#

zjj

2024-07-19 ec269d75b05661235513e252d048c82ccfb26c9b

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

@@ -15,10 +15,7 @@
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
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.model.enums.*;
import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
@@ -85,6 +82,8 @@
    private BasConveyorPathService basConveyorPathService;
    @Autowired
    private BasLedService basLedService;
    @Autowired
    private DeviceBarcodeService deviceBarcodeService;

    /**
     * 组托
@@ -421,6 +420,40 @@
    // 解析入库工作档
    public synchronized void analyzeInBoundTask() {
        for (Task task : taskService.selectWaitAnalyzeInBoundTask()) {
            BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>().eq(BasConveyorSta::getSiteNo, task.getDestSite()));
            if (basConveyorSta == null) {
                continue;
            }
            BasConveyor basConveyor = basConveyorService.getById(basConveyorSta.getConveyorId());
            if (basConveyor == null) {
                continue;
            }
            DeviceBarcode deviceBarcode = deviceBarcodeService.getById(basConveyorSta.getBarcodeId());
            if (deviceBarcode == null) {
                continue;
            }
            BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, Integer.parseInt(deviceBarcode.getDeviceId()));
            if (barcodeThread == null) {
                continue;
            }
            if (!barcodeThread.getBarcode().equals(task.getZpallet())) {
                continue;
            }
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
            if (devpThread == null) {
                continue;
            }
            StaProtocol staProtocol = devpThread.getStation().get(basConveyorSta.getSiteNo());
            if (staProtocol == null) {
                continue;
            }
            if (!(staProtocol.isAutoing()
                    && staProtocol.isLoading()
                    && staProtocol.isInEnable())) {
                continue;
            }


            if (Cools.isEmpty(task.getShuttleNo())) {
                //分配小车
                //搜索空闲车
@@ -450,6 +483,34 @@
            task.setUpdateTime(new Date());
            if (!taskService.updateById(task)) {
                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
            }else {
                if ("0601".equals(task.getMemo().substring(0,4))){
                    String response = "";
                    Map<String, Object> headers = new HashMap<>();
                    headers.put("Content-Type", "application/json;charset=UTF-8");
                    headers.put("X-lr-request-id", task.getWmsTaskNo());
                    headers.put("X-lr-version", 4.1);
                    headers.put("X-lr-trace-id", "{{$guid}}");

                    Map<String, Object> map = new HashMap<>();
                    map.put("carrierCode",task.getZpallet());
                    map.put("siteCode","06YZ0001");
                    map.put("extra",null);
                    try {
                        response = new HttpHandler.Builder()
                                .setHeaders(headers)
                                .setUri("172.18.16.248:443")
                                .setHttps(true)
                                .setPath("/rcs/rtas/api/robot/controller/carrier/unbind")
                                .setJson(JSONObject.toJSONString(map))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        log.info("agv解绑箱号,请求体:"+JSONObject.toJSONString(map)+",返回:"+response);
                    }catch (Exception e){
                        log.info("agv解绑箱号请求报错"+e.getMessage());
                    }
                }
            }
        }
    }
@@ -570,18 +631,46 @@
        }
    }

    // 解析小车载货移动工作档
    public synchronized void analyzeLadenMoveTask() {
        for (Task task : taskService.selectWaitAnalyzeLadenMoveTask()) {
            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.generateShuttleLadenMoveMotion(task);
            if (motionList.isEmpty()) {
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

            // 更新工作主档
            task.setTaskSts(TaskStsType.ANALYZE_LADEN_MOVE.sts); // 工作状态
            task.setUpdateTime(new Date());
            if (!taskService.updateById(task)) {
                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
            }
        }
    }

    /**
     * 四向穿梭车电量检测 ===>> 发起充电
     */
    public synchronized void loopShuttleCharge() {
        // 获取充电桩库位类型
        LocCtg locCtg = locCtgService.getOne(new LambdaQueryWrapper<LocCtg>()
                .eq(LocCtg::getFlag, "CHARGE")
                .eq(LocCtg::getStatus, 1));
        if (locCtg == null) {
            return;
        }

        //获取充电任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.CHARGE))
@@ -618,7 +707,7 @@
            //搜索小车当前楼层充电桩
            ArrayList<Loc> allChargeLoc = new ArrayList<>();
            List<Loc> list1 = locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getLocCtg, locCtg.getId())
                    .eq(Loc::getLocSts, LocStsType.C.val())
                    .eq(Loc::getStatus, 1)
                    .eq(Loc::getLev, lev));
            if (!list1.isEmpty()) {
@@ -627,7 +716,7 @@

            //搜索其他楼层充电桩
            List<Loc> list2 = locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getLocCtg, locCtg.getId())
                    .eq(Loc::getLocSts, LocStsType.C.val())
                    .eq(Loc::getStatus, 1)
                    .notIn(Loc::getLev, lev));
            if (!list2.isEmpty()) {