浜哄憳
+ now, // 淇敼鏃堕棿
+ null, // 淇敼浜哄憳
+ "浠诲姟涓紓甯�", // 澶囨敞
+ JSON.toJSONString(shuttleProtocol) // 绯荤粺鐘舵�佹暟鎹�
+ );
+ if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
+ }
+ }
} else {
- staProtocol = staProtocol.clone();
+ // 寮傚父淇
+ if (shuttleProtocol.getErrorCode() == null || Integer.parseInt(shuttleProtocol.getErrorCode()) == 0) {
+ latest.setEndTime(now);
+ latest.setUpdateTime(now);
+ latest.setStatus(2);
+ if (!basShuttleErrLogService.updateById(latest)) {
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
+ }
+ }
}
- if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
- // 鏌ヨ宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakOutStep16(staProtocol.getSiteId());
- if (wrkMast == null) {
- continue;
- }
- // 鍒ゆ柇宸ヤ綔妗ｆ潯浠�
- if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
- continue;
- }
- // 鍒ゆ柇鍚婅溅鏄惁瀹為檯宸插畬鎴愶紝涓旂數鑴戠姸鎬佸湪move涓紝浠ュ鐢佃剳杩涜鏇存柊宸ヤ綔妗�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- 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� --------------------------------------------------------------------------
+ /**
+ * 鎻愬崌鏈哄紓甯镐俊鎭褰�
+ */
+ private void recLiftErr() {
+ Date now = new Date();
+ for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
+ // 鑾峰彇鎻愬崌鏈轰俊鎭�
+ ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
+ if (forkLiftThread == null) {
+ continue;
+ }
+ ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
+ if (forkLiftProtocol == null) {
+ continue;
+ }
- // 涓嬪彂绔欑偣淇℃伅
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
+ if (forkLiftProtocol.getTaskNo() != 0) {
+ //鏈変换鍔�
+ BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(forkLiftSlave.getId(), forkLiftProtocol.getTaskNo());
+ // 鏈夊紓甯�
+ if (latest == null) {
+ if (forkLiftProtocol.getErrorCode() != null && forkLiftProtocol.getErrorCode() != 0) {
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo());
+ if (wrkMast == null) {
continue;
}
- // 鏇存柊宸ヤ綔妗ｇ姸鎬佷负 17.鍑哄簱瀹屾垚
- wrkMast.setWrkSts(17L);
- 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 17.鍑哄簱瀹屾垚 澶辫触锛侊紒锛� [宸ヤ綔鍙�:{}]", wrkMast.getWrkNo());
- }
+ BasLiftErr basLiftErr = basLiftErrService.queryByCode(forkLiftProtocol.getErrorCode());
+ String errName = basLiftErr==null? "鏈煡寮傚父":basLiftErr.getErrName();
- }
-
- }
- }
- }
- }
-
- /**
- * 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;
- }
- // 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) {
- // 濡傛灉鏈�杩戜竴娆℃槸鍏ュ簱妯″紡
- if (crnProtocol.getLastIo().equals("I")) {
- if (basCrnp.getInEnable().equals("Y")) {
- // 鍏ュ簱
- if (this.crnStnToLoc(crn, crnProtocol)) {
- crnProtocol.setLastIo("O");
- }
- } else if (basCrnp.getOutEnable().equals("Y")) {
- // 鍑哄簱
- if (this.locToCrnStn(crn, crnProtocol)) {
- crnProtocol.setLastIo("I");
+ BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
+ null, // 缂栧彿
+ wrkMast.getWrkNo(), // 宸ヤ綔鍙�
+ now, // 鍙戠敓鏃堕棿
+ null, // 缁撴潫鏃堕棿
+ wrkMast.getWrkSts(), // 宸ヤ綔鐘舵��
+ wrkMast.getIoType(), // 鍏ュ嚭搴撶被鍨�
+ forkLiftSlave.getId(), // 鎻愬崌鏈�
+ null, // plc
+ wrkMast.getLocNo(), // 鐩爣搴撲綅
+ wrkMast.getStaNo(), // 鐩爣绔�
+ wrkMast.getSourceStaNo(), // 婧愮珯
+ wrkMast.getSourceLocNo(), // 婧愬簱浣�
+ wrkMast.getBarcode(), // 鏉＄爜
+ null, // 寮傚父鐮�
+ errName, // 寮傚父
+ 1, // 寮傚父鎯呭喌
+ now, // 娣诲姞鏃堕棿
+ null, // 娣诲姞浜哄憳
+ now, // 淇敼鏃堕棿
+ null, // 淇敼浜哄憳
+ "浠诲姟涓紓甯�", // 澶囨敞
+ JSON.toJSONString(forkLiftProtocol) // 绯荤粺鐘舵�佹暟鎹�
+ );
+ if (!basLiftErrLogService.insert(basLiftErrLog)) {
+ News.error("鎻愬崌鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", forkLiftSlave.getId(), errName);
}
}
- }
- // 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")) {
- // 鍑哄簱
- if (this.locToCrnStn(crn, crnProtocol)) {
- crnProtocol.setLastIo("I");
- }
- } else if (basCrnp.getInEnable().equals("Y")) {
- // 鍏ュ簱
- if (this.crnStnToLoc(crn, crnProtocol)) {
- crnProtocol.setLastIo("O");
- }
- }
- }
- }
- }
- }
-
- /**
- * 鍏ュ簱 ===>> 鍫嗗灈鏈虹珯鍒板簱浣�
- */
- public boolean crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
- for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
- boolean flag = false;
- // 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;
- }
- // 鑾峰彇宸ヤ綔鐘舵�佷负 2,3,4,5,6 鐨勫叆搴撳伐浣滄。
- WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
- if(null == wrkMast) {
- log.error("{}绔欑偣鏌ヨ鏃犲緟鍏ュ簱鏁版嵁 宸ヤ綔鍙�={}", crnStn.getStaNo(), staProtocol.getWorkNo());
- continue;
- }
- // 鑾峰彇搴撲綅淇℃伅
- LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
- if (locMast == null) {
- log.error("鏌ヨ搴撳瓨鏃犳暟鎹�--搴撲綅鍙穥}", wrkMast.getLocNo());
- continue;
- }
- if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
- log.error("鍏ュ簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), locMast.getLocSts());
- continue;
- }
-
- // 鐩爣搴撲綅 ===>> 鏈�澶栧眰搴撲綅
- if (locMastService.isOutMost(wrkMast.getLocNo())) {
- // 鍒ゆ柇灏忚溅鏄惁鍦ㄦ渶澶栧眰搴撲綅锛屽鏋滄槸鍒欐惉璧帮紝濡傛灉涓嶆槸锛屽垯鐩存帴鍫嗗灈鏈哄叆搴�
- Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
- // 鏈夊皬杞�
- if (steNo != null) {
- // 灏忚溅琛岃蛋鍒板爢鍨涙満寰呮惉绉荤偣
- if (wrkMast.getWrkSts() == 2L && wrkMast.getStaNo() == null) {
- this.letCarBeReady(wrkMast, steNo);
- }
- // 灏忚溅鎼蛋
- if (wrkMast.getWrkSts() == 3L) {
- this.carMoveOut(wrkMast, steNo, crnProtocol);
- }
- // 娌℃湁灏忚溅
} else {
-
- // 褰撳墠鍏ュ簱搴撲綅缁勬病鏈夊皬杞� 鍫嗗灈鏈哄垯鍘荤珯鐐瑰彇璐у叆搴�
- // case 1锛氫粠濮嬭嚦缁堝簱浣嶇粍閮芥病鏈夊皬杞︼紝娌℃湁杩佸嚭灏忚溅鍔ㄤ綔锛屾墍浠ュ伐浣滅姸鎬� = 2
- // case 2锛氬爢鍨涙満宸茬粡鎼嚭灏忚溅锛屾湁杩佸嚭灏忚溅鍔ㄤ綔锛屾墍浠ュ伐浣滅姸鎬� = 6
- if (wrkMast.getWrkSts() == 2L || wrkMast.getWrkSts() == 6L) {
-
- // 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) {
- continue;
- }
-
- // 鍫嗗灈鏈哄叆搴� 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.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�
