package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.Cools;
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import com.core.common.R;
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import com.core.common.SpringUtils;
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import com.core.exception.CoolException;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import com.zy.asrs.domain.enums.TaskStatusType;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.entity.param.TaskOverToWms;
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import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
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import com.zy.asrs.entity.param.taskCreateParam;
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import com.zy.asrs.mapper.*;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.CommandUtils;
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import com.zy.asrs.utils.PostMesDataUtils;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.HttpHandler;
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import com.zy.core.CrnThread;
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import com.zy.core.DevpThread;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.CrnSlave;
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import com.zy.core.model.DevpSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.CommandPackage;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.StaProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.BarcodeThread;
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import com.zy.core.thread.LedThread;
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import com.zy.core.thread.SiemensDevpThread;
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import com.zy.system.entity.Config;
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import com.zy.system.service.ConfigService;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.scheduling.annotation.Async;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import java.io.IOException;
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import java.util.*;
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/**
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* 立体仓库WCS系统主流程业务
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* Created by vincent on 2020/8/6
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*/
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@Slf4j
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@Service("mainService")
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@Transactional
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public class MainServiceImpl {
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public static final long COMMAND_TIMEOUT = 5 * 1000;
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastMapper wrkMastMapper;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private BasErrLogService basErrLogService;
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@Autowired
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private BasCrnErrorMapper basCrnErrorMapper;
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@Autowired
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private TaskWrkMapper taskWrkMapper;
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@Autowired
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private TaskWrkService taskWrkService;
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@Autowired
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private ConfigService configService;
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@Autowired
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private StaDescMapper staDescMapper;
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@Autowired
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private CommandInfoService commandInfoService;
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@Autowired
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private OpenServiceImpl openServiceImpl;
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@Autowired
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private StaDescService staDescService;
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@Autowired
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private ApiLogService apiLogService;
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@Value("${wms.url}")
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private String wmsUrl;
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@Value("${wms.movePath}")
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private String movePath;
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public void generateStoreWrkFile() throws IOException, InterruptedException {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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Short workNo = staProtocol.getWorkNo();
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Short stano = staProtocol.getStaNo();
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// 尺寸检测异常
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boolean back = false;
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String errMsg = "";
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if (staProtocol.isFrontErr()) {
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errMsg = "前超限";
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back = true;
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}
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if (!back && staProtocol.isBackErr()) {
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errMsg = "后超限";
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back = true;
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}
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if (!back && staProtocol.isHighErr()) {
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errMsg = "高超限";
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back = true;
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}
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if (!back && staProtocol.isLeftErr()) {
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errMsg = "左超限";
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back = true;
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}
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if (!back && staProtocol.isRightErr()) {
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errMsg = "右超限";
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back = true;
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}
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if (!back && staProtocol.isWeightErr()) {
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errMsg = "超重";
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back = true;
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}
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if (!back && staProtocol.isBarcodeErr()) {
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errMsg = "扫码失败";
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back = true;
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}
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// 退回
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if (back) {
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if (stano == inSta.getBackSta().shortValue()){
