输送线改造

zyx

2024-02-06 eb2584960c947166a048be3f50860db7ab34a2a6

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

@@ -1,10 +1,12 @@
package com.zy.common.web;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
import com.zy.common.CodeRes;
import com.zy.common.model.LocTypeDto;
@@ -18,8 +20,10 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;

import java.io.IOException;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;
import java.util.stream.Collectors;

@@ -30,6 +34,8 @@
@RestController
@RequestMapping("/rpc")
public class WcsController {

    private static HashMap<String,String> currentContainerMap;

    @Autowired
    private WrkMastService wrkMastService;
@@ -55,11 +61,16 @@
    private AgvBasDevpService agvBasDevpService;
    @Autowired
    private AgvWrkMastService agvWrkMastService;
    @Autowired
    private WrkMastMapper wrkMastMapper;
    @Autowired
    private WrkMastLogService wrkMastLogService;
//    @Autowired
//    private ErpService erpService;

    @PostMapping("/pakin/loc/v2")
    @ResponseBody
    @Transactional
    public synchronized R getLocNoV2(@RequestBody SearchLocParam param) {
        if (Cools.isEmpty(param.getIoType())) {
            return R.error("入出库类型不能为空");
@@ -113,9 +124,11 @@
                dto = emptyPlateIn(param.getSourceStaNo(), locTypeDto, param.getBarcode(), 2);
                break;
            case 103:// 拣料入库
                dto = pickWrkIn(param.getWrkNo(), param.getIoType(), param.getSourceStaNo(), param.getLiftNo(), locTypeDto, 2);
                break;
            case 104:// 并板入库
            case 107:// 盘点入库
                dto = pickWrkPlateIn(param.getWrkNo(), param.getIoType(), param.getSourceStaNo(), locTypeDto, 2);
                dto = pickWrkPlateIn(param.getWrkNo(), param.getIoType(), param.getSourceStaNo(), param.getLiftNo(), locTypeDto, 2);
                break;
            default:
                break;
@@ -191,7 +204,7 @@
            case 103:// 拣料入库
            case 104:// 并板入库
            case 107:// 盘点入库
                dto = pickWrkPlateIn(param.getWrkNo(), param.getIoType(), param.getSourceStaNo(), locTypeDto);
                dto = pickWrkPlateIn(param.getWrkNo(), param.getIoType(), param.getSourceStaNo(), param.getLiftNo(), locTypeDto);
                break;
            default:
                break;
@@ -379,12 +392,12 @@
    }

    @Transactional
    public StartupDto pickWrkPlateIn(Integer wrkNo, Integer ioType, Integer devpNo, LocTypeDto locTypeDto) {
        return pickWrkPlateIn(wrkNo, ioType, devpNo, locTypeDto, 1);
    public StartupDto pickWrkPlateIn(Integer wrkNo, Integer ioType, Integer devpNo, Integer liftNo, LocTypeDto locTypeDto) {
        return pickWrkPlateIn(wrkNo, ioType, devpNo, liftNo, locTypeDto, 1);
    }

    @Transactional
    public StartupDto pickWrkPlateIn(Integer wrkNo, Integer ioType, Integer devpNo, LocTypeDto locTypeDto, Integer version) {
    public StartupDto pickWrkPlateIn(Integer wrkNo, Integer ioType, Integer devpNo, Integer liftNo, LocTypeDto locTypeDto, Integer version) {
        WrkMast wrkMast = wrkMastService.selectOfPick(wrkNo, ioType);
        if (Cools.isEmpty(wrkMast)) {
            log.error("{}任务【ioType = {}】已过期!!!", wrkNo, ioType);
@@ -403,8 +416,8 @@
        }
        StartupDto dto = null;
        if (version == 2) {
            dto = commonService.getShuttleLocNo( ioType - 50, devpNo, matnrList, locTypeDto); // 库位号， 堆垛机，目标站
        }else {
            dto = commonService.getShuttleLocNo(ioType - 50, devpNo, matnrList, locTypeDto); // 库位号， 堆垛机，目标站
        } else {
            dto = commonService.getLocNo(1, ioType - 50, devpNo, matnrList, locTypeDto, 0); // 库位号， 堆垛机，目标站
        }
        // 更新目标库位状态
@@ -418,6 +431,114 @@
        } else {
            throw new CoolException(dto.getLocNo() + "目标库位已被占用");
        }

        // 保存工作主档历史档
        if (!wrkMastLogService.save(wrkMast.getWrkNo())) {
            throw new CoolException(wrkMast.getWrkNo() + "保存工作主档历史档失败");
        }