- 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� 7.鍚婅溅鍏ュ簱涓�
- Date now = new Date();
- wrkMast.setWrkSts(7L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� {} => 7.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
- }
- return true;
- }
- }
-
- }
-
- // 鐩爣搴撲綅 ===>> 闈炴渶澶栧眰搴撲綅
- } else {
- // 鍒ゆ柇灏忚溅鏄惁鍦ㄥ綋鍓嶇粍搴撲綅锛屽鏋滄槸鍒欏皢绌挎杞︾Щ鑷虫渶澶栧眰锛岀瓑寰呭爢鍨涙満鏀捐揣锛涘鏋滀笉鏄紝鍒欏爢鍨涙満瀵绘壘绌挎杞︼紝骞舵斁缃綋鍓嶇粍鏈�澶栧眰
- Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
- // 鏈夊皬杞�
- if (steNo != null) {
- // 灏忚溅琛岃蛋鍒板爢鍨涙満寰呮惉绉荤偣
- if (wrkMast.getWrkSts() == 2L && wrkMast.getStaNo() == null) {
- this.letCarBeReady(wrkMast, steNo);
- }
- // 鍫嗗灈鏈哄皢璐ф斁鑷冲皬杞︿笂 3.灏忚溅寰呮惉锛堝皬杞︿笉鐢ㄦ惉杩愶紝宸茬粡鍦ㄥ綋鍓嶇粍搴撲綅锛� / 6.灏忚溅寰呭叆 ===>> 7.鍚婅溅鍏ュ簱涓�
- if (wrkMast.getWrkSts() == 3L || wrkMast.getWrkSts() == 6L) {
- // 灏忚溅澶勪簬绌洪棽
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
-
- // 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) {
- continue;
- }
- // 鍫嗗灈鏈哄叆搴� 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.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).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�
- 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� 3.灏忚溅寰呮惉 ===>> 7.鍚婅溅鍏ュ簱涓�
- Date now = new Date();
- wrkMast.setWrkSts(7L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 3.灏忚溅寰呮惉/6.灏忚溅寰呭叆 => 7.鍚婅溅鍏ュ簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- return true;
- }
- }
- }
- // 娌℃湁灏忚溅
- } else {
- if (wrkMast.getWrkSts() == 2L && wrkMast.getStaNo() == null) {
- // 瀵绘壘褰撳墠鍫嗗灈鏈哄搴旂殑灏忚溅
- SteThread steThread = queryIdleCar(wrkMast);
- if (steThread != null) {
- // 璁╁皬杞︾瓑寰呮惉杩愬緟缁�
- this.letCarBeReady(wrkMast, steThread.getSlave().getId());
- }
- }
- // 鍫嗗灈鏈烘惉杩愬皬杞�
- if (wrkMast.getWrkSts() == 3L) {
- this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
- }
- }
- }
-
- }
- return false;
- }
-
- /**
- * 鍑哄簱 ===>> 搴撲綅鍒板爢鍨涙満绔�
- */
- public boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
- for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
- // 鑾峰彇宸ヤ綔鐘舵�佷负11锛堢敓鎴愬嚭搴揑D锛夌殑鍑哄簱宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
- if (wrkMast == null) {
- continue;
- }
- // 宸ヤ綔妗ｇ姸鎬佸垽鏂�
- if (wrkMast.getIoType() < 100 || 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;
- }
- // 鑾峰彇婧愬簱浣嶄俊鎭�
- LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
- if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
- log.error("鍑哄簱鎿嶄綔搴撲綅鐘舵�佷笉绗﹀悎--鐘舵��, 搴撲綅鍙�={}锛屽簱浣嶇姸鎬�={}", wrkMast.getLocNo(), sourceSta.getLocSts());
- continue;
- }
- // 鑾峰彇鍫嗗灈鏈哄嚭搴撶珯淇℃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("鍑哄簱 ===>> 鍫嗗灈鏈虹珯鐐瑰湪鏁版嵁搴撲笉瀛樺湪, 绔欑偣缂栧彿={}", crnStn.getStaNo());
- 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()) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- // 鍫嗗灈鏈烘帶鍒惰繃婊�
- if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
- continue;
- }
-
- // 鏈�澶栧眰搴撲綅锛岀洿鎺ュ爢鍨涙満鍑哄簱
- if (locMastService.isOutMost(wrkMast.getSourceLocNo())) {
- // 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) {
- continue;
- }
-
- // 鍫嗗灈鏈哄嚭搴� 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(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�
- 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� 11.鐢熸垚鍑哄簱ID => 16.鍚婅溅鍑哄簱涓�
- Date now = new Date();
- wrkMast.setWrkSts(16L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 16.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- return true;
- }
- // 涓嶆槸鏈�澶栧眰搴撲綅锛岄渶瑕佷娇鐢ㄧ┛姊溅鎼繍鍚庯紝鍐嶅爢鍨涙満鍑哄簱
- } else {
- // 褰撳墠缁勫簱浣嶆槸鍚︽湁绌挎杞�
- Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
- // 鏈夊皬杞�
- if (steNo != null) {
- if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
-
- // 缁欑┛姊溅涓嬪彂鍛戒护 璁╁叾灏嗚揣鐗╂尓鑷冲爢鍨涙満鎼繍鐐�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkMast.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.TO_B); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
- // todo:luxiaotao
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- log.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 14.灏忚溅鎼嚭搴�
- Date now = new Date();
- wrkMast.setWrkSts(14L);
- wrkMast.setSteNo(steNo);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 14.灏忚溅鎼嚭搴� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
- if (wrkMast.getWrkSts() == 15L) {
- // 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) {
- continue;
- }
-
- // 鍫嗗灈鏈哄嚭搴� 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(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�
- 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� 15.绛夊緟鍚婅溅 => 16.鍚婅溅鍑哄簱涓�
- Date now = new Date();
- wrkMast.setWrkSts(16L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 15.绛夊緟鍚婅溅 => 16.鍚婅溅鍑哄簱涓� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- return true;
- }
- }
-
- // 娌℃湁灏忚溅
- } else {
- if (wrkMast.getWrkSts() == 11L && wrkMast.getStaNo() == null) {
- // 瀵绘壘鏈�杩戠殑灏忚溅
- SteThread steThread = queryIdleCar(wrkMast);
- if (steThread != null) {
- // 璁╁皬杞︾瓑寰呮惉杩愬緟缁�
- this.letCarBeReady(wrkMast, steThread.getSlave().getId());
- }
- }
- // 鍫嗗灈鏈烘惉杩愬皬杞�
- if (wrkMast.getWrkSts() == 12L) {
- this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
- }
- }
- }
-
- }
- }
- return false;
- }
-
- /**
- * 褰撳墠搴撲綅缁勬槸鍚﹀瓨鍦ㄧ┖闂插皬杞�
- */
- public Integer hasCarOfIdle(String locNo) {
- for (SteSlave ste : slaveProperties.getSte()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
- if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
- return steProtocol.getSteNo().intValue();
- }
- }
- }
- return null;
- }
-
- /**
- * 鏌ユ壘褰撳墠搴撲綅鏈�閫傚悎鐨勭┛姊溅鏉ヤ綔涓�
- */
- public SteThread queryIdleCar(WrkMast wrkMast) {
- Integer crnNo = wrkMast.getCrnNo();
- BasSte basSte = basSteService.findByCrnNo(crnNo);
