1

zhangc

2025-04-10 697af1096e89e54d473874179a704719fb184df2

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

@@ -1,24 +1,33 @@
package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.*;
import com.zy.common.model.MapNode;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.SearchLocParam;
import com.zy.common.model.StartupDto;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.*;
import com.zy.core.News;
import com.zy.core.action.LiftAction;
import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.*;
import com.zy.core.model.*;
import com.zy.core.model.command.*;
import com.zy.core.model.command.LiftAssignCommand;
import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.*;
@@ -28,7 +37,10 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.*;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;

/**
 * 立体仓库WCS系统主流程业务
@@ -79,6 +91,250 @@
    @Autowired
    private LiftAction liftAction;

    //入库站点
    public static final ArrayList<Integer> inSta = new ArrayList<Integer>() {{
        add(1012);
        add(1014);
        add(1022);
        add(1025);
        add(1032);
    }};

    //出库站点
    public static final ArrayList<Integer> outSta = new ArrayList<Integer>() {{
        add(1012);
        add(1014);
        add(1022);
        add(1025);
        add(1032);
    }};


    private boolean isInEnable(DevpThread devpThread, Integer staNo) {
        if (staNo == null) {
            return false;
        }
        // 获取入库站信息
        switch (staNo) {
            case 1011:
            case 1012:
                devpThread.getStation().get(1012).isInEnable();
                break;
            case 1021:
            case 1022:
            case 1023:
                devpThread.getStation().get(1022).isInEnable();
                break;
            case 1031:
            case 1032:
                devpThread.getStation().get(1032).isInEnable();
                break;
            case 1025:
            case 1026:
                devpThread.getStation().get(1025).isInEnable();
                break;
            case 1013:
            case 1014:
            case 1015:
                devpThread.getStation().get(1014).isInEnable();
                break;
        }
        return false;
    }

    private boolean isOutEnable(DevpThread devpThread, Integer staNo) {
        if (staNo == null) {
            return false;
        }
        // 获取入库站信息
        switch (staNo) {
            case 1011:
            case 1012:
                devpThread.getStation().get(1012).isOutEnable();
                break;
            case 1021:
            case 1022:
            case 1023:
                devpThread.getStation().get(1022).isOutEnable();
                break;
            case 1031:
            case 1032:
                devpThread.getStation().get(1032).isOutEnable();
                break;
            case 1025:
            case 1026:
                devpThread.getStation().get(1025).isOutEnable();
                break;
            case 1013:
            case 1014:
            case 1015:
                devpThread.getStation().get(1014).isOutEnable();
                break;
        }
        return false;
    }

    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
    public synchronized void generateInboundWrk() {
        try {
            DevpSlave devpSlave = slaveProperties.getDevpSlave().get(0);
            // 遍历入库口
            for (DevpSlave.Sta inSta : devpSlave.getInSta()) {
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                Short workNo = staProtocol.getWorkNo();
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "异常：";
                if (staProtocol.isFrontErr()) {
                    errMsg = errMsg + "前超限；";
                    back = true;
                }
                if (staProtocol.isBackErr()) {
                    errMsg = errMsg + "后超限";
                    back = true;
                }
                if (staProtocol.isHighErr()) {
                    errMsg = errMsg + "高超限";
                    back = true;
                }
                if (staProtocol.isLeftErr()) {
                    errMsg = errMsg + "左超限";
                    back = true;
                }
                if (staProtocol.isRightErr()) {
                    errMsg = errMsg + "右超限";
                    back = true;
                }
                if (staProtocol.isWeightErr()) {
                    errMsg = errMsg + "超重";
                    back = true;
                }
                if (staProtocol.isBarcodeErr()) {
                    errMsg = errMsg + "扫码失败";
                    back = true;
                }
                // 退回
                if (back) {
                    // led 异常显示
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                    if (ledThread != null) {
                        ledThread.error(errMsg);
                    }
                    continue;
                }

                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                        && isInEnable(devpThread, inSta.getStaNo())
                        && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
                        && staProtocol.isPakMk()
                ) {
                    String barcode = staProtocol.getBarcode();
                    if (!Cools.isEmpty(barcode)) {
                        News.info("条码扫描器检测条码信息：{}", barcode);
                    }

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                            .eq("source_sta_no", inSta.getStaNo())
                            .eq("wrk_sts", WrkStsType.NEW_INBOUND)
                            .eq("barcode", barcode));
                    if (wrkMast != null) {
                        News.error("工作档已存在,工作号={}", wrkMast.getWrkNo());
                        if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
                            MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
                        }
                        continue;
                    }

                    try {
                        String wmsUrl = "127.0.0.1:8080/fyxcwms";
                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setSourceStaNo(inSta.getStaNo());
                        param.setLocType1(staProtocol.getLocType1().shortValue());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        Integer code = jsonObject.getInteger("code");
                        if (code.equals(200)) {
                            MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));

                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

//                                String wmsLocNo = dto.getLocNo();
//                                int row = Integer.parseInt(wmsLocNo.substring(0, 2));
//                                int bay = Integer.parseInt(wmsLocNo.substring(2, 5));
//                                int lev = Integer.parseInt(wmsLocNo.substring(5, 7));
//                                String wcsLocNo = Utils.getLocNo(row, bay, lev);
//
//                                CreateInTaskParam createInTaskParam = new CreateInTaskParam();
//                                createInTaskParam.setTaskNo(String.valueOf(dto.getWorkNo()));
//                                createInTaskParam.setDestLoc(wcsLocNo);
//                                createInTaskParam.setOriginSite(dto.getSourceStaNo().toString());
//                                createInTaskParam.setDestSite(dto.getStaNo().toString());
//                                createInTaskParam.setPriority(11);
//                                createInTaskParam.setBarcode(barcode);
//
//                                R result = openUtils.createInTask(createInTaskParam);
//                                News.info("创建入库任务，任务数据={}，WMS响应={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject), JSON.toJSON(result));
//                                try{
//                                    String msg = "";
//                                    HashMap<String, String> hashMap = new HashMap<>();
//                                    hashMap.put("msg", msg);
//                                    hashMap.put("sta", inSta.getStaNo().toString());
//                                    new HttpHandler.Builder()
//                                            .setUri(wmsUrl)
//                                            .setPath("/rpc/led/getError")
//                                            .setJson(JSON.toJSONString(hashMap))
//                                            .build()
//                                            .doPost();
//                                }catch (Exception e){
//
//                                }
                        } else {
                            String msg = jsonObject.getString("msg");
                            HashMap<String, String> hashMap = new HashMap<>();
                            hashMap.put("msg", msg);
                            hashMap.put("sta", inSta.getStaNo().toString());
                            new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/led/getError")
                                    .setJson(JSON.toJSONString(hashMap))
                                    .build()
                                    .doPost();
                            News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }


    /**
     * 初始化实时地图
     */