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continue;
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}
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if (workNo == 0 && stano == 0){
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continue;
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}
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// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
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staProtocol.setWorkNo(workNo);
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staProtocol.setStaNo(inSta.getBackSta().shortValue());
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
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TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
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if (taskWrk != null) {
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taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
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taskWrkMapper.updateById(taskWrk);
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}
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continue;
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}
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// 判断是否满足入库条件
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if (staProtocol.isAutoing() && staProtocol.isLoading()
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&& staProtocol.isInEnable()
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&& !staProtocol.isEmptyMk() && (workNo >= 0)
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&& staProtocol.isPakMk()) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
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if (barcodeThread == null) {
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continue;
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}
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String barcode = barcodeThread.getBarcode();
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if(!Cools.isEmpty(barcode)) {
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StaDescService staDescService = SpringUtils.getBean(StaDescService.class);
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ToWmsDTO toWmsDTO = new ToWmsDTO();
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Map<String, Object> map = new HashMap<>();
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map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
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List<Integer> list = openServiceImpl.getInEnableRoadway();
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TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
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if (Cools.isEmpty(taskWrk)){
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continue;
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}
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//StaDesc staDesc1 = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_no",inSta.getBackSta()));
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if (taskWrk.getTargetPoint() != null && taskWrk.getStartPoint() != null){
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if ( taskWrk.getWrkNo() != null && taskWrk.getWrkNo().shortValue() == workNo ){
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continue;
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}
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//获取堆垛机站点
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StaDesc staDesc = new StaDesc();
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if (devp.getId() <= 1){
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staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
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.eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 200));
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}else {
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staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
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.eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 400).ge("stn_no", 250));
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}
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staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
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staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
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MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
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Thread.sleep(200);
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}else {
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//TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
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toWmsDTO.setWarehouseId("1688469798893297665");
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toWmsDTO.setContainerCode(barcode);
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toWmsDTO.setApplyType("TUNNEL_LOCATION");
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toWmsDTO.setTaskTunnel(taskWrk.getCrnNo());
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toWmsDTO.setCanInboundTunnels(list);
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String response = null;
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try {
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response = new HttpHandler.Builder()
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.setHeaders(map)
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.setUri(wmsUrl)
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.setPath("wcsManager/wcsInterface/inboundTaskApply")
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.setJson(JSON.toJSONString(toWmsDTO))
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.build()
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.doPost();
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}catch (Exception e){
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log.error("wms通讯失败,"+e.getMessage());
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continue;
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}
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apiLogService.save("wms请求入库货位接口"
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,wmsUrl+"wcsManager/wcsInterface/inboundTaskApply"
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,null
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,"127.0.0.1"
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,JSON.toJSONString(toWmsDTO)
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,response
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,true
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);
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code").equals(200)) {
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GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
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taskWrk.setOriginTargetPoint(getWmsDto.getTargetLocationCode());
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taskWrk.setTargetPoint(Utils.getWcsLocNo(getWmsDto.getTargetLocationCode()));
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taskWrk.setStartPoint(String.valueOf(inSta.getBackSta()));
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if (!taskWrkService.updateById(taskWrk)){