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol != null) {
- if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
- return steThread;
- }
- }
- return null;
- }
-
- /**
- * 璁╁皬杞︿粠 杩滅偣 ====>> 绉诲姩鍒拌繎鐐�
- * 绛夊緟鍫嗗灈鏈烘惉杩�
- */
- public void letCarBeReady(WrkMast wrkMast, Integer steNo) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { return; }
- if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkMast.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.TO_B); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- log.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞�
- wrkMast.setSteNo(steNo);
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
-
- /**
- * 鍏ュ嚭搴� ===>> 鍫嗗灈鏈烘惉鍏ュ皬杞�
- */
- public void carMoveIn(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { return; }
- if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
- // 鍫嗗灈鏈虹┖闂�
- if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() == 0) {
- LocMast locMast;
- // 鍏ュ簱鎼�
- if (wrkMast.getWrkSts() <= 10) {
- locMast = locMastService.selectById(wrkMast.getLocNo());
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- 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(steProtocol.getRow()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).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�
- 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� 3.灏忚溅寰呮惉 => 4.杩佸叆灏忚溅
- Date now = new Date();
- wrkMast.setWrkSts(4L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 3.灏忚溅寰呮惉 => 4.杩佸叆灏忚溅 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- // 鍑哄簱鎼�
- } else {
- locMast = locMastService.selectById(wrkMast.getSourceLocNo());
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- 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(steProtocol.getRow()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).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�
- 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� 12.灏忚溅寰呮惉 => 13.杩佸叆灏忚溅
- Date now = new Date();
- wrkMast.setWrkSts(13L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 12.灏忚溅寰呮惉 => 13.杩佸叆灏忚溅 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
-
- }
- }
-
- /**
- * 鍏ュ簱 ===>> 鍫嗗灈鏈烘惉鍑哄皬杞�
- */
- public void carMoveOut(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { return; }
- // 绌挎杞︾┖闂�
- if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
- // 鍫嗗灈鏈虹┖闂�
- if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() == 0) {
-
- BasSte basSte = basSteService.selectById(steNo);
- if (basSte == null) {
- log.error("{}鍙风┛姊溅鍦ㄦ暟鎹簱涓嶅瓨鍦紒锛侊紒", steNo);
- return;
- }
- String idleLocNo = basSte.getIdleLoc();
-
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- 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(steProtocol.getRow()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(idleLocNo).shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY((short) Utils.getBay(idleLocNo)); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ((short) Utils.getLev(idleLocNo)); // 鐩爣搴撲綅灞�
- 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� 3.灏忚溅寰呮惉 => 5.杩佸嚭灏忚溅
- Date now = new Date();
- wrkMast.setWrkSts(5L);
- wrkMast.setCrnStrTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 3.灏忚溅寰呮惉 => 5.杩佸嚭灏忚溅 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
- }
-
-
- /**
- * 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
- */
- @Async
- @Transactional
- public void storeFinished() {
- 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; }
- // 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) {
- // 鑾峰彇鍏ュ簱寰呯‘璁ゅ伐浣滄。
- WrkMast wrkMast = wrkMastMapper.selectCrnWaiting(crnProtocol.getTaskNo().intValue());
- if (wrkMast == null) {
- log.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗘湭鎵惧埌宸ヤ綔妗ｃ�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", crn.getId(), crnProtocol.getTaskNo());
- continue;
- }
- // 鍏ュ簱 ==>> 璐х墿鎼叆搴�
- if (wrkMast.getWrkSts() == 7){
- // 鍒ゆ柇鏄惁闇�瑕佸皬杞﹀叆搴�
- if (locMastService.isOutMost(wrkMast.getLocNo())) {
- // ==> 9.鍏ュ簱瀹屾垚
- wrkMast.setWrkSts(9L);
- Date now = new Date();
- wrkMast.setCrnEndTime(now);
- wrkMast.setModiTime(now);
- // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- } else {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 7.鍚婅溅鍏ュ簱涓� => 9.鍏ュ簱瀹屾垚 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- } else {
- // 缁欑┛姊溅涓嬪彂鍛戒护
- Integer steNo = wrkMast.getSteNo();
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkMast.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.TO_B); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
- // todo:luxiaotao
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- log.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 7.鍚婅溅鍏ュ簱涓� => 8.灏忚溅鎼叆搴�
- wrkMast.setWrkSts(8L);
- Date now = new Date();
- wrkMast.setCrnEndTime(now);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- } else {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 7.鍚婅溅鍏ュ簱涓� => 8.灏忚溅鎼叆搴� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
- // 鍏ュ簱 ===>> 杩佸叆灏忚溅 瀹屾垚
- } else if (wrkMast.getWrkSts() == 4) {
- // 4.杩佸叆灏忚溅 ==> 6.灏忚溅寰呭叆
- wrkMast.setWrkSts(6L);
- Date now = new Date();
- wrkMast.setCrnEndTime(now);
- wrkMast.setModiTime(now);
- // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- } else {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 4.杩佸叆灏忚溅 => 6.灏忚溅寰呭叆 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- // 鍏ュ簱 ===>> 杩佸嚭灏忚溅 瀹屾垚
- } else if (wrkMast.getWrkSts() == 5) {
- // 5.杩佸嚭灏忚溅 ==> 6.灏忚溅寰呭叆
- wrkMast.setWrkSts(6L);
- Date now = new Date();
