#

Junjie

2024-06-16 2a7b97eddbe3d24a47389a58dde46fe6175b6971

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java

@@ -9,7 +9,6 @@
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.domain.dto.MatDto;
import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
import com.zy.asrs.wcs.core.domain.dto.StaDto;
@@ -18,6 +17,7 @@
import com.zy.asrs.wcs.core.model.MapNode;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionStsType;
import com.zy.asrs.wcs.core.model.enums.TaskCtgType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.RedisUtil;
@@ -81,6 +81,8 @@
    private BasConveyorService basConveyorService;
    @Autowired
    private BasConveyorStaService basConveyorStaService;
    @Autowired
    private BasConveyorPathService basConveyorPathService;
    @Autowired
    private BasLedService basLedService;

@@ -180,7 +182,7 @@

                        //获取入库任务类型
                        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                                .eq(TaskCtg::getFlag, "IN")
                                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.IN))
                                .eq(TaskCtg::getStatus, 1));

                        // 判断重复工作档
@@ -219,10 +221,19 @@
                            Integer code = jsonObject.getInteger("code");
                            if (code.equals(200)) {
                                StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                                devpThread.writeWorkSta(staProtocol.getSiteId(), dto.getWorkNo().shortValue(), dto.getStaNo().shortValue());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);

                            } else if (code == 500) {
                                //获取输送路径
                                BasConveyorPath conveyorPath = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
                                        .eq(BasConveyorPath::getTypeNo, TaskCtgType.IN.val())
                                        .eq(BasConveyorPath::getDeviceId, devp.getId())
                                        .eq(BasConveyorPath::getStnNo, staProtocol.getSiteId()));
                                if (conveyorPath == null) {
                                    News.error("输送路径不存在");
                                }else {
                                    devpThread.writeWorkSta(staProtocol.getSiteId(), dto.getWorkNo().shortValue(), conveyorPath.getDeviceStn().shortValue());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                }
                            }else {
                                if (ledThread != null) {
                                    String errorMsg = jsonObject.getString("msg");
                                    if (!Cools.isEmpty(errorMsg)) {
@@ -231,18 +242,6 @@
                                    }
                                }
                                News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
                            } else if (code == 700) {
//                            staProtocol.setWorkNo((short) 32002);
//                            staProtocol.setRollback102(1);//102站回退信号
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));

                                // led 异常显示
                                if (ledThread != null) {
                                    String errorMsg = barcode + "托盘识别异常，请先进行组托！";
                                    ledThread.error(errorMsg);
                                    ledThread.setLedMk(false);
                                }
                            }
                        } catch (Exception e) {
                            e.printStackTrace();
@@ -271,7 +270,7 @@
                int lev = Integer.parseInt(split[1]);

                Object data = redisUtil.get(DeviceRedisConstant.MAP + lev);
                if (data == null) {
                if (data != null) {
                    continue;
                }

@@ -422,6 +421,23 @@
    // 解析入库工作档
    public synchronized void analyzeInBoundTask() {
        for (Task task : taskService.selectWaitAnalyzeInBoundTask()) {
            if (Cools.isEmpty(task.getShuttleNo())) {
                //分配小车
                //搜索空闲车
                ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
                if (shuttleThread == null) {
                    News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
                    continue;
                }

                task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
                task.setUpdateTime(new Date());
                if (!taskService.updateById(task)) {
                    News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                }
                continue;
            }

            // generate motion list
            List<Motion> motionList = analyzeService.generateMotion(task);
            if (motionList.isEmpty()) {
@@ -516,6 +532,23 @@
    // 解析小车移动工作档
    public synchronized void analyzeMoveTask() {
        for (Task task : taskService.selectWaitAnalyzeMoveTask()) {
            if (Cools.isEmpty(task.getShuttleNo())) {
                //分配小车
                //搜索空闲车
                ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
                if (shuttleThread == null) {
                    News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
                    continue;
                }

                task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
                task.setUpdateTime(new Date());
                if (!taskService.updateById(task)) {
                    News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                }
                continue;
            }

            // generate motion list
            List<Motion> motionList = analyzeService.generateMotion(task);
            if (motionList.isEmpty()) {
@@ -546,7 +579,7 @@

        //获取充电任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, "CHARGE")
                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.CHARGE))
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return;
@@ -690,7 +723,7 @@

        //获取迁移任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, "MOVE")
                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return;