#

1

21 小时以前 1bfa44facba36747d1caffab6bff986ccd7f36a9

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

@@ -7,10 +7,7 @@
import com.core.common.*;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.AgvTaskAssignmentParam;
import com.zy.asrs.entity.param.ArmOrderAssignmentParam;
import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
import com.zy.asrs.entity.param.CombParam;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.entity.result.OrderDetlValueResultUtil;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
@@ -323,7 +320,15 @@
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo());

                            if(staProtocol.getSiteId() == 1036){ //1036
                                BasAgvMast basAgvMast = basAgvMastService.selectOne(new EntityWrapper<BasAgvMast>().eq("sta_no", 1037));
                                AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
                                agvBindCtnrAndBinParam.setCtnrCode(barcode);
                                ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定解绑", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
                                if (resultBind.getCode()!=200){
                                    agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV容器绑定解绑", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                                }
                            }
                            ledThread.errorReset();
                            log.error("组托请求后LED错误清除");

@@ -3564,9 +3569,9 @@
            if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
                rgvThread.setPaking(true);
            }
            if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0 && rgvProtocol.getStatusType1() == RgvStatusType.IDLE){
                rgvThread.setPaking(true);
            }
//            if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0 && rgvProtocol.getStatusType1() == RgvStatusType.IDLE){
//                rgvThread.setPaking(true);
//            }
            if(rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing()){
                basRgv.setPakAll("1");
                basRgvService.updateById(basRgv);
@@ -4379,7 +4384,7 @@
                            //arm任务完成自动组托
                            ReturnT<String> result = new PostMesDataUtils().postMesData("arm任务完成自动组托",wmsUrl, wmsComb, combParam);
                            if (result.getCode()==200){
                                basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLineSou(),3,4);
                                basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLineSou(),3,5);
                            } else {
                                armTaskAssignmentCallApiLogSave(staProtocol, "自动组托失败", staProtocol.getSiteId()+"码垛位置，===》自动组托失败，等待重试", false);
//                                log.error("机械臂抓取任务完成："+JSON.toJSON(basArmMastList)+"===》自动组托失败，等待重试");
@@ -4548,7 +4553,7 @@
                                new EntityWrapper<BasArmMast>()
                                        .eq("arm_no", basArm.getArmNo())
                                        .eq("sorting_line", basArm.getSortingLineSou())
                                        .eq("sku", basArmMast.getSku())
                                        .eq("matnr", basArmMast.getMatnr())
                                        .eq("order_no", basArmMast.getOrderNo())
                                        .eq("binding_tags", basArmMast.getBindingTags())
                        );
@@ -4573,7 +4578,7 @@
                                                    .eq("status", 2)
                                                    .eq("binding_tags", basArmMast.getBindingTags())
                                    );
                                    Double anfmeSignOne = basArmMastService.selectBasArmMastSignValue(basArmMastOne.getOrderNo(), basArmMastOne.getSku(),basArmMastOne.getBindingTags());
                                    Double anfmeSignOne = basArmMastService.selectBasArmMastSignValue(basArmMastOne.getOrderNo(), basArmMastOne.getMatnr(),basArmMastOne.getBindingTags());

                                    if (anfmeSignOne>1D){
                                        armTaskAssignmentCallApiLogSave(staProtocol, "条码数据已存在！！！", staProtocol.getSiteId()+"码垛位置，条码数据正在自动组托===>>" + barcode, false);
@@ -4582,12 +4587,12 @@

                                }
                            }
                            OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getSku());
                            OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getMatnr());

