#避让起始列

Junjie

2023-12-08 13a7ee010e75bab8030c7c0be736d0ca02d966d7

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

@@ -1,6 +1,7 @@
package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
@@ -36,6 +37,8 @@

import java.util.*;
import java.util.stream.Collectors;

import static com.zy.asrs.utils.Utils.isJson;

/**
 * 立体仓库WCS系统主流程业务
@@ -398,7 +401,7 @@
    }

    /**
     * 拣料、并板、盘点再入库
     * 拣料、并板再入库
     */
    @Transactional
    public synchronized void stnToCrnStnPick(){
@@ -441,7 +444,7 @@
                        continue;
                    }

                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104)
                            || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
                        continue;
                    }
@@ -495,10 +498,6 @@
                        News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
                        continue;
                    }
                    if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
                        News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
                        continue;
                    }

                    // 修改库位状态 Q.拣料/盘点/并板再入库
                    LocMast locMast = locMastService.selectById(sourceLocNo);
@@ -515,7 +514,7 @@
    }

    /**
     * 拣料、并板、盘点再入库(325、331、333、339)
     * 拣料、并板再入库(325、331、333、339)
     */
    @Transactional
    public synchronized void stnToCrnStnPick2(){
@@ -545,7 +544,7 @@
                        continue;
                    }

                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104)
                            || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
                        continue;
                    }
@@ -599,10 +598,6 @@
                        News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
                        continue;
                    }
                    if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
                        News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
                        continue;
                    }

                    // 修改库位状态 Q.拣料/盘点/并板再入库
                    LocMast locMast = locMastService.selectById(sourceLocNo);
@@ -618,6 +613,127 @@
                }
            }

        }
    }

    /**
     * 盘点再入库
     */
    @Transactional
    public synchronized void stnToCrnStnPlate(){
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历拣料入库口
            for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
//                if (pickSta.getStaNo() == 325 || pickSta.getStaNo() == 331 || pickSta.getStaNo() == 333 || pickSta.getStaNo() == 339) {
//                    continue;
//                }

                // 获取拣料入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && (staProtocol.getWorkNo() > 0)
                        && staProtocol.isPakMk()){

                    WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {//找不到工作档
                        continue;
                    }

                    if ((wrkMast.getIoType() != 107)
                            || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
                        continue;
                    }

                    //*********************同库位组校验*********************
                    boolean flag = false;
                    String th = "";
                    List<String> innerLoc = Utils.getGroupInnerLoc(wrkMast.getSourceLocNo());
                    for (String loc : innerLoc) {
                        LocMast locMast = locMastService.selectById(loc);
                        if (locMast == null) {
                            continue;
                        }

                        if (!locMast.getLocSts().equals("F")) {
                            flag = true;
                            th = loc + "库位存在未回库任务";
                            break;
                        }
                    }
                    if (flag) {
                        News.info(th);
                        continue;
                    }
                    //*********************同库位组校验*********************

                    // 保存工作主档历史档
                    if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                        News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
                        continue;
                    }

                    //盘点找新库位
                    try {
                        LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位
                        SearchLocParam param = new SearchLocParam();
                        param.setWrkNo(wrkMast.getWrkNo());
                        param.setBarcode(wrkMast.getBarcode());
                        param.setIoType(107);//盘点
                        param.setSourceStaNo(wrkMast.getStaNo());
                        param.setLocType1(locMast.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        Integer code = jsonObject.getInteger("code");
                        if (code.equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            //获取回库提升机目标站
                            LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
                            if (liftStaProtocol == null) {
                                News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
                                continue;
                            }

                            // 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(liftStaProtocol.getStaNo());//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 (wrkMastMapper.updateById(wrkMast) == 0) {
                                News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
                                continue;
                            }

                            staProtocol.setStaNo(dto.getSourceStaNo().shortValue());//写入目标站
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                        } else if (code == 500){
                            News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }

                }
            }
        }
    }

@@ -1164,6 +1280,25 @@
            }

            if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
                //强制预留一台小车给入库任务
                int lev = Utils.getLev(wrkMast.getSourceLocNo());
                //获取当前楼层有几台可用小车
                int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
                if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车
                    int shuttleWrkInObligateCount = 1;//预留小车数量
                    Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
                    if (config != null) {
                        shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
                    }
                    //可用出库小车数量(给入库任务预留一台车)
                    int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
                    //查询楼层已分配车辆的出库任务数量
                    List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
                    if (wrkMasts.size() >= useShuttleCount) {
                        News.info("{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
                        return false;
                    }
                }
                boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
                News.info("{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
                return false;
@@ -1422,10 +1557,12 @@
                if(!("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode))) {
                    //存在条码值，判断是否和当前工作档一致
                    if (!barcode.equals(wrkMast.getBarcode())) {
                        News.info("{}任务，条码器{}值{}与工作档条码值不一致，系统跳过执行", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId, barcode);
                        News.info("{}任务,{}站点，条码器{}值{}与工作档条码值{}不一致，系统跳过执行", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId, barcode,wrkMast.getBarcode());
                        return false;//站点不可入
                    }
                }
            }else {
                return false;
            }

