新增agv自动入库

zwl

2025-09-03 1999452f6faf5dc357defdf9bcd395059a10059a

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

@@ -68,7 +68,7 @@
    @Autowired
    private WrkDetlService wrkDetlService;
    @Autowired
    private WaitPakinMapper waitPakinMapper;
    private WaitPakinService waitPakinService;
    @Autowired
    private LocMastService locMastService;
    @Autowired
@@ -103,7 +103,7 @@
                }
                String barcode = barcodeThread.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
@@ -122,10 +122,43 @@

                // 入出库模式判断
//                if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
                if ( inSta.getStaNo()==101 && devpThread.ioModeOf1F == IoModeType.PAKOUT_MODE) { continue; }
                if ( inSta.getStaNo()==103 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { continue; }
                if ( inSta.getStaNo()==105 && devpThread.ioModeOf3F == IoModeType.PAKOUT_MODE) { continue; }
                if ( inSta.getStaNo()==107 && devpThread.ioModeOf4F == IoModeType.PAKOUT_MODE) { continue; }
                if ( inSta.getStaNo()==102 && devpThread.ioModeOf1F == IoModeType.PAKOUT_MODE) { continue; }
                if ( inSta.getStaNo()==104 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { continue; }
                if ( inSta.getStaNo()==106 && devpThread.ioModeOf3F == IoModeType.PAKOUT_MODE) { continue; }

                //led
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                if (staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
                }
                if (!back && staProtocol.isBackErr()) {
                    errMsg = "后超限";
                    back = true;
                }
                if (!back && staProtocol.isHighErr()) {
                    errMsg = "高超限";
                    back = true;
                }
                if (!back && staProtocol.isLeftErr()) {
                    errMsg = "左超限";
                    back = true;
                }
                if (!back && staProtocol.isRightErr()) {
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.isWeightErr()) {
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeErr()) {
                    errMsg = "扫码失败";
                    back = true;
                }

                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
@@ -133,18 +166,18 @@
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
                        && staProtocol.isPakMk()){// && !Cools.isEmpty(barcode)) {

//                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//                        //条码为空或者不符合，退库到172站点
//                        staProtocol.setWorkNo((short)9999);
//                        staProtocol.setStaNo((short)172);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }
//                        continue;
//                    }
                    if (back) {
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = errMsg;
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                        staProtocol.setWorkNo((short) 9999);
                        staProtocol.setStaNo((short)(inSta.getStaNo()-1));
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        continue;
                    }

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
@@ -181,7 +214,6 @@
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        Integer code = jsonObject.getInteger("code");
                        if (code == 200) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
@@ -738,6 +770,7 @@
            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
            crnCommand.setCommand((short) 1);
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {
@@ -810,10 +843,9 @@

            // 入出库模式判断
            //if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
                if (wrkMast.getStaNo() == 101 && devpThread.ioModeOf1F != IoModeType.PAKOUT_MODE) {continue;}
                if (wrkMast.getStaNo() == 103 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {continue;}
                if (wrkMast.getStaNo() == 105 && devpThread.ioModeOf3F != IoModeType.PAKOUT_MODE) {continue;}
                if (wrkMast.getStaNo() == 107 && devpThread.ioModeOf4F != IoModeType.PAKOUT_MODE) {continue;}
                if (wrkMast.getStaNo() == 102 && devpThread.ioModeOf1F != IoModeType.PAKOUT_MODE) {continue;}
                if (wrkMast.getStaNo() == 104 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {continue;}
                if (wrkMast.getStaNo() == 106 && devpThread.ioModeOf3F != IoModeType.PAKOUT_MODE) {continue;}

                // 查询站点详细信息
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
@@ -895,6 +927,7 @@
                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    crnCommand.setCommand((short) 1);
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
@@ -1124,6 +1157,7 @@
                crnCommand.setDestinationPosX(sta.getRow1().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(sta.getLev1().shortValue());     // 目标库位层
                crnCommand.setCommand((short) 1);
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
@@ -1155,6 +1189,7 @@
            crnCommand.setDestinationPosX(sta.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(sta.getLev1().shortValue());     // 目标库位层
            crnCommand.setCommand((short) 1);
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {
@@ -1351,17 +1386,13 @@
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
//                if ( emptyInSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
//                if ( emptyInSta.getStaNo()==203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { continue; }
//                if ( emptyInSta.getStaNo()==402 && devpThread.ioModeOf4F == IoModeType.PAKOUT_MODE) { continue; }
                if ( emptyInSta.getStaNo()==101 && devpThread.ioModeOf1F == IoModeType.PAKOUT_MODE) { continue; }
                if ( emptyInSta.getStaNo()==103 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { continue; }
                if ( emptyInSta.getStaNo()==105 && devpThread.ioModeOf3F == IoModeType.PAKOUT_MODE) { continue; }
                if ( emptyInSta.getStaNo()==107 && devpThread.ioModeOf4F == IoModeType.PAKOUT_MODE) { continue; }
                // 入出库模式判断
                if ( emptyInSta.getStaNo()==102 && devpThread.ioModeOf1F == IoModeType.PAKOUT_MODE) { continue; }
                if ( emptyInSta.getStaNo()==104 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { continue; }
                if ( emptyInSta.getStaNo()==106 && devpThread.ioModeOf3F == IoModeType.PAKOUT_MODE) { continue; }
                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {
                        && staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 9990 && staProtocol.isPakMk()) {