                            if (Cools.isEmpty(orderDetlValueResultUtil)){
                                continue;
                            }
                            Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getSku(),basArmMast.getBindingTags());
                            Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getMatnr(),basArmMast.getBindingTags());
                            orderDetlValueResultUtil.setAnfme(anfmeSign);
                            //订单下发
                            try{
@@ -4714,7 +4719,13 @@
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            if(wrkMast.getStaNo()<2000){
                                basAgvMast.setFloorNo(1);
                            }else if(wrkMast.getStaNo()<4000){
                                basAgvMast.setFloorNo(2);
                            }else{
                                basAgvMast.setFloorNo(3);
                            }
                            basAgvMast.setTaskNo(wrkMast.getWrkNo());
                            basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
                            basAgvMast.setLocNo(dto.getLocNo());
@@ -4723,6 +4734,7 @@
                            basAgvMast.setIoType(2);

                            basAgvMastService.insert(basAgvMast);



                            wrkMast.setTakeNone("2");
@@ -4808,12 +4820,12 @@
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            basAgvMast.setTaskNo(outStaAgv.getStaNo());
                            basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
                            basAgvMast.setLocNo(dto.getLocNo());
                            basAgvMast.setDevpId(devp.getId());
                            basAgvMast.setIoType(2);
                            basAgvMast.setFloorNo(2);

                            basAgvMastService.insert(basAgvMast);
                        } else {
@@ -4945,7 +4957,7 @@
                }
                try{
                    // 获取站点信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getDevpId());
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getFloorNo() !=1?2:1);
                    StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getStaNo());
                    if (staProtocol == null) {
                        continue;
@@ -4956,7 +4968,6 @@
                    if (staProtocol.isAutoing()){

                        AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(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){
@@ -5020,7 +5031,7 @@
                }
                try{
                    // 获取站点信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getDevpId());
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp,  basAgvMast.getFloorNo() !=1?2:1);
                    StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getSourceStaNo());
                    if (staProtocol == null || !staProtocol.isLoading()) {
                        continue;
@@ -5033,15 +5044,35 @@
                            (basAgvMast.getSourceStaNo().equals(2033))){

                        AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(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){
                            basAgvMast.setStatus(1);
                            basAgvMastService.updateById(basAgvMast);
                        } else {
                            agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                        if(basAgvMast.getFloorNo()==1) {
                            WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
                            AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
                            agvBindCtnrAndBinParam.setCtnrCode(wrkMast.getBarcode());
                            agvBindCtnrAndBinParam.setCtnrTyp("1");
                            ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定解绑", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
                            if (resultBind.getCode()==200){
                                //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){
                                    basAgvMast.setStatus(1);
                                    basAgvMastService.updateById(basAgvMast);
                                } else {
                                    agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                                }
                            } else {
                                agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV容器绑定解绑", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                            }
                        }else{
                            //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){
                                basAgvMast.setStatus(1);
                                basAgvMastService.updateById(basAgvMast);
                            } else {
                                agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                            }
                        }
//
                    }
                }  catch (Exception e){
                    log.error("任务号："+basAgvMast.getTaskNo()+"====》AGV任务下发失败"+e.getMessage());
@@ -5064,7 +5095,7 @@
                }
                try{
                    // 获取站点信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getDevpId());
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getFloorNo() !=1?2:1);
                    StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getSourceStaNo());
                    if (staProtocol == null || !staProtocol.isLoading()) {
                        continue;
@@ -5082,7 +5113,21 @@
                    if (!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())){

                        AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);

//                        AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
//
//                        ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定解绑", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvBindCtnrAndBinParam);
//                        if (resultBind.getCode()==200){
//                            //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){
//                                basAgvMast.setStatus(1);
//                                basAgvMastService.updateById(basAgvMast);
//                            } else {
//                                agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
//                            }
//                        } else {
//                            agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV容器绑定解绑", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
//                        }
                        //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){
@@ -5101,6 +5146,7 @@
        }
    }


    public void agvTaskAssignmentCallApiLogSave(BasAgvMast basAgvMast ,String tableName, String response, Boolean bool) {
        ApiLog apiLog = apiLogService.selectOne(new EntityWrapper<ApiLog>()
                .eq("namespace", "Agv任务下发")