        //获取回库提升机目标站
        Integer staNo = liftNo * 100 + locMast.getLev1();
        // 更新工作档数据状态
        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 107->57
        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
        wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
        wrkMast.setStaNo(staNo);//目标站
        wrkMast.setLocNo(dto.getLocNo()); // 目标库位
        wrkMast.setShuttleNo(null); // 穿梭车清空
        wrkMast.setLiftNo(null);// 提升机清空
        wrkMast.setModiTime(new Date());
        if (!wrkMastService.updateById(wrkMast)) {
            throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
        }

        return dto;
    }

    @Transactional
    public StartupDto pickWrkIn(Integer wrkNo, Integer ioType, Integer devpNo, Integer liftNo, LocTypeDto locTypeDto, Integer version) {
        WrkMast wrkMast = wrkMastService.selectOfPick(wrkNo, ioType);
        if (Cools.isEmpty(wrkMast)) {
            log.error("{}任务【ioType = {}】已过期!!!", wrkNo, ioType);
            throw new CoolException(CodeRes.NONE_MAST_800);
        }
        List<LocDetl> locDetls = locDetlService.selectByLocNo(wrkMast.getSourceLocNo());
        if (locDetls.isEmpty()) {
            throw new CoolException("库存明细不存在");
        }
        // 检索库位
        List<String> matnrList = locDetls.stream().map(LocDetl::getMatnr).distinct().collect(Collectors.toList());
        if (ioType == 103) {//拣料任务
            if (devpNo == 325 || devpNo == 331 || devpNo == 333 || devpNo == 339) {
                devpNo = 341;
            }
        }
        StartupDto dto = commonService.getShuttleLocNo(ioType - 50, devpNo, matnrList, locTypeDto);//获取库位

        // 更新目标库位状态
        LocMast locMast = locMastService.selectById(dto.getLocNo());
        if (locMast.getLocSts().equals("O")) {
            locMast.setLocSts("Q"); // Q.拣料再入库
            locMast.setModiTime(new Date());
            if (!locMastService.updateById(locMast)) {
                throw new CoolException("改变库位状态失败");
            }

            List<LocDetl> locDetls1 = locDetlService.selectByLocNo(locMast.getLocNo());
            log.info("工作号：" + wrkMast.getWrkNo() + "，托盘码：" + wrkMast.getBarcode() + "，修改库位状态O=>Q成功，库存明细：" + JSON.toJSONString(locDetls1));
        } else {
            throw new CoolException(dto.getLocNo() + "目标库位已被占用");
        }

        Date now = new Date();
        for (LocDetl locDetl : locDetls) {
            locDetl.setLocNo(dto.getLocNo());//修改目标库位
            locDetl.setAppeTime(now);
            locDetl.setModiTime(now);
            if (!locDetlService.insert(locDetl)) {
                throw new CoolException("库存明细更新失败");
            }
        }

        //检查目标库位，库存明细是否添加成功
        List<LocDetl> checkLocDetls = locDetlService.selectByLocNo(dto.getLocNo());
        if (checkLocDetls.isEmpty()) {
            throw new CoolException("库存明细迁移失败");
        }

//        //清空源库位数据
        LocMast locMast1 = locMastService.selectByLoc(wrkMast.getSourceLocNo());
//        if (locMast1.getLocSts().equals("P")) {
//            locMast1.setLocSts("O"); // 清空库位
//            locMast1.setModiTime(new Date());
//            if (!locMastService.updateById(locMast1)) {
//                throw new CoolException("改变库位状态失败");
//            }
//        } else {
//            throw new CoolException("源库位状态异常");
//        }

        // 保存工作主档历史档
        if (!wrkMastLogService.save(wrkMast.getWrkNo())) {
            throw new CoolException(wrkMast.getWrkNo() + "保存工作主档历史档失败");
        }

        //获取回库提升机目标站
        Integer staNo = liftNo * 100 + locMast1.getLev1();

        // 更新工作档数据状态
        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54
        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
        wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
        wrkMast.setStaNo(staNo);//目标站
        wrkMast.setLocNo(dto.getLocNo()); // 目标库位
        wrkMast.setShuttleNo(null); // 穿梭车清空
        wrkMast.setLiftNo(null);// 提升机清空
        wrkMast.setModiTime(new Date());
        if (!wrkMastService.updateById(wrkMast)) {
            throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
        }

        return dto;
    }

@@ -465,24 +586,101 @@
        if(Cools.isEmpty(agvBasDevp) || !"O".equals(agvBasDevp.getLocSts())){
            throw new CoolException("当前站点不存在或者站点不为空");
        }
        if(Cools.isEmpty(agvWaitPakinService.selectByContainerCode(containerCode))){
            throw new CoolException("该料箱位组托");

