agv站点修改

pang.jiabao

2025-02-26 7c36a39a0a2abf561d6c529f4918323f2c44945c

 src/main/java/com/zy/common/web/WcsController.java

@@ -1,15 +1,19 @@
package com.zy.common.web;

import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.command.LedCommand;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.EmptyPlateOutParam;
import com.zy.asrs.entity.param.MatDto;
import com.zy.asrs.entity.result.KeyValueVo;
import com.zy.asrs.service.*;
import com.zy.common.CodeRes;
import com.zy.common.config.WebSocketServer;
import com.zy.common.model.LocTypeDto;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
@@ -17,12 +21,9 @@
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;
import org.springframework.web.bind.annotation.*;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.*;
import java.util.stream.Collectors;

/**
@@ -53,16 +54,150 @@
    private WorkService workService;
    @Autowired
    private StaDescService staDescService;
    @Autowired
    private WebSocketServer webSocketServer;
    @Autowired
    private OrderDetlService orderDetlService;


    @PostMapping("/led/getTask")
    @ResponseBody
    public synchronized R getledTask(@RequestBody Map<String, String> param) {
        String taskNo = param.get("taskNo");
        String sta = param.get("sta");
        // 命令集合
        List<LedCommand> commands = new ArrayList<>();
        if (!"0".equals(taskNo)) {

            // 工作档集合
            List<WrkMast> wrkMasts = new ArrayList<>();
            // 获取工作档数据
            WrkMast wrkMast = wrkMastService.selectById(taskNo);
            if (null == wrkMast) { return R.error(); }
            wrkMasts.add(wrkMast);
            // 组装命令
            LedCommand ledCommand = new LedCommand();
            ledCommand.setWorkNo(wrkMast.getWrkNo());
            ledCommand.setIoType(wrkMast.getIoType());
            wrkMasts.add(wrkMast);
            // 出库模式
            switch (wrkMast.getIoType()) {
                case 1:
                    ledCommand.setTitle("全板入库");
                    break;
                case 10:
                    ledCommand.setTitle("空板入库");
                    break;
                case 101:
                    ledCommand.setTitle("全板出库");
                    break;
                case 103:
                    ledCommand.setTitle("拣料出库");
                    break;
                case 104:
                    ledCommand.setTitle("并板出库");
                    break;
                case 107:
                    ledCommand.setTitle("盘点出库");
                    break;
                case 110:
                    ledCommand.setTitle("空板出库");
                    ledCommand.setEmptyMk(true);
                    break;
                default:
                    break;
            }
            ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
            ledCommand.setStaNo(wrkMast.getStaNo());
            ledCommand.setBarcode(wrkMast.getBarcode());
            if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());

                wrkDetls.forEach(wrkDetl -> {
                    Double total = 0.0;
                    EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
                    LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
                    if (Cools.isEmpty(locDetl)) {
                        total = wrkDetl.getAnfme();
                    } else {
                        total = locDetl.getAnfme();
                    }
                    if (!Cools.isEmpty(wrkDetl.getOrderNo())){
                        OrderDetl orderDetl = orderDetlService.selectOne(new EntityWrapper<OrderDetl>().eq("order_no", wrkDetl.getOrderNo())
                                .eq("matnr", wrkDetl.getMatnr()).eq("batch", wrkDetl.getBatch()));
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total,orderDetl.getSuppCode(),orderDetl.getSku()));
                        }
                        if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total,orderDetl.getSuppCode(),orderDetl.getSku()));
                        }
                        if (wrkMast.getIoType() == 107 || wrkMast.getIoType() == 104) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total,orderDetl.getSuppCode(),orderDetl.getSku()));
                        }
                    }else {
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
                        }
                        if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
                        }
                        if (wrkMast.getIoType() == 107 || wrkMast.getIoType() == 104) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
                        }
                    }
                });
            }
            commands.add(ledCommand);

            Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
            // 修改主档led标记
            for (WrkMast wrkMast1 : wrkMasts) {
                wrkMast1.setOveMk("Y");
                wrkMast1.setModiTime(new Date());
                if (!wrkMastService.update(wrkMast1,new EntityWrapper<WrkMast>().eq("wrk_No",wrkMast1.getWrkNo()))) {
                    throw new CoolException("更新工作档失败");
                }
            }
        }



        Map<String,Object> map=new HashMap<String, Object>();
        map.put("to",sta);
        map.put("message",Cools.add("type", "task").add("taskList",commands));
        webSocketServer.onMessage(JSONObject.toJSONString(map),null,sta);
        return R.ok();

    }

    @PostMapping("/led/getError")
    @ResponseBody
    public synchronized R getledError(@RequestBody Map<String, String> param) {
        String sta = param.get("sta");
        String message = param.get("msg");
        if (Cools.isEmpty(sta) ) {
            return R.error();
        }
        Map<String,Object> map=new HashMap<String, Object>();

        map.put("to",sta);
        map.put("message",Cools.add("type", "error").add("errMsg",message));
        webSocketServer.onMessage(JSONObject.toJSONString(map),null,sta);


        return R.ok();

    }


    @Transactional
    public synchronized StartupDto getLocNo3(@RequestBody SearchLocParam param){
        log.info("收到WCS拣料入库接口请求====>>入参:{}", param);
        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", param.getBarcode()));
        if (Cools.isEmpty(wrkMast)){
            throw new CoolException("未找到任务");
        }
        StartupDto dto = null;
        StartupDto dto = new StartupDto();
        // 获取目标站
        Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                .eq("type_no", wrkMast.getIoType() - 50)
@@ -72,12 +207,12 @@
        if (Cools.isEmpty(staDesc)){
            throw new CoolException("未找到站点路径");
        }
        if (wrkMast.getWrkSts() == 14 && wrkMast.getIoType() == 103){
        if (wrkMast.getWrkSts() == 14 && (wrkMast.getIoType() == 103 || wrkMast.getIoType() == 107 || wrkMast.getIoType() == 104)){
            try {
                // 保存工作明细档历史档
                if (wrkMastService.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
                    throw new CoolException("保存工作明细档历史档失败");
                }
//                if (wrkMastService.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
//                    throw new CoolException("保存工作明细档历史档失败");
//                }
                // 保存工作主档历史档
                if (wrkMastService.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                    throw new CoolException("保存工作主档历史档失败");
@@ -95,7 +230,7 @@
                wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                wrkMast.setSourceLocNo(""); // 源库位清空
                wrkMast.setModiTime(now);
                if (wrkMastService.updateById(wrkMast)) {
                if (!wrkMastService.updateById(wrkMast)) {
                    throw new CoolException("更新工作档数据状态失败");
                }
                // 更新明细档io_time (历史档关联使用）
@@ -198,7 +333,7 @@
                List<KeyValueVo> list = locDetls.stream().map(item -> new KeyValueVo(item.getMatnr(), item.getBatch())).distinct().collect(Collectors.toList());
                try{
//                    dto = commonService.getLocNo(1, 57, param.getSourceStaNo(), list, locTypeDto, 0);
                    dto= commonService.getLocNo(1, param.getSourceStaNo(), locDetls.get(0).getMatnr(),locDetls.get(0).getBatch() ,null,locTypeDto);
                    dto= commonService.getLocNo(1, param.getSourceStaNo(), locDetls.get(0).getMatnr(),locDetls.get(0).getBatch() ,null,locTypeDto,locDetls.size()>1);
                }catch (Exception e){
                    log.error("堆垛机站盘点再入库查询库位出错:"+e.getMessage()+e);
                    return R.error("e.getMessage()");
@@ -279,7 +414,7 @@
        }
        WrkMast wrkMastPakin = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                .eq("barcode", param.getBarcode())
                .eq("io_type", 103)
                .in("io_type", 103,53,107,57,104,54)
                .eq("wrk_sts",14));
        if (!Cools.isEmpty(wrkMastPakin)){
            StartupDto locNo3 = getLocNo3(param);
@@ -299,9 +434,12 @@
                    return R.parse(CodeRes.NO_COMB_700);
                }
                int countLoc = locDetlService.selectCount(new EntityWrapper<LocDetl>().eq("zpallet",param.getBarcode()));
                if (countLoc > 0 ) {
                    return R.error(param.getBarcode()+"条码在库存中已存在");
                }
                int countWrk = wrkDetlService.selectCount(new EntityWrapper<WrkDetl>().eq("zpallet",param.getBarcode()));
                if (countLoc > 0 || countWrk > 0) {
                    return R.error(CodeRes.EXIST_500);
                if ( countWrk > 0) {
                    return R.error(param.getBarcode()+"条码在工作档中已存在");
                }
            }
            if (Cools.isEmpty(param.getLocType1())){
@@ -339,7 +477,7 @@
        BasDevp sourceStaNo = basDevpService.checkSiteStatus(12, true);