- wrkMast.setCrnEndTime(now);
- wrkMast.setModiTime(now);
- // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- } else {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 5.杩佸嚭灏忚溅 => 6.灏忚溅寰呭叆 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- // 鍑哄簱 ===>> 杩佸叆灏忚溅 瀹屾垚
- } else if (wrkMast.getWrkSts() == 13) {
- // 缁欑┛姊溅涓嬪彂鍛戒护
- Integer steNo = wrkMast.getSteNo();
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkMast.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.TO_B); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
- // todo:luxiaotao
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- log.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 13.杩佸叆灏忚溅 ==> 14.灏忚溅鎼嚭搴�
- wrkMast.setWrkSts(14L);
- Date now = new Date();
- wrkMast.setCrnEndTime(now);
- wrkMast.setModiTime(now);
- // 淇敼鎴愬姛鍚庡浣嶅爢鍨涙満
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- // 鍫嗗灈鏈哄浣�
- crnThread.setResetFlag(true);
- } else {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 13.杩佸叆灏忚溅 ==> 14.灏忚溅鎼嚭搴� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
+ // 寮傚父淇
+ if (forkLiftProtocol.getErrorCode() == null || forkLiftProtocol.getErrorCode() == 0) {
+ latest.setEndTime(now);
+ latest.setUpdateTime(now);
+ latest.setStatus(2);
+ if (!basLiftErrLogService.updateById(latest)) {
+ News.error("鎻愬崌鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", forkLiftSlave.getId(), latest.getId());
}
}
}
}
}
}
-
- /**
- * 鎵ц瀵瑰伐浣滄。鐨勫畬鎴愭搷浣�
- */
- public void carGenerateStore() {
- Date now = new Date();
- for (SteSlave ste : slaveProperties.getSte()) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (steProtocol.getStatusType().equals(SteStatusType.WAITING) && steProtocol.getTaskNo() != 0) {
- // 鏌ヨ鏄惁鏈夊緟鍏ュ簱鐨勪换鍔�
- WrkMast wrkMast = wrkMastMapper.selectCarWaiting(steProtocol.getTaskNo());
- if (wrkMast == null) { continue; }
-
- switch (wrkMast.getWrkSts().intValue()) {
- case 2:
- // 淇敼宸ヤ綔妗ｇ姸鎬� 2.璁惧涓婅蛋 => 3.灏忚溅寰呮惉
- 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 => 3.灏忚溅寰呮惉 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- } else {
- steThread.setResetFlag(true);
- }
- break;
- case 8:
- // 淇敼宸ヤ綔妗ｇ姸鎬� 8.灏忚溅鎼叆搴� => 9.鍏ュ簱瀹屾垚
- wrkMast.setWrkSts(9L);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 8.灏忚溅鎼叆搴� => 9.鍏ュ簱瀹屾垚 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- } else {
- steThread.setResetFlag(true);
- }
- break;
- case 11:
- // 淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.灏忚溅寰呮惉
- wrkMast.setWrkSts(12L);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 11.鐢熸垚鍑哄簱ID => 12.灏忚溅寰呮惉 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- } else {
- steThread.setResetFlag(true);
- }
- break;
- case 14:
- // 淇敼宸ヤ綔妗ｇ姸鎬� 14.灏忚溅鎼嚭搴� => 15.绛夊緟鍚婅溅
- wrkMast.setWrkSts(15L);
- wrkMast.setModiTime(now);
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- log.error("淇敼宸ヤ綔妗ｇ姸鎬� 14.灏忚溅鎼嚭搴� => 15.绛夊緟鍚婅溅 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- } else {
- steThread.setResetFlag(true);
- }
- break;
- }
-
-
- }
- }
- }
-
- /**
- * 鍫嗗灈鏈哄紓甯镐俊鎭褰�
- */
- @Async
- public void recCrnErr(){
- Date now = new Date();
- 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;
- }
- if (true) {
-// if (crnProtocol.getModeType() != CrnModeType.STOP) {
- // 鏈変换鍔�
- if (crnProtocol.getTaskNo() != 0) {
- BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
- // 鏈夊紓甯�
- if (latest == null) {
- if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
- WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
- if (wrkMast == null) {
- continue;
- }
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
- String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
- BasErrLog basErrLog = new BasErrLog(
- null, // 缂栧彿
- wrkMast.getWrkNo(), // 宸ヤ綔鍙�
- now, // 鍙戠敓鏃堕棿
- null, // 缁撴潫鏃堕棿
- wrkMast.getWrkSts(), // 宸ヤ綔鐘舵��
- wrkMast.getIoType(), // 鍏ュ嚭搴撶被鍨�
- crn.getId(), // 鍫嗗灈鏈�
- null, // plc
- wrkMast.getLocNo(), // 鐩爣搴撲綅
- wrkMast.getStaNo(), // 鐩爣绔�
- wrkMast.getSourceStaNo(), // 婧愮珯
- wrkMast.getSourceLocNo(), // 婧愬簱浣�
- wrkMast.getBarcode(), // 鏉＄爜
- (int) crnProtocol.getAlarm(), // 寮傚父鐮�
- errName, // 寮傚父
- 1, // 寮傚父鎯呭喌
- now, // 娣诲姞鏃堕棿
- null, // 娣诲姞浜哄憳
- now, // 淇敼鏃堕棿
- null, // 淇敼浜哄憳
- "浠诲姟涓紓甯�" // 澶囨敞
- );
- if (!basErrLogService.insert(basErrLog)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
- }
- }
- } else {
- // 寮傚父淇
- if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
- latest.setEndTime(now);
- latest.setUpdateTime(now);
- latest.setStatus(2);
- if (!basErrLogService.updateById(latest)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
- }
- }
- }
- // 鏃犱换鍔�
- } else {
- BasErrLog latest = basErrLogService.findLatest(crn.getId());
- // 鏈夊紓甯�
- if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
- // 璁板綍鏂板紓甯�
- if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
- BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
- String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
- BasErrLog basErrLog = new BasErrLog(
- null, // 缂栧彿
- null, // 宸ヤ綔鍙�
- now, // 鍙戠敓鏃堕棿
- null, // 缁撴潫鏃堕棿
- null, // 宸ヤ綔鐘舵��
- null, // 鍏ュ嚭搴撶被鍨�
- crn.getId(), // 鍫嗗灈鏈�
- null, // plc
- null, // 鐩爣搴撲綅
- null, // 鐩爣绔�
- null, // 婧愮珯
- null, // 婧愬簱浣�
- null, // 鏉＄爜
- (int)crnProtocol.getAlarm(), // 寮傚父鐮�
- errName, // 寮傚父
- 1, // 寮傚父鎯呭喌
- now, // 娣诲姞鏃堕棿
- null, // 娣诲姞浜哄憳
- now, // 淇敼鏃堕棿
- null, // 淇敼浜哄憳
- "鏃犱换鍔″紓甯�" // 澶囨敞
- );
- if (!basErrLogService.insert(basErrLog)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", crn.getId(), errName);
- }
- }
- // 鏃犲紓甯�
- } else {
- // 寮傚父淇
- if (latest != null && latest.getStatus() == 1) {