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log.error("保存wms库位号失败");
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}
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}else {
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log.error("wms通讯失败,"+jsonObject.get("msg"));
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}
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}
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}
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}
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}
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}
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}
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/**
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* 堆垛机站出库到出库站
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*/
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@Async
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public void crnStnToOutStn() {
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for (CrnSlave crnSlave : slaveProperties.getCrn()) {
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// 遍历堆垛机出库站
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for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
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List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo()));
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for (StaDesc staDesc : staDescs){
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// 获取堆垛机出库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
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StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
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// 查询工作档
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TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
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if (taskWrk == null) {
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continue;
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}
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// 判断工作档条件
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if (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2) {
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// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, taskWrk.getCrnNo());
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CrnProtocol crnProtocol = crnThread.getCrnProtocol();
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if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
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// 移动中
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continue;
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}
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// 判断堆垛机状态等待确认
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if (crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue())
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&& crnProtocol.getTaskFinish() == 0
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&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
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// 命令下发区 --------------------------------------------------------------------------
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//取出输送线命令
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List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
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if (commandInfos.isEmpty()) {
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continue;//命令空
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}
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// CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
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// CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
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Integer commandStep = taskWrk.getCommandStep();
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CommandInfo commandInfo = commandInfos.get(commandStep);
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CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
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//StaProtocol staProtocol1 = JSON.parseObject(commandInfo.getCommand(), StaProtocol.class);
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StaProtocol staProtocol1 = JSON.parseObject(commandPackage.getCommand().toString(), StaProtocol.class);
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if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) {
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log.error("输送线命令下方失败！！！ [工作号:{}]", taskWrk.getWrkNo());
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continue;//命令下发失败
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}
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// 复位堆垛机
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crnThread.setResetFlag(true);
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}
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}
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}
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}
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}
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}
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}
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/**
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* 入出库 ===>> 堆垛机入出库作业下发
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*/
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public synchronized void crnIoExecute() throws IOException {
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for (CrnSlave crn : slaveProperties.getCrn()) {
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// 获取堆垛机信息
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
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CrnProtocol crnProtocol = crnThread.getCrnProtocol();
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if (crnProtocol == null) { continue; }
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BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
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if (basCrnp == null) {
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log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
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continue;
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}
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// 只有当堆垛机空闲 并且 无任务时才继续执行
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if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
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&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
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// 如果最近一次是入库模式
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if (crnProtocol.getLastIo().equals("I")) {
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if (basCrnp.getInEnable().equals("Y")) {
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this.crnStnToLoc(crn, crnProtocol); // 入库
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crnProtocol.setLastIo("O");
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} else if (basCrnp.getOutEnable().equals("Y")) {
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this.locToCrnStn(crn, crnProtocol); // 出库
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crnProtocol.setLastIo("I");