        // 检索库位
        StartupDto dto = commonService.getLocNo( 10, 12, null,null,null, locTypeDto);
        StartupDto dto = commonService.getLocNo( 10, 12, null,null,null, locTypeDto,false);
        Date now = new Date();
        // 生成工作档
        WrkMast wrkMast = new WrkMast();
@@ -390,7 +528,21 @@
        // 检索库位
        List<String> matnrs = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
        List<String> batchs = waitPakins.stream().map(WaitPakin::getBatch).distinct().collect(Collectors.toList());
        StartupDto dto = commonService.getLocNo( 1, devpNo, matnrs.get(0),batchs.get(0),null, locTypeDto);
        boolean mixtrue =false;

        if (matnrs.size() == 1 && batchs.size() == 1) {

        }else if(matnrs.size() > 1 && batchs.size() == 1) {
            mixtrue = true;
        }else if(matnrs.size() == 1 && batchs.size() > 1) {
            mixtrue = true;
        }else if(matnrs.size() > 1 && batchs.size() > 1) {
            mixtrue = true;
        }
        StartupDto dto = commonService.getLocNo( 1, devpNo, matnrs.get(0),batchs.get(0),null, locTypeDto, mixtrue);
        if (Cools.isEmpty(dto)){
            throw new CoolException("未找到库位信息");
        }
        int workNo = dto.getWorkNo();
        Date now = new Date();
        // 生成工作档
@@ -399,7 +551,7 @@
        wrkMast.setIoTime(new Date());
        wrkMast.setWrkSts(2L); // 工作状态：生成入库ID
        wrkMast.setIoType(1); // 入出库状态：1.入库
        wrkMast.setIoPri(13D); // 优先级
        wrkMast.setIoPri(12D); // 优先级
        wrkMast.setCrnNo(dto.getCrnNo());
        wrkMast.setSourceStaNo(dto.getSourceStaNo());
        wrkMast.setStaNo(dto.getStaNo());
@@ -465,7 +617,7 @@
        // 源站点状态检测
        BasDevp sourceStaNo = basDevpService.checkSiteStatus(devpNo, true);
        // 检索库位
        StartupDto dto = commonService.getLocNo( 10, devpNo, null,null,null, locTypeDto);
        StartupDto dto = commonService.getLocNo( 10, devpNo, null,null,null, locTypeDto,false);
        int workNo = dto.getWorkNo();
        // 生成工作档
        WrkMast wrkMast = new WrkMast();
@@ -473,7 +625,7 @@
        wrkMast.setIoTime(new Date());
        wrkMast.setWrkSts(2L); // 工作状态：生成入库ID
        wrkMast.setIoType(10); // 入出库状态：10.空板入库
        wrkMast.setIoPri(13D); // 优先级
        wrkMast.setIoPri(12D); // 优先级
        wrkMast.setCrnNo(dto.getCrnNo());
        wrkMast.setSourceStaNo(dto.getSourceStaNo());
        wrkMast.setStaNo(dto.getStaNo());