        AgvWaitPakin agvWaitPakin = agvWaitPakinService.selectByContainerCode(containerCode);
        AgvWrkMast agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode", containerCode));

        //拣料、盘点完成任务
        if(!Cools.isEmpty(agvWrkMast) && (agvWrkMast.getIoType() == 103 || agvWrkMast.getIoType() == 107) && agvWrkMast.getWrkSts() == 205){
            //绑定站点
            agvBasDevpService.updateLocStsAndBarcodeByDevNo(param.getDevNo(),"F",containerCode);

            //生成拣料、盘点再入库任务
            List<AgvWrkMast> agvWrkMastList = new ArrayList<>();
            agvWrkMast.setMk("Y");
            agvWrkMast.setLocNo(agvBasDevp.getDevNo());
            agvWrkMastList.add(agvWrkMast);
            agvWorkService.pickIn(agvWrkMastList);

            return R.ok();
        }

        //去找agv工作档任务
        if(!Cools.isEmpty(agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode",containerCode)))){
            throw new CoolException("该料箱正在入库中");
        //入库任务
        if (!Cools.isEmpty(agvWaitPakinService.selectByContainerCode(containerCode))){
            //绑定站点
            agvBasDevpService.updateLocStsAndBarcodeByDevNo(param.getDevNo(),"F",containerCode);
            //生成工作档
            List<AgvBasDevp> agvBasDevpList = agvBasDevpService.selectList(new EntityWrapper<AgvBasDevp>().eq("dev_no", param.getDevNo()));
            agvWorkService.createWaitPainWrkMastStart(agvBasDevpList, null, true);

            return R.ok();
        }
        //绑定站点
        agvBasDevpService.updateLocStsAndBarcodeByDevNo(param.getDevNo(),"F",containerCode);

        //生成工作档
        List<AgvBasDevp> agvBasDevpList = agvBasDevpService.selectList(new EntityWrapper<AgvBasDevp>().eq("dev_no", param.getDevNo()));
        agvWorkService.createWaitPainWrkMastStart(agvBasDevpList, null, true);
        return R.error("没有查询到该料箱信息");

    }

    @PostMapping("/current/containerCode")
    @ResponseBody
    public R move(@RequestBody ReplenishmentParam param){

        if(Cools.isEmpty(currentContainerMap)){
            currentContainerMap = new HashMap<>();
        }

        String devNo = param.getDevNo();
        String containerCode = param.getContainerCode();
        String currentContainerCode = currentContainerMap.get(devNo);

        //判断容器是否发生变化
        if(!Cools.eq(containerCode,currentContainerCode)){
            //查询旧容器的工作档
            AgvWrkMast agvWrkMast = agvWrkMastService.selectByContainerCode(currentContainerCode);
            if(agvWrkMast.getIoType() == 101){
                //发送容器立场请求，完成工作档
                List<AgvWrkMast> agvWrkMastList = new ArrayList<>();
                agvWrkMastList.add(agvWrkMast);
                try {
                    int code = agvWrkMastService.containerMoveOut(agvWrkMastList);
                    if(code == 0){
                        //将工作党状态改为容器离场
                        agvWrkMast.setWrkSts(206L);
                        agvWrkMastService.updateById(agvWrkMast);
                    }
                } catch (IOException e) {
                    log.error(e.getMessage());
                }
            }
        }

        currentContainerMap.put(devNo,containerCode);

        return R.ok();
    }

    /*
    显示AGV输送线拣料、盘点、入库信息
     */
    @PostMapping("/info")
    @ResponseBody
    public R containerMove(@RequestBody ReplenishmentParam param){

        String devNo = param.getDevNo();
        String containerCode = currentContainerMap.get(devNo);

        //查找该容器的工作档
        AgvWrkMast agvWrkMast = agvWrkMastService.selectByContainerCode(containerCode);
        if(!Cools.isEmpty(agvWrkMast)){
            return R.ok(agvWrkMast);
        }
        //查找该容器的入库通知档
        AgvWaitPakin agvWaitPakin = agvWaitPakinService.selectByContainerCode(containerCode);
        if(!Cools.isEmpty(agvWaitPakin)){
            return R.ok(agvWaitPakin);
        }

        return R.error("没有该容器的出库、拣料、入库信息等");
    }


}