            //判断提升机整个三楼是否都处于入库模式
@@ -1725,11 +1862,11 @@
     */
    public synchronized void locToLocExecute() {
        //获取出入库工作档
        List<WrkMast> wrkMasts = wrkMastMapper.selectInOutWrkMast();
        if (wrkMasts.size() > 0) {
            //有出入库任务，必须等待任务执行完毕再执行库位移转
            return;
        }
//        List<WrkMast> wrkMasts = wrkMastMapper.selectInOutWrkMast();
//        if (wrkMasts.size() > 0) {
//            //有出入库任务，必须等待任务执行完毕再执行库位移转
//            return;
//        }

        //查询库位移转工作档
        List<WrkMast> wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast();
@@ -2569,7 +2706,7 @@
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            log.info("悬挂线，wms返回结果：" + jsonObject);
            News.info("悬挂线，WMS返回结果：" + jsonObject);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {//呼叫AGV
                return true;
@@ -2712,51 +2849,15 @@
                ledCommand.setLocNo(wrkMast.getLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                    //for (WrkDetl wrkDetl : wrkDetls) {
                    //    LocDetl locDetl = locDetlService.selectOne(new EntityWrapper<LocDetl>().eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
                    //
                    //    locDetls.forEach(locDetl1 -> {
                    //        //工作档中存在该物料则跳过
                    //        String suppCode = "";
                    //
                    //        if (wrkDetl.getMatnr().equals(locDetl1.getMatnr())) {
                    //            Double anfme = 0D;
                    //            if (locDetl != null) {
                    //                anfme = locDetl.getAnfme();
                    //            }
                    //            if (wrkDetl.getSuppCode() != null) {
                    //                suppCode = wrkDetl.getSuppCode();
                    //            }
                    //            ledCommand.getMatDtos()
                    //                    .add(new MatDto(wrkDetl.getMatnr()
                    //                            , wrkDetl.getMaktx()
                    //                            , wrkDetl.getAnfme()
                    //                            , (wrkDetl.getAnfme()-anfme)
                    //                            , wrkDetl.getSpecs()
                    //                            , suppCode));
                    //        } else {
                    //            if (locDetl1.getSuppCode() != null) {
                    //                suppCode = locDetl1.getSuppCode();
                    //            }
                    //            ledCommand.getMatDtos()
                    //                    .add(new MatDto(locDetl1.getMatnr()
                    //                            , locDetl1.getMaktx()
                    //                            , 0D
                    //                            , locDetl1.getAnfme()
                    //                            , locDetl1.getSpecs()
                    //                            , suppCode));
                    //        }
                    //    });
                    //    //LocDetl locDetl = locDetlService.selectOne(new EntityWrapper<LocDetl>().eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
                    //}
                    List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", wrkMast.getSourceLocNo()));
                    locDetls.forEach(locDetl -> {
                        Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no",wrkMast.getWrkNo());
                        Utils.wapperSetCondition(wrapper,"batch",locDetl.getBatch());
                        Utils.wapperSetCondition(wrapper,"three_code",locDetl.getThreeCode());
                        Utils.wapperSetCondition(wrapper,"dead_time",locDetl.getDeadTime());
                        Utils.wapperSetCondition(wrapper,"supp_code",locDetl.getSuppCode());//料箱码
                        Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkMast.getWrkNo());
                        Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
                        Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
                        Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
                        Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//料箱码
                        WrkDetl detl = wrkDetlService.selectOne(wrapper);

                        if (Cools.isEmpty(detl)) {
                            String suppCode = "";
                            if (locDetl.getSuppCode() != null) {
@@ -2765,13 +2866,32 @@
                            ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
                        } else {
                            String suppCode = "";
                            String orderNo = detl.getOrderNo();
                            if (detl.getSuppCode() != null) {
                                suppCode = detl.getSuppCode();
                            }
                            ledCommand.getMatDtos().add(new MatDto(detl.getMatnr(), detl.getMaktx(), detl.getAnfme(), (locDetl.getAnfme() - detl.getAnfme()), detl.getSpecs(), suppCode));
                            if (isJson(orderNo)) {
                                JSONArray orders = JSON.parseArray(orderNo);
                                for (Object order : orders) {
                                    JSONObject order1 = (JSONObject) order;
                                    ledCommand.getMatDtos().add(new MatDto(detl.getMatnr(), detl.getMaktx(), (Double) order1.get("anfme"), (locDetl.getAnfme() - detl.getAnfme()), detl.getSpecs(), suppCode,(String) order1.get("orderNo")));
                                }
                            } else {
                                ledCommand.getMatDtos().add(new MatDto(detl.getMatnr(), detl.getMaktx(), detl.getAnfme(), (locDetl.getAnfme() - detl.getAnfme()), detl.getSpecs(), suppCode,detl.getOrderNo()));
                            }


                        }
                    });

                    if (locDetls.isEmpty()) {
                        List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkMast.getWrkNo()));
                        wrkDetls.forEach(wrkDetl -> {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getAnfme(), wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
                        });
                    }
                }

                commands.add(ledCommand);
            }
            Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
@@ -3024,12 +3144,10 @@
                wrapper.eq("code", "shuttleMaxPowerVerify");
                Config config1 = configService.selectOne(wrapper1);
                if (config1 != null) {
                    if (!Boolean.parseBoolean(config1.getValue())) {
                        continue;//没有开启满充校准
                    }

                    if (shuttleProtocol.getVoltage() < 5630) {
                        continue;//电压不够继续充电
                    if (config1.getValue().equals("true")) {
                        if (shuttleProtocol.getVoltage() < 5630) {
                            continue;//电压不够继续充电
                        }
                    }
                }
                //***************判断是否满充校准***************