#

1

17 小时以前 09358392b9c559ebbc9503f1cecea3b7ab3e6c2c

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -83,6 +83,8 @@
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private LocDetlService locDetlService;
    @Autowired
    private BasErrLogService basErrLogService;
@@ -923,16 +925,23 @@
     */
    public synchronized void connectWrk(Integer mark) {
        for (DevpSlave devp : slaveProperties.getDevp()) {
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
            StaProtocol staProtocolIn = devpThread.getStation().get(4001);
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);

            StaProtocol staProtocolIn = devpThread2.getStation().get(4001);
            if (staProtocolIn == null) {
                continue;
            } else {
                staProtocolIn = staProtocolIn.clone();
            }
            int[] outStaNos = {1015, 2016}; //衔接入库点
            int[] outStaNos = {1015,2016}; //衔接入库点
            for (int outStaNo : outStaNos) {
                StaProtocol staProtocolOut = devpThread.getStation().get(outStaNo);// 盘点出库衔接站点（可能是 1015，也可能是 2016）
                StaProtocol staProtocolOut =null;
                if(outStaNo == 2016){
                    staProtocolOut = devpThread2.getStation().get(outStaNo);
                }else{
                    staProtocolOut = devpThread.getStation().get(outStaNo);
                }
                if (staProtocolOut == null) {
                    continue;
                } else {
@@ -2861,6 +2870,8 @@

    public synchronized void autoEmptyOut() {
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);

        List<Integer> list = new ArrayList<>();
        list.add(1108);list.add(2031);
        for (Integer site:list){
@@ -2874,7 +2885,7 @@
            //如果站点可出禁用，则不生成空盘出库任务
            switch (site){
                case 1108:staProtocol = devpThread.getStation().get(site - 2);break;
                case 2031:staProtocol = devpThread.getStation().get(site);break;
                case 2031:staProtocol = devpThread2.getStation().get(site);break;
            }
            if (staProtocol == null) {
                return;
@@ -4414,13 +4425,84 @@
                    }
                    String barcode = staProtocol.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "0".equals(barcode) || barcode.length()<5) {
                            armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
                            continue;
                        }
                    } else {
                        armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
                        continue;
                    }
                    String[] barcodeList = barcode.split(";");
                    String[][] barcodeArr = new String[barcodeList.length / 2][2];
                    int i = 0;
                    for (String[] barcodes : barcodeArr){
                        barcodes[0]=barcodeList[i];
                        i++;
                        barcodes[1]=barcodeList[i];
                        i++;
                    }
                    ArmBarcodeTwoParam armBarcodeTwoParam = new ArmBarcodeTwoParam(barcodeArr);
                    if (!armBarcodeTwoParam.allBool()){
                        continue;
                    }


                    List<BasArmMast> basArmMastList = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", armSta.getArmNo())
                                    .lt("status", 2)
                    );
                    if (!basArmMastList.isEmpty()){
                        armTaskAssignmentCallApiLogSave(staProtocol, armSta.getArmNo()+"号机械臂存在未完成任务", staProtocol.getSiteId()+"机械臂，===》存在未完成任务", false);
                        continue;
                    }
                    List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().eq("arm_no",armSta.getArmNo()));
                    boolean sign = true;
                    for (BasArm basArm : basArmList){
                        if (basArm.getStaNo()==2){//NG
                            continue;
                        }
                        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
                        if (Cools.isEmpty(locMast) || !locMast.getLocSts().equals("D")){
                            continue;
                        }
                        List<BasArmMast> basArmMastList2 = basArmMastService.selectList(
                                new EntityWrapper<BasArmMast>()
                                        .eq("arm_no", basArm.getArmNo())
                                        .eq("sorting_line", basArm.getSortingLineSou())
                                        .eq("sta_no", basArm.getStaNoSou())
                                        .eq("status", 2)
                        );
                        if (!basArmMastList2.isEmpty()){
                            BasArmMast basArmMast2 = basArmMastList2.get(0);
                            if (!armBarcodeTwoParam.allBool(basArmMast2)){
                                continue;
                            }
                        }
                        BasArmMast basArmMast = new BasArmMast(armBarcodeTwoParam);
                        basArmMast.setArmNo(basArm.getArmNo());
                        basArmMast.setStaNo(basArm.getStaNoSou());
                        basArmMast.setSortingLine(basArm.getSortingLineSou());
                        basArmMastService.insert(basArmMast);
                        sign = false;
                        break;
                    }
                    if (sign){
                        for (BasArm basArm : basArmList){
                            if (basArm.getStaNo()==2){//NG
                                LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
                                if (Cools.isEmpty(locMast) || !locMast.getLocSts().equals("D")){
                                    continue;
                                }
                                BasArmMast basArmMast = new BasArmMast(armBarcodeTwoParam);
                                basArmMast.setArmNo(basArm.getArmNo());
                                basArmMast.setStaNo(basArm.getStaNoSou());
                                basArmMast.setSortingLine(basArm.getSortingLineSou());
                                basArmMastService.insert(basArmMast);
                                break;
                            }
                        }
                    }
                }
            }
@@ -5290,7 +5372,7 @@
                            (basAgvMast.getSourceStaNo().equals(2033))){

                        AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
                        if(basAgvMast.getFloorNo()==1 || basAgvMast.getStaNo().equals(2034)) {
                        if(basAgvMast.getFloorNo()==1) {
//                            WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
//                            AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
//                            agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
@@ -5317,6 +5399,22 @@
                                agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                            }
                        }else{
                            if (!Cools.isEmpty(basAgvMast.getSourceStaNo())){
                                if (basAgvMast.getSourceStaNo().equals(4006)){

                                    AgvBindCtnrAndBinTwoParam agvBindCtnrAndBinTwoParam = new AgvBindCtnrAndBinTwoParam();
                                    agvBindCtnrAndBinTwoParam.setReqCode(String.valueOf(snowflakeIdWorker.nextId()));
                                    agvBindCtnrAndBinTwoParam.setPodcode(basAgvMast.getBarcode());
                                    agvBindCtnrAndBinTwoParam.setPositionCode(basAgvMast.getSourceStaNo().toString());
                                    agvBindCtnrAndBinTwoParam.setIndBind("1");;
                                    ReturnT<String> resultBind = new PostMesDataUtils().postMesDataArmGrating("AGV容器绑定解绑",
                                            AgvConstant.AGV_URL+"/"+AgvConstant.AGV_hikRpcService,AgvConstant.getAGVADAPTOR(2), agvBindCtnrAndBinTwoParam);
                                    if (resultBind.getCode()!=200){
                                        basAgvMast.setStatus(4);
                                        basAgvMastService.updateById(basAgvMast);
                                    }
                                }
                            }
                            //任务下发
                            ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
                            if (result.getCode()==200){