- latest.setEndTime(now);
- latest.setUpdateTime(now);
- latest.setStatus(2);
- if (!basErrLogService.updateById(latest)) {
- log.error("鍫嗗灈鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
- }
- }
- }
- }
- }
-
- }
- }
-
// -------------------------------------------------------------------------------
+// /**
+// * 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
+// */
+// public void storeEmptyPlt(){
+// try {
+// for (DevpSlave devp : slaveProperties.getDevp()) {
+// // 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�
+// DevpThread devpThread = (DevpThread) 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() == 0 || (staProtocol.getWorkNo() >= 9990 || staProtocol.getWorkNo() <= 9999))
+// && staProtocol.isPakMk()) {
+//
+// // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+// String barcode = null;
+// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
+// if (barcodeThread != null) {
+// String barcode0 = barcodeThread.getBarcode();
+// if (!Cools.isEmpty(barcode0)) {
+//// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", emptyInSta.getBarcode(), barcode0);
+// if (!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
+// barcode = barcode0;
+// }
+// }
+// }
+//
+// if (!Cools.isEmpty(barcode)) {
+// WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode);//鏉＄爜瀛樺湪宸ヤ綔妗�
+// if (wrkMast != null) {
+// continue;
+// }
+// }
+//
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
+//
+// try {
+// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+//
+// SearchLocParam param = new SearchLocParam();
+// param.setIoType(10);
+// if (!Cools.isEmpty(barcode)) {
+// param.setBarcode(barcode);
+// }
+// param.setSourceStaNo(emptyInSta.getStaNo());
+//// param.setLocType1(locTypeDto.getLocType1());
+// String response = new HttpHandler.Builder()
+// .setUri(wmsUrl)
+// .setPath("/rpc/pakin/loc/v2")
+// .setJson(JSON.toJSONString(param))
+// .build()
+// .doPost();
+// JSONObject jsonObject = JSON.parseObject(response);
+// Integer code = jsonObject.getInteger("code");
+// if (code.equals(200)) {
+// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+// barcodeThread.setBarcode("");
+//// // 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());
+//// devpThread.setPakMk(staProtocol.getSiteId(), false);
+//// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//// if (!result) {
+//// throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+//// }
+// } else {
+// if (ledThread != null) {
+// String errorMsg = jsonObject.getString("msg");
+// if (!Cools.isEmpty(errorMsg)) {
+// MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
+// }
+// }
+// News.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/loc/v2", JSON.toJSONString(param), response);
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+// }
+//
+// }
+//
+//
+// }
+// }
+// } catch (Exception e) {
+// e.printStackTrace();
+// }
+// }
+
/**
- * 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
+ * 鍥涘悜绌挎杞︾數閲忔娴� ===>> 鍙戣捣鍏呯數
*/
- @Async
- public void storeEmptyPlt(){
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 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�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
- if (staProtocol == null) {
+ public synchronized void loopShuttleCharge() {
+ try {
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == 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() == 0 || staProtocol.getWorkNo() == 9999 || staProtocol.getWorkNo() == 9990 || staProtocol.getWorkNo() == 9997) && staProtocol.isPakMk()) {
- try {
- LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+ //鍒ゆ柇褰撳墠灏忚溅鏄惁婊¤冻闇�瑕佸厖鐢佃姹�
+ if (!shuttleThread.isRequireCharge()) {
+ continue;
+ }
- SearchLocParam param = new SearchLocParam();
- param.setIoType(10);
- param.setSourceStaNo(emptyInSta.getStaNo());
- param.setLocType1(locTypeDto.getLocType1());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/pakin/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);
+ WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
+ if (wrkMast != null) {//宸叉湁鍏呯數浠诲姟
+ continue;
+ }
- // 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());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ //灏忚溅鎵�鍦ㄦゼ灞�
+ int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
+ ShuttleChargeType shuttleCharge = null;
+
+ //鎼滅储灏忚溅鎵�鍦ㄦゼ灞傛湁娌℃湁鍏呯數妗�
+ for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
+ if (lev != Utils.getLev(chargeType.locNo)) {
+ continue;//灏忚溅鍜屽厖鐢垫々涓嶅湪鍚屼竴灞�
+ }
+
+ //灏忚溅鍜屽厖鐢垫々鍦ㄥ悓涓�灞�
+ if (wrkMastService.selectChargeWorkingByChargeSta(chargeType.id) == null) {
+ shuttleCharge = chargeType;
+ break;
+ }
+ }
+
+ if (shuttleCharge == null) {
+ //鍚屾ゼ灞傛病鏈夋壘鍒板厖鐢垫々锛屾壘鍙敤鍏呯數妗�
+ //灏忚溅鍚屾ゼ灞傛病鏈夊厖鐢垫々锛屽彧瑕佸厖鐢垫々鍙敤灏辩敓鎴愬厖鐢典换鍔�
+ for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
+ if (wrkMastService.selectChargeWorkingByChargeSta(chargeType.id) == null) {
+ //鍒ゆ柇褰撳墠鍏呯數妗╂ゼ灞傛槸鍚︽湁灏忚溅锛屽鏈夊皬杞︼紝涓嶅垎閰嶈鍏呯數妗�
+ int chargeLev = Utils.getLev(chargeType.locNo);//鍏呯數妗╂ゼ灞�
+ boolean checkLevHasShuttle = Utils.checkLevHasShuttle(chargeLev);//妫�娴嬫ゼ灞傛槸鍚︽湁绌挎杞�
+ if (checkLevHasShuttle) {
+ //褰撳墠鍏呯數妗╂ゼ灞傛湁绌挎杞︼紝涓嶅垎閰嶈鍏呯數妗�
+ continue;
}
- } 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/loc/v1", JSON.toJSONString(param), response);
+
+ shuttleCharge = chargeType;
+ break;
}
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
-
}
+ if (shuttleCharge == null) {
+ continue;
+ }
+ String chargeLocNo = shuttleCharge.locNo;
+ wrkMast = new WrkMast();
+ wrkMast.setMk(String.valueOf(shuttleCharge.id));
+ wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id));
+ wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts);
+ wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.鍏呯數
+ wrkMast.setIoPri((double) 999);
+ wrkMast.setLocNo(chargeLocNo);
+ wrkMast.setShuttleNo(shuttle.getId());
+ wrkMast.setMemo("charge");
+ wrkMast.setAppeTime(new Date());
+ if (!wrkMastService.insert(wrkMast)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟澶辫触!!!", shuttle.getId());
+ continue;
+ }
+
+ News.info("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟鎴愬姛!!!", shuttle.getId());
}
+ } catch (Exception e) {
+ e.printStackTrace();
}
}
/**
- * 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
+ * 鎵ц鍥涘悜绌挎杞﹀厖鐢典换鍔�
*/
- @Async
- public void ledExecute() {
- for (LedSlave led : slaveProperties.getLed()) {
- // 鑾峰彇杈撻�佺嚎plc绾跨▼
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
- // 鍛戒护闆嗗悎
- List<LedCommand> commands = new ArrayList<>();
- // 宸ヤ綔妗ｉ泦鍚�
- List<WrkMast> wrkMasts = new ArrayList<>();
- for (Integer staNo : led.getStaArr()) {
- // 鑾峰彇鍙夎溅绔欑偣
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
+ public synchronized void executeShuttleCharge() {
+ try {
+ //鏌ヨ灏忚溅鍏呯數浠诲姟
+ for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId());
+ if(wrkMast == null) {
continue;
- } else {
- staProtocol = staProtocol.clone();
}
- // 鑾峰彇宸ヤ綔妗ｆ暟鎹�
- WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
- if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
- wrkMasts.add(wrkMast);
- // 缁勮鍛戒护
- LedCommand ledCommand = new LedCommand();
- ledCommand.setWorkNo(wrkMast.getWrkNo());
- // 鍑哄簱妯″紡
- switch (wrkMast.getIoType()) {
- case 101:
- ledCommand.setTitle("鍏ㄦ澘鍑哄簱");
- break;
- case 103:
- ledCommand.setTitle("鎷ｆ枡鍑哄簱");
- break;
- case 104:
- ledCommand.setTitle("骞舵澘鍑哄簱");
- break;
- case 107:
- ledCommand.setTitle("鐩樼偣鍑哄簱");
- break;
- case 110:
- 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;
- }
- ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
- ledCommand.setStaNo(wrkMast.getStaNo());
- if (wrkMast.getIoType() != 110) {
- List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
- wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatNo(), wrkDetl.getMatName(), wrkDetl.getQty())));
- }
- commands.add(ledCommand);
- }
- Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
- // 鑾峰彇LED绾跨▼
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
- // 鐩稿悓宸ヤ綔鍙烽泦鍚堝垯杩囨护
- if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
- continue;
- }
- // 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
- if (!commands.isEmpty()) {
- 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());
+
+ boolean result1 = this.executeShuttleChargeStepGoToChargeSta(wrkMast);//灏忚溅绛夊緟鍏呯數妗�
+ if (!result1) {
continue;
- } else {
- ledThread.setLedMk(false);
- }
- }
-
- try {
- // 淇敼涓绘。led鏍囪
- for (WrkMast wrkMast : wrkMasts) {
- wrkMast.setOveMk("Y");
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｅけ璐�");
- }
}
- // 鏇存柊绾跨▼褰撳墠宸ヤ綔鍙烽泦鍚�
- ledThread.setWorkNos(workNos);
+ boolean result2 = this.executeShuttleChargeStepArrivalChargeSta(wrkMast);//灏忚溅鍒拌揪鍏呯數妗�
+ if (!result2) {
+ continue;
+ }
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ boolean result3 = this.executeShuttleChargeStepStartCharge(wrkMast);//灏忚溅寮�濮嬪厖鐢�
+ if (!result3) {
+ continue;
+ }
+
+ boolean result4 = this.executeShuttleChargeStepStopCharge(wrkMast);//灏忚溅鍋滄鍏呯數
+ if (!result4) {
+ continue;
+ }
+
+ boolean result5 = this.executeShuttleChargeStepLeaveCharge(wrkMast);//灏忚溅绂诲紑鍏呯數妗�
+ if (!result5) {
+ continue;
+ }
}
-
+ } catch (Exception e) {
+ e.printStackTrace();
}
}
/**
- * 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
+ * 灏忚溅鍓嶅線鍏呯數妗�
*/
- @Async
- public void ledReset() {
- for (LedSlave led : slaveProperties.getLed()) {
- // 鑾峰彇杈撻�佺嚎plc绾跨▼
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
- // 鍛戒护闆嗗悎
- boolean reset = true;
- for (Integer staNo : led.getStaArr()) {
- // 鑾峰彇鍙夎溅绔欑偣
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if (staProtocol == null) {
+ private synchronized boolean executeShuttleChargeStepGoToChargeSta(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.NEW_CHARGE.sts) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
+ //灏忚溅鍦ㄥ厖鐢垫々浣嶇疆
+ wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);
+ wrkMast.setModiTime(new Date());
+ wrkMastService.updateById(wrkMast);
+ return false;
+ }
+
+ //璋冨害灏忚溅鍘诲厖鐢垫々
+ boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getLocNo(), wrkMast.getShuttleNo());
+ if (!dispatched) {
+ return false;
+ }
+
+ wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN.sts);//灏忚溅鍓嶅線鍏呯數妗�
+ wrkMast.setModiTime(new Date());
+ wrkMastService.updateById(wrkMast);
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅鍒拌揪鍏呯數妗�
+ */
+ private synchronized boolean executeShuttleChargeStepArrivalChargeSta(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN.sts) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //鍒ゆ柇鏄惁瀛樺湪鏈畬鎴愮殑绉诲姩浠诲姟
+ WrkMast moveWrk = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
+ if(moveWrk != null) {
+ return false;
+ }
+
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
+ return false;
+ }
+
+ //灏忚溅鍦ㄥ厖鐢垫々浣嶇疆
+ wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);//灏忚溅鍒拌揪鍏呯數妗�
+ wrkMast.setModiTime(new Date());
+ wrkMastService.updateById(wrkMast);
+
+ return false;
+ }
+ return true;
+ }
+
+ //灏忚溅寮�濮嬪厖鐢�
+ private synchronized boolean executeShuttleChargeStepStartCharge(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅宸茬粡鍦ㄥ厖鐢垫々浣嶇疆锛屼笅鍙戝厖鐢靛懡浠�
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//鍑哄簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+
+ List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
+ assignCommand.setCommands(commands);//杩愯鍛戒护
+
+ wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_WORKING.sts);
+ wrkMast.setModiTime(new Date());
+ if (!wrkMastService.updateById(wrkMast)) {
+ return false;
+ }
+
+ //涓嬪彂浠诲姟
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), NotifyMsgType.SHUTTLE_POWER_START);//瑙﹀彂閫氱煡
+ return false;
+ }
+ return true;
+ }
+
+ //灏忚溅鍋滄鍏呯數
+ private synchronized boolean executeShuttleChargeStepStopCharge(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ if (!shuttleThread.isChargingCompleted()) {
+ return false;
+ }
+
+ //灏忚溅宸茬粡鍦ㄥ厖鐢垫々浣嶇疆锛屼笅鍙戝仠姝㈠厖鐢靛懡浠�
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//鍑哄簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+
+ List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
+ assignCommand.setCommands(commands);//杩愯鍛戒护
+
+ //涓嬪彂浠诲姟
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+ return false;
+ }
+ return true;
+ }
+
+ //灏忚溅绂诲紑鍏呯數妗�
+ private synchronized boolean executeShuttleChargeStepLeaveCharge(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ ShuttleChargeType chargeType = ShuttleChargeType.get(Integer.parseInt(wrkMast.getMk()));
+ if(chargeType == null) {
+ return false;
+ }
+
+ //璋冨害灏忚溅鍘诲緟鏈轰綅
+ boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), chargeType.waitLocNo, wrkMast.getShuttleNo());
+ if (!dispatched) {
+ return false;
+ }
+
+ wrkMast.setWrkSts(WrkStsType.COMPLETE_CHARGE.sts);
+ wrkMast.setModiTime(new Date());
+ if (wrkMastService.updateById(wrkMast)) {
+ return false;
+ }
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 鎵ц灏忚溅绉诲簱浠诲姟
+ */
+ public synchronized void shuttleMoveExecute() {
+ try {
+ //鏌ヨ灏忚溅绉诲簱浠诲姟
+ List<WrkMast> wrkMasts = wrkMastService.selectShuttleMoveWrk();
+ for (WrkMast wrkMast : wrkMasts) {
+ boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//灏忚溅绉诲姩鍒扮珯鐐�
+ if (!stepMoveSta) {
continue;
}
- if (staProtocol.getWorkNo() != 0) {
- reset = false;
- break;
- }
- }
- // 鑾峰彇led绾跨▼
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
- // led鏄剧ず榛樿鍐呭
- if (reset && !ledThread.isLedMk()) {
- ledThread.setLedMk(true);
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
- 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());
- } else {
+ boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//鎻愬崌鏈烘惉杩愪腑
+ if (!stepLiftMove) {
+ continue;
}
+
+ boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//鎻愬崌鏈烘惉杩愬畬鎴愭洿鏂板皬杞﹀潗鏍�
+ if (!updateShuttleLocation) {
+ continue;
+ }
+
+ boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
+ if (!stepMoveLoc) {
+ continue;
+ }
+
}
+ } catch (Exception e) {
+ e.printStackTrace();
}
}
+ /**
+ * 灏忚溅杩佺Щ-灏忚溅绉诲姩鍒扮珯鐐�
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleMoveExecuteStepMoveSta(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅绉诲姩鑷崇珯鐐�-----------------------------------------//
+ Date now = new Date();
+ //灏忚溅绉诲姩鑷崇珯鐐� 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 302.灏忚溅绉诲姩鑷崇珯鐐逛腑
+ if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleThread.isIdle()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽皬杞﹀繖纰屼腑", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+ if (Utils.getLev(wrkMast.getLocNo()) == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
+ //鐩爣搴撲綅鍜屽皬杞﹀簱浣嶅浜庡悓涓�妤煎眰锛屼笉闇�瑕侀�氳繃鎻愬崌鏈鸿皟搴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);// 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 310.灏忚溅绉诲姩涓�
+ wrkMast.setModiTime(now);
+ if (wrkMastService.updateById(wrkMast)) {
+ //涓嬪彂浠诲姟
+ return true;//鐩存帴杩涘叆309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 310.灏忚溅绉诲姩涓�
+ }
+ return false;
+ }
+
+ //鑾峰彇婧愯緭閫佺珯
+ ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ if (liftSta == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟(璇ヤ换鍔￠渶瑕佹崲灞傚繀椤绘彁鍓嶇嫭鍗犳彁鍗囨満)
+ WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftSta.getLiftNo());
+ if (liftWrkMast != null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), liftSta.getLiftNo());
+ return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+ }
+
+ //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
+ List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
+ if (targetNodes == null) {
+ return false;//鏈幏鍙栧埌鑺傜偣
+ }
+ boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
+ if (!checkPathIsAvailable) {
+ News.info("{}浠诲姟锛寋}灏忚溅锛岀洰鏍囩珯鐐硅矾寰勮鍗犵敤锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;//妫�娴嬬洰鏍囩珯鐐硅矾寰勬槸鍚︽湭琚崰鐢�
+ }
+ //灏濊瘯閿佸畾鐩爣绔欒矾寰�
+ boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ if (!result2) {
+ News.info("{}浠诲姟锛寋}灏忚溅锛岃矾寰勯攣瀹氬け璐ワ紝绂佹娲惧彂", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;//璺緞閿佸畾澶辫触
+ }
+ //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setAuto(true);//鑷姩妯″紡
+
+ //鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+ if (commands == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, false);
+ return false;//璺緞瑙ｉ攣澶辫触
+ }
+
+ assignCommand.setCommands(commands);
+
+ wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 302.灏忚溅绉诲姩鑷崇珯鐐�
+ wrkMast.setModiTime(now);
+ wrkMast.setLiftNo(liftSta.getLiftNo());//鎻愬墠閿佸畾鎻愬崌鏈�
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+// shuttleProtocol.setToken(wrkMast.getWrkNo());//鐙崰璇ュ皬杞︿护鐗�
+ if (wrkMastService.updateById(wrkMast)) {
+ //涓嬪彂浠诲姟
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+ //瑙﹀彂閫氱煡
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), NotifyMsgType.SHUTTLE_MOVING);
+ return false;
+ }
