#

Junjie

2023-11-16 2217dd11054986d7acc91e5ae3c6c23723d3ab83

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

@@ -46,10 +46,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Set;
import java.util.*;
import java.util.stream.Collectors;

/**
@@ -69,6 +66,8 @@
    private SlaveProperties slaveProperties;
    @Autowired
    private WrkMastMapper wrkMastMapper;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private WrkDetlService wrkDetlService;
    @Autowired
@@ -108,11 +107,11 @@
                String barcode = barcodeThread.getBarcode();

                ////判断101和104是否是拣料、并板、盘点再入库
                //WrkMast wrkMast1=wrkMastMapper.selectpj(inSta.getStaNo(),barcode);
                //if((inSta.getStaNo().equals(101) || inSta.getStaNo().equals(104)) &&!Cools.isEmpty(barcode)&&!Cools.isEmpty(wrkMast1)){
                //    log.error("101或104拣料、并板、盘点再入库", wrkMast1.getWrkNo());
                //    continue;
                //}
                WrkMast wrkMast1=wrkMastMapper.selectpj(inSta.getStaNo(),barcode);
                if((inSta.getStaNo().equals(101) || inSta.getStaNo().equals(104)) &&!Cools.isEmpty(barcode)&&!Cools.isEmpty(wrkMast1)){
                    log.error("101或104拣料、并板、盘点再入库", wrkMast1.getWrkNo());
                    continue;
                }

                if (!Cools.isEmpty(barcode)) {
                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
@@ -147,23 +146,30 @@
                }

                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
                        && staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {
                        && !staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
                        && staProtocol.isPakMk()) {

//                    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(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
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        if (ledThread != null) {
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                        }
                        staProtocol.setWorkNo((short)9999);
                        staProtocol.setStaNo((short)(staProtocol.getStaNo()-1));
                        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;
                    }

                    // 判断重复工作档
                    WrkMast wrkMast = new WrkMast();
@@ -174,8 +180,7 @@
                            continue;
                        }
                    }

//                    // 获取入库通知档
//                     获取入库通知档
//                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
//                    if (waitPakins.isEmpty()) {
//                        log.error("无此入库条码数据。条码号={}", barcode);
@@ -183,9 +188,7 @@
//                    }

                    try {

                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
@@ -200,7 +203,6 @@
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
//                        Integer code = jsonObject.getInteger("code");
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

@@ -213,43 +215,19 @@
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else if(jsonObject.getInteger("code").equals(700)) {
                            staProtocol.setWorkNo((short) 9999);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = barcode + "托盘识别异常，请先进行组托！";
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
//                        if (jsonObject.getInteger("code").equals(200)) {
//                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
//
//                            barcodeThread.setBarcode("");
//                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
//                            staProtocol.setStaNo(dto.getStaNo().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//
//                            ledThread.errorReset();
//
//                            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");
//                            }
//                        } else if(code == 500){
//                            if (ledThread != null) {
//                                String errorMsg = jsonObject.getString("msg");
//                                if (!Cools.isEmpty(errorMsg)) {
//                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
//                                }
//                            }
//                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
//                        } else if (code == 700) {
//                            staProtocol.setWorkNo((short) 9995);
//                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//
//                            // led 异常显示
//                            if (ledThread != null) {
//                                String errorMsg = barcode + "托盘识别异常，请先进行组托！";
//                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
//                            }
//                        }


//                        // 检索库位
@@ -393,18 +371,16 @@
            for (DevpSlave.Sta pickSta : devp.getPickSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());

                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();



                if (!Cools.isEmpty(barcode)) {
                    log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                } else {
                    continue;
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                }

                // 获取拣料入库站信息
@@ -417,30 +393,37 @@
                }


                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && staProtocol.isPakMk()
                        && staProtocol.getWorkNo() == 9991) {
//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                    if (barcode.equals("") || barcode.equals("99999999")) {
                        Integer led = pickSta.getLed();
                        if (ledThread != null) {
                            String errorMsg = "扫码异常，请重新入库！";
                            MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
                        }
//                        // 更新站点信息 且 下发plc命令
                        staProtocol.setWorkNo((short)9999);
                        staProtocol.setStaNo((short)(staProtocol.getStaNo()-1));
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                        }
                        continue;
                    }

                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    ledThread.errorReset();
                    if (wrkMast == null) {
                        wrkMast = wrkMastMapper.selectPickStep(barcode);
                    }
                    if (wrkMast == null) {
                        // 无拣料数据
                        Integer led = pickSta.getLed();
                        if (ledThread != null) {
                            String errorMsg = "暂无拣料/盘点信息！！！";
                            MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
                        }
//                        // 更新站点信息 且 下发plc命令
//                        devpThread.ioModeOf1F1 = IoModeType.PAKOUT_BOOTING;
//                        staProtocol.setWorkNo((short)9999);
//                        staProtocol.setStaNo((short)(staProtocol.getStaNo()-1));
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
//                        }
                        continue;
                    }
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
@@ -755,6 +738,15 @@
                continue;
            }

            //判断堆垛机和当前任务是否处于一个巷道
            if (Utils.getLaneByLocNo(wrkMast.getLocNo()) != crnProtocol.getCrnLane()) {
                //判断堆垛机所在巷道是否存在其他任务，如存在则优先执行
                List<WrkMast> wrkMasts = wrkMastService.selectLaneWrkMast(crnProtocol.getCrnLane(), true);
                if (!wrkMasts.isEmpty()) {
                    continue;//当前堆垛机所在巷道存在任务
                }
            }

            // 双深库位且浅库位有货，则需先对浅库位进行库位移转
            if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
                String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
@@ -947,6 +939,15 @@
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                    }

                    //判断堆垛机和当前任务是否处于一个巷道
                    if (Utils.getLaneByLocNo(wrkMast.getLocNo()) != crnProtocol.getCrnLane()) {
                        //判断堆垛机所在巷道是否存在其他任务，如存在则优先执行
                        List<WrkMast> laneWrkMasts = wrkMastService.selectLaneWrkMast(crnProtocol.getCrnLane(), false);
                        if (!laneWrkMasts.isEmpty()) {
                            continue;//当前堆垛机所在巷道存在任务
                        }
                    }

                    // 1.堆垛机开始移动
@@ -2113,45 +2114,6 @@
                }
            }

        }
    }

    public synchronized void autoEmptyOut() {
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        Integer autoOutSite = 12;
        //如果站点可出禁用，则不生成空盘出库任务
        StaProtocol staProtocol = devpThread.getStation().get(autoOutSite);
        if (staProtocol == null) {
            return;
        } else {
            staProtocol = staProtocol.clone();
        }
        if (staProtocol.isAutoing()  //自动
                && !staProtocol.isLoading()  //无物
                && staProtocol.isOutEnable()  //可出信号
                && staProtocol.getWorkNo() == 0
        ) {
            WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(autoOutSite);
            if (null != pakoutEmpty) {
                return;
            }
            try {
                String response = new HttpHandler.Builder()
                        .setUri(wmsUrl)
                        .setPath("/rpc/auto/emptyOut/v1")
                        .build()
                        .doPost();
                JSONObject jsonObject = JSON.parseObject(response);
                if (jsonObject.getInteger("code").equals(200)) {
                    JSONObject data = (JSONObject) jsonObject.get("data");
                    log.info((String) data.get("msg"));
                } else {
                    log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
                }
            } catch (Exception e) {
                e.printStackTrace();
                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
            }
        }
    }