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}
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}
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// 如果最近一次是出库模式
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else if (crnProtocol.getLastIo().equals("O")) {
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if (basCrnp.getOutEnable().equals("Y")) {
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this.locToCrnStn(crn, crnProtocol); // 出库
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crnProtocol.setLastIo("I");
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} else if (basCrnp.getInEnable().equals("Y")) {
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this.crnStnToLoc(crn, crnProtocol); // 入库
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crnProtocol.setLastIo("O");
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}
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}
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}
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// 库位移转
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this.locToLoc(crn, crnProtocol);
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}
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}
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/**
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* 入库 ===>> 堆垛机站到库位
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*/
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public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException {
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for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
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List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
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for (StaDesc staDesc : staDescs) {
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boolean flag = false;
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// 获取堆垛机入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
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StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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// 查询站点详细信息
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BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
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if (staDetl == null) {
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log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
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continue;
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}
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if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
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&& staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
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flag = true;
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}
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if (!flag) {
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continue;
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}
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// 获取工作状态为2（设备上走）的入库工作档
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TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
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if(null == taskWrk) {
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continue;
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}
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// 堆垛机控制过滤
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if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
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continue;
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}
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// 已经存在吊车执行任务时，则过滤
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if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
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continue;
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}
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//取出命令
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List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
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Integer commandStep = taskWrk.getCommandStep();
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if (commandInfos.isEmpty()) {
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continue;//命令空
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}
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CommandInfo commandInfo = commandInfos.get(commandStep);
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CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
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CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
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if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
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log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
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} else {
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// 修改工作档状态 2.设备上走 => 3.吊车入库中
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Date now = new Date();
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taskWrk.setWrkSts(3);
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taskWrk.setModiTime(now);
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if (taskWrkMapper.updateById(taskWrk) == 0) {
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log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo());
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}
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//开始运行
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String response = CrnStartRunning(taskWrk);
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code").equals(200)) {
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}else {
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log.error("入库开始运行通讯失败,"+jsonObject.get("msg"));
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}
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}
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// // 命令下发区 --------------------------------------------------------------------------
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// CrnCommand crnCommand = new CrnCommand();
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// crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
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// crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
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// crnCommand.setAckFinish((short) 0); // 任务完成确认位
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// crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
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// crnCommand.setSourcePosX(crnStn.getBay().shortValue()); // 源库位列
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// crnCommand.setSourcePosY(crnStn.getLev().shortValue()); // 源库位层
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// crnCommand.setSourcePosZ(crnStn.getRow().shortValue()); // 源库位排
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// crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列