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-鎻愬崌鏈烘惉杩愪腑
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleMoveExecuteStepLiftMove(WrkMast wrkMast) {
+ //--------------------------------------鎻愬崌鏈烘惉杩愪腑-----------------------------------------//
+ Date now = new Date();
+
+ //鎻愬崌鏈烘惉杩愪腑 303.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴� ==> 306.鎻愬崌鏈烘惉杩愪腑
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE.sts) {
+ ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, wrkMast.getLiftNo());
+ if (forkLiftThread == null) {
+ return false;
+ }
+ ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
+ if (forkLiftProtocol == null) {
+ return false;
+ }
+ if (!forkLiftThread.isIdle()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満蹇欑涓紝绂佹娲惧彂", wrkMast.getWrkNo(), wrkMast.getLiftNo());
+ return false;
+ }
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+ WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
+ if (liftWrkMast != null) {
+ if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//鎻愬崌鏈轰换鍔″拰褰撳墠浠诲姟涓嶇浉鍚�
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), wrkMast.getLiftNo());
+ return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+ }
+ }
+
+ //鑾峰彇婧愮珯
+ ForkLiftStaProtocol sourceLiftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ //鑾峰彇鐩爣绔�
+ ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ if (sourceLiftSta == null || liftSta == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀己灏戠珯鐐逛俊鎭紝绂佹娲惧彂", wrkMast.getWrkNo());
+ return false;//缂哄皯绔欑偣淇℃伅
+ }
+
+ if (liftSta.getHasTray()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪鎵樼洏锛岀姝㈡淳鍙�", wrkMast.getWrkNo());
+ return false;//鏈夋墭鐩樿烦杩�
+ }
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ List<ForkLiftCommand> liftCommands = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
+ ArrayList<ForkLiftCommand> commands = new ArrayList<>();
+ commands.addAll(liftCommands);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
+
+ wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//鎻愬崌鏈烘惉杩愪腑 303.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴� ==> 306.鎻愬崌鏈烘惉杩愪腑
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMast.setModiTime(now);
+ if (wrkMastService.updateById(wrkMast)) {
+ //涓嬪彂浠诲姟
+ forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+ }
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-鎻愬崌鏈烘惉杩愬畬鎴愭洿鏂板皬杞﹀潗鏍�
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) {
+ //--------------------------------------鎻愬崌鏈烘惉杩愪腑-----------------------------------------//
+ Date now = new Date();
+
+ //鎻愬崌鏈烘惉杩愪腑 307.鎻愬崌鏈烘惉杩愬畬鎴� ==> 308.灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleThread.isIdle()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽皬杞﹀繖纰屼腑锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//鏇存柊鍧愭爣
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setAuto(true);//鑷姩妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
+ assignCommand.setLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
+
+ //鏇存柊灏忚溅鍧愭爣
+ ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
+ ArrayList<ShuttleCommand> commands = new ArrayList<>();
+ commands.add(command);
+
+ assignCommand.setCommands(commands);
+
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMast.setModiTime(now);
+
+ if (wrkMastService.updateById(wrkMast)) {
+ //涓嬪彂浠诲姟
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+ }
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleMoveExecuteStepMoveLoc(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑-----------------------------------------//
+ Date now = new Date();
+
+ //灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 310.灏忚溅绉诲姩涓�
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts) {
+
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleThread.isIdle()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽皬杞﹀繖纰屼腑锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ //灏忚溅宸茬粡鍦ㄧ洰鏍囧簱浣嶏紝鐩存帴璁ゅ畾灏忚溅绉诲姩浠诲姟瀹屾垚
+ if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
+ wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.灏忚溅绉诲姩瀹屾垚
+ wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+ wrkMast.setModiTime(now);
+ wrkMastService.updateById(wrkMast);
+ return false;
+ }
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setAuto(true);//鑷姩妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
+ assignCommand.setLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
+
+ List<ShuttleCommand> commands = null;
+ //璺ㄦゼ灞傜Щ鍔ㄤ换鍔�
+ if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
+ //闇�瑕佸皢鍓嶄袱涓妭鐐逛綔涓虹櫧鍚嶅崟鑺傜偣浼犲叆
+ List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
+ if (targetNodes == null) {
+ return false;//鏈幏鍙栧埌鑺傜偣
+ }
+
+ //璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
+ ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
+ for (NavigateNode node : targetNodes) {
+ whiteList.add(new int[]{node.getX(), node.getY()});
+ }
+ commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList, assignCommand, shuttleThread);
+ }else {
+ //鑾峰彇灏忚溅鍒扮洰鏍囧簱浣嶅懡浠�
+ commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+ }
+
+ if (commands == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;//璺緞璁＄畻澶辫触
+ }
+
+ assignCommand.setCommands(commands);
+
+ wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 310.灏忚溅绉诲姩涓�
+ wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMast.setModiTime(now);
+
+ if (wrkMastService.updateById(wrkMast)) {
+ //涓嬪彂浠诲姟
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+ }
+ }
+ return true;
+ }
}
--
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