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -1395,66 +1426,7 @@
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }




//                    // 检索库位
//                    LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
//                    StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null, locTypeDto, 0);
//                    // 工作号
//                    int workNo = startupDto.getWorkNo();
//
//                    try {
//                        // 插入工作主档
//                        WrkMast wrkMast = new WrkMast();
//                        wrkMast.setWrkNo(workNo);
//                        wrkMast.setIoTime(new Date());
//                        wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
//                        wrkMast.setIoType(10); // 入出库状态：10.空板入库
//                        wrkMast.setIoPri(10D); // 优先级：10
//                        wrkMast.setCrnNo(startupDto.getCrnNo());
//                        wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
//                        wrkMast.setStaNo(startupDto.getStaNo());
//                        wrkMast.setLocNo(startupDto.getLocNo());
//                        wrkMast.setFullPlt("N"); // 满板
//                        wrkMast.setPicking("N"); // 拣料
//                        wrkMast.setExitMk("N"); // 退出
//                        wrkMast.setEmptyMk("Y"); // 空板
//                        wrkMast.setLinkMis("N");
////                    wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
//                        // 操作人员数据
//                        wrkMast.setAppeTime(new Date());
//                        wrkMast.setModiTime(new Date());
//                        Integer insert = wrkMastMapper.insert(wrkMast);
//                        if (insert == 0) {
//                            throw new CoolException("保存工作档失败");
//                        }
//                        // 更新目标库位状态
//                        LocMast locMast = locMastService.selectById(startupDto.getLocNo());
//                        locMast.setLocSts("S"); // S.入库预约
//                        locMast.setModiTime(new Date());
//                        if (!locMastService.updateById(locMast)){
//                            throw new CoolException("改变库位状态失败");
//                        }
//                        // 命令下发区 --------------------------------------------------------------------------
//
//                        // 更新站点信息 且 下发plc命令
//                        staProtocol.setWorkNo((short) workNo);
//                        staProtocol.setStaNo(startupDto.getStaNo().shortValue());
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }
//                    } catch (Exception e) {
//                        e.printStackTrace();
//                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                    }

                }


            }
        }
    }
@@ -2093,5 +2065,62 @@
        }
    }

    /**
     * agv完成入库任务，给输送线下发入库任务
     * agv状态
     * be_batch
     * 0：无需调用AGV
     * 1：等待调用AGV
     * 2：AGV任务下发成功
     * 3：AGV任务完成
     * 4：给输送线下发入库指令完成
     */
    public synchronized void overAGVTaskIn() {
        int[] inStaNos= {101,103,105};
        for (int inStaNo : inStaNos) {
            // 获取入库站信息
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            StaProtocol staProtocol = devpThread.getStation().get(inStaNo);
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }

            // 判断是否满足入库条件
            if (staProtocol.isAutoing() && staProtocol.isLoading()
                    && staProtocol.isInEnable()
                    && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0){// && !Cools.isEmpty(barcode)) {
                //获取AGV搬运完成的入库通知档
                WaitPakin waitPakin = waitPakinService.selectOne(new EntityWrapper<WaitPakin>()
                        .eq("memo", staProtocol.getSiteId())
                        .eq("be_batch", 3));
                if(Cools.isEmpty(waitPakin)){
                    return;
                }
                short staNo = 0;
                if(staProtocol.getSiteId()==101){
                    staNo=102;
                }else if(staProtocol.getSiteId()==103){
                    staNo=104;
                }else if(staProtocol.getSiteId()==105){
                    staNo=106;
                }
                staProtocol.setWorkNo((short) 9991);
                staProtocol.setStaNo(staNo);
                devpThread.setPakMk(staProtocol.getSiteId(), false);
                boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
                if (!result) {
                    throw new CoolException("更新plc站点信息失败");
                }else {
                    waitPakin.setBeBatch(4);//4：给输送线下发入库指令完成
                    waitPakinService.updateById(waitPakin);
                }

            }
        }

    }


}