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// crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
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// crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排
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// crnCommand.setCommand((short)1);
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// if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
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// log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
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// } else {
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// // 修改工作档状态 2.设备上走 => 3.吊车入库中
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// Date now = new Date();
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// taskWrk.setWrkSts(3);
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// taskWrk.setModiTime(now);
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// if (taskWrkMapper.updateById(taskWrk) == 0) {
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// log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo());
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// }
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// }
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}
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// return;
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}
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}
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/**
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* 出库 ===>> 库位到堆垛机站
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* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
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*/
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public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
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List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null);
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if (taskWrksInitial.size()==0){
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return;
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}
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for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
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List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
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for (StaDesc staDesc : staDescs){
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// 获取工作状态为11（生成出库ID）的出库工作档
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List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(),staDesc.getStnNo().toString());
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for (TaskWrk taskWrk : taskWrks){
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if (taskWrk == null) {
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continue;
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}
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// 工作档状态判断
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if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == null || taskWrk.getStartPoint() == null) {
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log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getStartPoint(), taskWrk.getIoType());
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continue;
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}
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// 获取堆垛机出库站信息
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
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StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
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if (staProtocol == null) {
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break;
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} else {
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staProtocol = staProtocol.clone();
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}
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// 查询站点详细信息
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BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
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if (staDetl == null) {
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log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
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break;
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}
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// 判断堆垛机出库站状态
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if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
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&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
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// 命令下发区 --------------------------------------------------------------------------
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// 堆垛机控制过滤
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if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
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break;
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}
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// 已经存在吊车执行任务时，则过滤
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if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
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break;
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}
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// 双深库位且浅库位有货，则需先对浅库位进行库位移转
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if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
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taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
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List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
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if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
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continue;
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}
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String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
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TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
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if (!Cools.isEmpty(hallowLocNoTask)){
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// if (!Cools.isEmpty(hallowLocNoTask.getTargetPoint())){
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// continue;
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// }
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//// new PostMesDataUtils().postMesData("移库任务分配库位",wmsUrl,movePath,hallowLocNoTask);
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// try {
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// String response = new HttpHandler.Builder()
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// .setUri(wmsUrl)
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// .setPath(movePath)
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// .setJson(JSON.toJSONString(hallowLocNoTask))
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// .build()
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// .doPost();
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// System.out.println("response:"+response);
