#

zjj

2024-07-19 5d0f7a5aa4ee994782f3f3bcc66e23653a6ac40a

 src/main/java/com/zy/asrs/controller/OpenController.java

@@ -8,6 +8,7 @@
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.domain.vo.CrnStateTableVo;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.TaskOverParam;
import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
@@ -15,6 +16,10 @@
import com.zy.asrs.service.*;
import com.zy.common.utils.HttpHandler;
import com.zy.common.web.BaseController;
import com.zy.core.CrnThread;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.protocol.CrnProtocol;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -48,6 +53,8 @@

    @Autowired
    private StaDescService staDescService;
    @Autowired
    private BasCrnpService basCrnpService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -73,8 +80,16 @@
        if (Cools.isEmpty(param.getStatus())){
            return R.error("完成标记[status]不能为空");
        }
        openService.getAgvTaskOver(param);
        return R.ok();
        R agvTaskOver = openService.getAgvTaskOver(param);
        apiLogService.save("AGV请求任务完成"
                ,request.getRemoteAddr()+request.getRequestURI()
                ,appkey
                ,request.getRemoteAddr()
                ,JSON.toJSONString(param)
                ,agvTaskOver.toString()
                ,true
        );
        return agvTaskOver;
    }

    //创建任务
@@ -154,9 +169,10 @@
            return R.error("托盘编码为空！");
        } else if (Cools.isEmpty(param.getWharfSource())){
            return R.error("源码头为空！");
        } else if (Cools.isEmpty(param.getFreeWharfs()) || param.getFreeWharfs().size()==0){
            return R.error("空闲的入库码头（AGV）为空！");
        }
//        else if (Cools.isEmpty(param.getFreeWharfs()) || param.getFreeWharfs().size()==0){
//            return R.error("空闲的入库码头（AGV）为空！");
//        }
        R r = openService.AgvToWCSToWms(param);
        apiLogService.save("AGV请求入库码头接口"
                ,request.getRemoteAddr()+request.getRequestURI()
@@ -185,21 +201,26 @@
        }

        Map<String,Integer> map = new HashMap<>();
        map.put("J-1101",102);map.put("J-1102",101);
        map.put("J-1103",106);map.put("J-1104",105);
        map.put("J-1105",110);map.put("J-1106",109);
        map.put("J-1107",114);map.put("J-1108",113);
        map.put("J-1109",118);map.put("J-1110",117);
        map.put("J-1111",122);map.put("J-1112",121);
        map.put("J-1102",102);map.put("J-1101",101);
        map.put("J-1103",105);map.put("J-1104",106);
        map.put("J-1105",109);map.put("J-1106",110);
        map.put("J-1107",113);map.put("J-1108",114);
        map.put("J-1109",117);map.put("J-1110",118);
        map.put("J-1111",121);map.put("J-1112",122);
        map.put("H-1102",300);map.put("H-1101",305);
        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_desc", param.getWharfCode()));

        if (Cools.isEmpty(staDesc)){
            return R.error("程序报错，未查询到站点");
        map.put("G-1102",400);map.put("G-1101",405);
//        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
//                .eq("stn_desc", param.getWharfCode()));
//
//        if (Cools.isEmpty(staDesc)){
//            return R.error("程序报错，未查询到站点");
//        }
        if (Cools.isEmpty(map.get(param.getWharfCode()))){
            return R.error("未查询到站点");
        }
        //BasDevp basDevp = basDevpService.selectById(map.get(param.getWharfCode()));
        BasDevp basDevp = basDevpService.selectById(staDesc.getStnNo());
        if (basDevp.getAutoing().equals("Y")){
        BasDevp basDevp = basDevpService.selectById(map.get(param.getWharfCode()));
//        BasDevp basDevp = basDevpService.selectById(staDesc.getStnNo());
        if (basDevp.getAutoing().equals("Y") && (basDevp.getInEnable().equals("Y") || basDevp.getOutEnable().equals("Y"))){
            apiLogService.save("AGV请求入库码头接口"
                    ,request.getRemoteAddr()+request.getRequestURI()
                    ,appkey
@@ -208,7 +229,7 @@
                    ,R.ok().toString()
                    ,true
            );
            return R.ok();
            return R.ok("可入");
        }else {
            apiLogService.save("AGV请求入库码头接口"
                    ,request.getRemoteAddr()+request.getRequestURI()
@@ -218,7 +239,7 @@
                    ,R.error("站点状态不可入").toString()
                    ,true
            );
            return R.error("站点状态不可入");
            return R.error("站点状态不可入,自动信号:"+basDevp.getAutoing()+";可入信号:"+basDevp.getInEnable()+";可出信号:"+basDevp.getOutEnable());
        }


