#

whycq

2024-02-01 43c47d17ab873af88a224e2e92607572da8ee849

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

@@ -7,6 +7,7 @@
import com.core.exception.CoolException;
import com.zy.asrs.controller.CrnController;
import com.zy.asrs.controller.OpenController;
import com.zy.asrs.controller.SiteController;
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.domain.enums.WorkNoType;
import com.zy.asrs.domain.param.CrnOperatorParam;
@@ -101,6 +102,8 @@
    private String taskStatusFeedbackPath;
    @Autowired
    private CrnController crnController;
    @Autowired
    private SiteController siteController;


    public void generateStoreWrkFile() throws IOException, InterruptedException {
@@ -347,44 +350,10 @@
                        if (taskWrk == null) {
                            continue;
                        }
                        // 判断工作档条件
                        if (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2) {
                            // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, taskWrk.getCrnNo());
                            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                            if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                                // 移动中
                                continue;
                            }
                            //  判断堆垛机状态等待确认
                            if (crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue())
                                    && crnProtocol.getTaskFinish() == 0
                                    && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                                // 命令下发区 --------------------------------------------------------------------------

                                //取出输送线命令
                                List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
                                if (commandInfos.isEmpty()) {
                                    continue;//命令空
                                }

//                                CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
//                                CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
                                Integer commandStep = taskWrk.getCommandStep();
                                CommandInfo commandInfo = commandInfos.get(commandStep);
                                CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
                                //StaProtocol staProtocol1 = JSON.parseObject(commandInfo.getCommand(), StaProtocol.class);
                                StaProtocol staProtocol1 = JSON.parseObject(commandPackage.getCommand().toString(), StaProtocol.class);
                                if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) {
                                    log.error("输送线命令下方失败！！！ [工作号:{}]", taskWrk.getWrkNo());
                                    continue;//命令下发失败
                                }

                                // 复位堆垛机
                                crnThread.setResetFlag(true);

                            }
                        }
                        siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()),taskWrk.getWrkNo().shortValue(),(short)0,"Y",false,false);
                        taskWrk.setStatus(5);
                        taskWrk.setWrkSts(14);
                        taskWrkService.updateById(taskWrk);
                    }
                }

@@ -752,13 +721,13 @@
            for (TaskWrk taskWrk : taskWrks){

                // 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, taskWrk.getStartPoint())) {
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
                    TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
                    if (!Cools.isEmpty(hallowLocNoTask)){
                        continue;
                    }
                }
//                if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
//                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
//                    TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
//                    if (!Cools.isEmpty(hallowLocNoTask)){
//                        continue;
//                    }
//                }
                // 堆垛机控制过滤
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                    continue;
@@ -768,44 +737,7 @@
                if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
                    continue;
                }
                if (Cools.isEmpty(taskWrk.getTargetPoint())){
                    List<Integer> list = openServiceImpl.getInEnableRoadway();
                    Map<String, Object> map = new HashMap<>();
                    map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
                    ToWmsDTO toWmsDTO = new ToWmsDTO();
                    toWmsDTO.setWarehouseId("1688469798893297665");
                    toWmsDTO.setContainerCode(taskWrk.getBarcode());
                    toWmsDTO.setApplyType("TUNNEL_LOCATION");
                    toWmsDTO.setTaskTunnel(taskWrk.getCrnNo());
                    toWmsDTO.setCanInboundTunnels(list);
                    String response = null;
                    try {
                        response = new HttpHandler.Builder()
                                .setHeaders(map)
                                .setUri(wmsUrl)
                                .setPath("wcsManager/wcsInterface/inboundTaskApply")
                                .setJson(JSON.toJSONString(toWmsDTO))
                                .build()
                                .doPost();
                    }catch (Exception e){
                        log.error("wms通讯失败,"+e.getMessage());
                        continue;
                    }
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {
                        GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
                        taskWrk.setOriginTargetPoint(getWmsDto.getTargetLocationCode());
                        taskWrk.setTargetPoint(Utils.getWcsLocNo(getWmsDto.getTargetLocationCode()));
                        if (!taskWrkService.updateById(taskWrk)){
                            log.error("保存wms库位号失败");
                        }
                        continue;
                    }else {
                        log.error("wms通讯失败,"+jsonObject.get("msg"));
                        continue;
                    }

                }
                if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("") || taskWrk.getWrkNo() == null) {
                    continue;
                }
@@ -826,12 +758,12 @@
                crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosZ(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位排
                crnCommand.setSourcePosX(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位列
                crnCommand.setSourcePosY(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位层
                crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位排
                crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位列
                crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位层
                crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setCommand((short) 1);
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
@@ -839,20 +771,39 @@
                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                    Date now = new Date();
                    taskWrk.setWrkSts(12);
                    taskWrk.setStatus(2);
                    taskWrk.setModiTime(now);
                    if (taskWrkMapper.updateById(taskWrk) == 0) {
                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
                    }
                    //开始运行
                    String response = CrnStartRunning(taskWrk);
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {

                    }else {
                        log.error("移库任务开始运行通讯失败,"+jsonObject.get("msg"));
                        continue;
                    try{
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("taskNo",taskWrk.getTaskNo());
                        headParam.put("status",taskWrk.getStatus());
                        headParam.put("ioType",taskWrk.getIoType());
                        headParam.put("barcode",taskWrk.getBarcode());
                        String response;
                        response = new HttpHandler.Builder()
                                // .setHeaders(headParam)
                                .setUri(wmsUrl)
                                .setPath(taskStatusFeedbackPath)
                                .setJson(JSON.toJSONString(headParam))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        apiLogService.save("wcs派发移库任务上报wms"
                                ,wmsUrl+taskStatusFeedbackPath
                                ,null
                                ,"127.0.0.1"
                                ,JSON.toJSONString(headParam)
                                ,response
                                ,true
                        );
                    }catch (Exception e){
                        log.error("wcs派发出库任务上报wms失败", taskWrk);
                        throw new CoolException("wcs派发入库任务上报wms失败");
                    }
                    break;

                }
                return;
            }
@@ -933,7 +884,7 @@

                crnController.crnTaskComplete(crnOperatorParam);
                if(!Cools.isEmpty(taskWrk)){
                    if(taskWrk.getIoType()==1){
                    if(taskWrk.getIoType()==1&&taskWrk.getWrkSts()==3){
                        taskWrk.setWrkSts(4);//入库完成
                        taskWrk.setStatus(5);//完结
                        //更新库位状态
@@ -943,8 +894,8 @@
                        locMast.setModiTime(new Date());
                        locMast.setModiUser(9999L);
                        locMastService.updateById(locMast);
                    }else if(taskWrk.getIoType()==2){
                        taskWrk.setWrkSts(14);//出库完成
                    }else if(taskWrk.getIoType()==2&&taskWrk.getWrkSts()==12){
                        taskWrk.setWrkSts(13);//出库完成
                        taskWrk.setStatus(5);//完结
                        //更新库位状态
                        LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
@@ -953,7 +904,7 @@
                        locMast.setModiTime(new Date());
                        locMast.setModiUser(9999L);
                        locMastService.updateById(locMast);
                    }else if(taskWrk.getIoType()==3){
                    }else if(taskWrk.getIoType()==3&&taskWrk.getWrkSts()==12){
                        taskWrk.setWrkSts(4);//入库完成
                        taskWrk.setStatus(5);//完结
                        //更新库位状态