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// JSONObject jsonObject = JSON.parseObject(response);
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// if (jsonObject.getInteger("code").equals(200)) {
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// //解析
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// }
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// }catch (Exception e){
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// log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/"+movePath, JSON.toJSONString(hallowLocNoTask), "请求移库任务分配库位");
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// }
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continue;
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}
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}
|
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//取出命令
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List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
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Integer commandStep = taskWrk.getCommandStep();
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if (commandInfos.isEmpty()) {
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continue;//命令空
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}
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CommandInfo commandInfo = commandInfos.get(commandStep);
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CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
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CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
|
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if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
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log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
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} else {
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// 修改工作档状态 11.生成出库ID => 12.吊车出库中
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Date now = new Date();
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taskWrk.setWrkSts(12);
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taskWrk.setModiTime(now);
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if (taskWrkMapper.updateById(taskWrk) == 0) {
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log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
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}
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//开始运行
|
String response = CrnStartRunning(taskWrk);
|
JSONObject jsonObject = JSON.parseObject(response);
|
if (jsonObject.getInteger("code").equals(200)) {
|
|
}else {
|
log.error("出库开始运行通讯失败,"+jsonObject.get("msg"));
|
|
}
|
}
|
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 库位移转
|
*/
|
public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
|
for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
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// 获取工作状态为11（生成出库ID）的移库工作档
|
List<TaskWrk> taskWrks = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>()
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.eq("crn_no",slave.getId())
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.eq("wrk_sts",11)
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.eq("io_type",3));
|
for (TaskWrk taskWrk : taskWrks){
|
if (Cools.isEmpty(taskWrk.getTargetPoint())){
|
List<Integer> list = openServiceImpl.getInEnableRoadway();
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Map<String, Object> map = new HashMap<>();
|
map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
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ToWmsDTO toWmsDTO = new ToWmsDTO();
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toWmsDTO.setWarehouseId("1688469798893297665");
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toWmsDTO.setContainerCode(taskWrk.getBarcode());
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toWmsDTO.setApplyType("TUNNEL_LOCATION");
|
toWmsDTO.setTaskTunnel(taskWrk.getCrnNo());
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toWmsDTO.setCanInboundTunnels(list);
|
String response = null;
|
try {
|
response = new HttpHandler.Builder()
|
.setHeaders(map)
|
.setUri(wmsUrl)
|
.setPath("wcsManager/wcsInterface/inboundTaskApply")
|
.setJson(JSON.toJSONString(toWmsDTO))
|
.build()
|
.doPost();
|
}catch (Exception e){
|
log.error("wms通讯失败,"+e.getMessage());
|
continue;
|
}
|
JSONObject jsonObject = JSON.parseObject(response);
|
if (jsonObject.getInteger("code").equals(200)) {
|
GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
|
taskWrk.setOriginTargetPoint(getWmsDto.getTargetLocationCode());
|
taskWrk.setTargetPoint(Utils.getWcsLocNo(getWmsDto.getTargetLocationCode()));
|
if (!taskWrkService.updateById(taskWrk)){
|
log.error("保存wms库位号失败");
|
}
|
continue;
|
}else {
|
log.error("wms通讯失败,"+jsonObject.get("msg"));
|
continue;
|
}
|
|
}
|
if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("") || taskWrk.getWrkNo() == null) {
|
continue;
|
}
|
// 工作档状态判断
|
if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) {
|
log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
|
continue;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
continue;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
|
// 1.堆垛机开始移动
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CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
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crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
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crnCommand.setAckFinish((short) 0); // 任务完成确认位
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crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
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crnCommand.setSourcePosZ(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
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crnCommand.setSourcePosX(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
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crnCommand.setSourcePosY(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
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crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排
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crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列
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crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
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crnCommand.setCommand((short) 1);
|
if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
Date now = new Date();
|
taskWrk.setWrkSts(12);
|
taskWrk.setModiTime(now);
|
if (taskWrkMapper.updateById(taskWrk) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
|
}
|
//开始运行
|
String response = CrnStartRunning(taskWrk);
|
JSONObject jsonObject = JSON.parseObject(response);
|
if (jsonObject.getInteger("code").equals(200)) {
|
|
}else {
|
log.error("移库任务开始运行通讯失败,"+jsonObject.get("msg"));
|
continue;
|
}
|
break;
|
}
|
return;
|
}
|
}
|
|
}
|
|
/**
|
* 执行对工作档的完成操作
|
*/
|
@Async
|
public void storeFinished() {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) { continue; }
|
// 状态：等待确认 并且 任务完成位 = 1
|
if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
|
|
//获取指令ID
|
Integer commandId = crnProtocol.getCommandId();
|
CommandInfo commandInfo = new CommandInfo();
|
if (Cools.isEmpty(commandId)){
|
commandInfo = commandInfoService.selectOne(new EntityWrapper<CommandInfo>()
|