@@ -255,16 +276,30 @@
                if (Cools.isEmpty(param.getEmptyContainer())){
                    return R.error("是否空托盘信号为空！");
                }
                if (Cools.isEmpty(param.getTargetWharf())){
                    return R.error("目标码头区域为空！");//G开头=7车间，H开头=8层，J开头=9车间
                if (!param.getTaskType().equals("YK")){
                    if (Cools.isEmpty(param.getTargetWharf())){
                        return R.error("目标码头区域为空！");//G开头=7车间，H开头=8层，J开头=9车间
                    }
                }

                StaDesc staDesc = new StaDesc();
                if (param.getTaskType().equals("CK") && param.getTargetWharf().contains("J")){
                    staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                            .eq("crn_no", param.getTaskTunnel()).eq("type_no",2).lt("crn_stn", 200));
                            .eq("crn_no",param.getTaskTunnel())
                            .eq("type_no",2)
                            .lt("stn_no",200));
                }else if (param.getTaskType().equals("CK") && param.getTargetWharf().contains("H")){
                    staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                            .eq("crn_no",param.getTaskTunnel())
                            .eq("type_no",2)
                            .lt("stn_no",400)
                            .gt("stn_no",200));
                }else {
                    staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                            .eq("crn_no", param.getTaskTunnel()).eq("type_no",2).ge("crn_stn", 200));
                            .eq("crn_no",param.getTaskTunnel())
                            .eq("type_no",2)
                            .lt("stn_no",500)
                            .ge("stn_no",400));
                }
                param.setTargetLocationCode(staDesc.getStnNo().toString());

@@ -279,11 +314,11 @@
                        ,r.toString()
                        ,true
                );
                return r;


        }

        return null;
        return R.ok();
    }

    //任务取消接口
@@ -345,7 +380,78 @@
            return R.error();
        }
    }
    @PostMapping("/getCrnStatus")
    public R getCrnStatus(HttpServletRequest request){
        List<Integer> crnStatusDtos = new ArrayList<>();
        List<BasCrnp> crnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>().orderBy("crn_no"));
        for (BasCrnp basCrnp : crnps) {
            // 表格行
            CrnStateTableVo vo = new CrnStateTableVo();
            vo.setCrnNo(basCrnp.getCrnNo());   //  堆垛机号
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
            if (crnThread == null) {
                continue;
            }
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }

            if (basCrnp.getOutEnable().equals("N")){
                continue;
            }
            if (crnProtocol.getAlarm() != 0){
                continue;
            }
            if (crnProtocol.getMode() != 3){
                continue;
            }

            crnStatusDtos.add(basCrnp.getCrnNo());

        }
        return R.ok(crnStatusDtos);
    }

//    @PostMapping("/getCrnStatus")
//    public R getCrnStatus(HttpServletRequest request) {
//        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<BasCrnp>());
//        if (Cools.isEmpty(basCrnps)){
//            return R.error("数据库异常，堆垛机列表为空");
//        }
//        List<CrnStatusDto> crnStatusDtos = new ArrayList<>();
//        for (BasCrnp basCrnp : basCrnps){
//            CrnStatusDto crnStatusDto = new CrnStatusDto();
//            crnStatusDto.setCrnNo(basCrnp.getCrnNo());
//            if (basCrnp.getOutEnable().equals("N")){
//                crnStatusDto.setCrnStatus(500);
//                crnStatusDto.setCrnErrMsg("堆垛机出库被禁用");
//                crnStatusDtos.add(crnStatusDto);
//                continue;
//            }
//            if (basCrnp.getCrnErr() != 0){
//                crnStatusDto.setCrnStatus(500);
//                crnStatusDto.setCrnErrMsg("堆垛机处于报警状态");
//                crnStatusDtos.add(crnStatusDto);
//                continue;
//            }
//            if (basCrnp.getCrnSts() != 3){
//                crnStatusDto.setCrnStatus(500);
//                crnStatusDto.setCrnErrMsg("堆垛机处于非自动状态");
//                crnStatusDtos.add(crnStatusDto);
//                continue;
//            }
//
//            crnStatusDto.setCrnStatus(200);
//            crnStatusDto.setCrnErrMsg("");
//            crnStatusDtos.add(crnStatusDto);
//
//
//        }
//
//        return R.ok(crnStatusDtos);
//    }


}