.eq("wrk_no",crnProtocol.getTaskNo())
|
.eq("device","Crn"));
|
}else {
|
commandInfo = commandInfoService.selectById(commandId);
|
}
|
|
|
if (commandInfo == null) {
|
//指令不存在
|
continue;
|
}
|
if (commandInfo.getCommandStatus() == 3){
|
continue;
|
}
|
commandInfo.setCommandStatus(CommandStatusType.COMPLETE.id);//指令完成
|
commandInfo.setCompleteTime(new Date());//指令完成时间
|
if (commandInfoService.updateById(commandInfo)) {//修改成功后复位堆垛机
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
}
|
}
|
}
|
}
|
|
// /**
|
// * 执行对工作档的完成操作
|
// */
|
// @Async
|
// public void storeFinished() {
|
// for (CrnSlave crn : slaveProperties.getCrn()) {
|
// // 获取堆垛机信息
|
// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
// if (crnProtocol == null) { continue; }
|
// // 状态：等待确认 并且 任务完成位 = 1
|
// if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
|
// // 获取入库待确认工作档
|
// TaskWrk taskWrk = taskWrkMapper.selectCrnNoWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
|
// if (Cools.isEmpty(taskWrk)) {
|
// log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
|
// continue;
|
// }
|
// // 入库 + 库位转移 ==> 4.入库完成
|
// if ((taskWrk.getWrkSts() == 3 && taskWrk.getIoType() == 1) || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) {
|
// taskWrk.setWrkSts(4);
|
// } else {
|
// continue;
|
// }
|
// Date now = new Date();
|
// taskWrk.setModiTime(now);
|
// Integer integerTaskWrk = taskWrkMapper.updateById(taskWrk);
|
// // 修改成功后复位堆垛机
|
// if (integerTaskWrk > 0) {
|
// // 堆垛机复位
|
// crnThread.setResetFlag(true);
|
//
|
// //更新库位状态
|
// LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
|
// locMast.setLocSts("F");//F.在库
|
// locMast.setBarcode(taskWrk.getBarcode());//托盘码
|
// locMast.setModiTime(now);
|
// locMast.setModiUser(9999L);
|
// locMastService.updateById(locMast);
|
// }
|
// }
|
// }
|
// }
|
|
/**
|
* 堆垛机异常信息记录
|
*/
|
@Async
|
public void recCrnErr(){
|
Date now = new Date();
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
if (false) {
|
// if (crnProtocol.getModeType() != CrnModeType.STOP) {
|
// 有任务
|
if (crnProtocol.getTaskNo() != 0) {
|
BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
|
// 有异常
|
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, // 编号
|
wrkMast.getWrkNo(), // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
wrkMast.getWrkSts(), // 工作状态
|
wrkMast.getIoType(), // 入出库类型
|
crn.getId(), // 堆垛机
|
null, // plc
|
wrkMast.getLocNo(), // 目标库位
|
wrkMast.getStaNo(), // 目标站
|
wrkMast.getSourceStaNo(), // 源站
|
wrkMast.getSourceLocNo(), // 源库位
|
wrkMast.getBarcode(), // 条码
|
(int) crnProtocol.getAlarm1(), // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"任务中异常" // 备注
|
);
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (crnProtocol.getAlarm1() == null || crnProtocol.getAlarm1() == 0) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basErrLogService.updateById(latest)) {
|
log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
|
}
|
}
|
}
|
// 无任务
|
} else {
|
BasErrLog latest = basErrLogService.findLatest(crn.getId());
|
// 有异常
|
if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm() > 0) {
|
// 记录新异常
|
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, // 编号
|
null, // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
null, // 工作状态
|
null, // 入出库类型
|
crn.getId(), // 堆垛机
|
null, // plc
|
null, // 目标库位
|
null, // 目标站
|
null, // 源站
|
null, // 源库位
|
null, // 条码
|
(int)crnProtocol.getAlarm1(), // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"无任务异常" // 备注
|
);
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
|
}
|
}
|
// 无异常
|
} else {
|
// 异常修复
|
if (latest != null && latest.getStatus() == 1) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basErrLogService.updateById(latest)) {
|
log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
|
}
|
}
|
|
//自动派发任务
|
public void autoDistribute() {
|
Config config = configService.selectByCode("autoDistribute");
|
if (config == null) {
|
return;
|
}
|
|
if (config.getValue().equals("false")) {//判断是否开启自动派发任务
|
return;
|
}
|
|
for (TaskWrk taskWrk : taskWrkService.selectReceive()) {
|
try {
|
taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
|
} catch (CoolException e) {
|
log.info(e.getMessage());
|
}
|
}
|
}
|
|
//自动完成任务
|
public synchronized void autoCompleteTask() {
|
List<TaskWrk> taskWrks = taskWrkMapper.selectWorkingTask();
|
for (TaskWrk taskWrk : taskWrks) {
|
//获取命令集合
|
List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
|
if (taskWrk.getCommandStep() < commandInfos.size()) {
|
continue;//当前步序没有到达最后一条命令
|
}
|
|
//判断末端命令是否执行完成
|
CommandInfo commandInfo = commandInfos.get(commandInfos.size() - 1);
|
if (commandInfo.getCommandStatus() != CommandStatusType.COMPLETE.id) {
|
continue;//指令未完成
|
}
|
|
Date now = new Date();
|
//指令已完成，更新任务
|
if (taskWrk.getIoType() == 1) {
|
//入库任务
|
taskWrk.setWrkSts(4);//3.吊车入库中 => 4.入库完成
|
//taskWrk.setStatus(TaskStatusType.COMPLETE.id);
|
taskWrk.setModiTime(now);
|
taskWrkService.updateById(taskWrk);
|
|
//更新库位状态
|
LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
|
locMast.setLocSts("F");//F.在库
|
locMast.setBarcode(taskWrk.getBarcode());//托盘码
|
locMast.setModiTime(now);
|
locMast.setModiUser(9999L);
|
locMastService.updateById(locMast);
|
} else if (taskWrk.getIoType() == 2) {
|
//出库任务
|
taskWrk.setWrkSts(14);//12.吊车出库中 => 14.出库完成
|
// taskWrk.setStatus(TaskStatusType.COMPLETE.id);
|
taskWrk.setModiTime(now);
|
taskWrkService.updateById(taskWrk);
|
|
//更新库位状态
|
LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
|
locMast.setLocSts("O");//O.空库位
|
locMast.setBarcode("");//托盘码
|
locMast.setModiTime(now);
|
locMast.setModiUser(9999L);
|
locMastService.updateById(locMast);
|
}
|
}
|
}
|
|
|
public synchronized String CrnStartRunning(TaskWrk taskWrk){
|
String tasktype = null;
|
switch (taskWrk.getIoType()){
|
case 1:
|
tasktype= "RK";
|
break;
|
case 2:
|
tasktype= "CK";
|
break;
|
case 3:
|
tasktype= "YK";
|
break;
|
default:
|
tasktype= "未知";
|
}
|
Map<String, Object> map = new HashMap<>();
|
map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
|
TaskOverToWms taskOverToWms = new TaskOverToWms();
|
taskOverToWms.setFeedbackFrom("WCS"); //来源
|
taskOverToWms.setWarehouseId("1688469798893297665"); //仓库标识
|
taskOverToWms.setTaskNo(taskWrk.getTaskNo()); //任务号
|
taskOverToWms.setTaskType(tasktype); // 任务类型
|
taskOverToWms.setContainerCode(taskWrk.getBarcode()); // 容器编码
|
if (taskWrk.getIoType() ==1 || taskWrk.getIoType() == 3){
|
taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //设备编码
|
taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //目标库位
|
}else if (taskWrk.getIoType() ==2){
|
Map<Integer,String> map1 = new HashMap<>();
|
map1.put(102,"J-1101");
|
map1.put(106,"J-1103");
|
map1.put(110,"J-1105");
|
map1.put(114,"J-1107");
|
map1.put(118,"J-1109");
|
map1.put(122,"J-1111");
|
map1.put(305,"H-1101");
|
map1.put(405,"G-1101");
|
taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //设备编码
|
taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //源库位
|
}
|
|
taskOverToWms.setTaskStatus("executing"); //任务状态
|
String response = null;
|
try {
|
response = new HttpHandler.Builder()
|
.setHeaders(map)
|
.setUri(wmsUrl)
|
.setPath("wcsManager/wcsInterface/taskStatusFeedback")
|
.setJson(JSON.toJSONString(taskOverToWms))
|
.build()
|
.doPost();
|
}catch (Exception e){
|
log.error("堆垛机任务完成，请求wms任务完成接口失败");
|
}
|
apiLogService.save("堆垛机开始运行"
|
,wmsUrl+"wcsManager/wcsInterface/taskStatusFeedback"
|
,null
|
,"127.0.0.1"
|
,JSON.toJSONString(taskOverToWms)
|
,response
|
,true
|
);
|
return response;
|
}
|
|
|
}
|
