1.修复拣料回库时拣料出库转历史档 2.生成移动任务修复 3.完善agv搬运入库出库申请

zwl

2025-12-31 759cd0e706e252e907955073eed8e4935b21d9c8

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

@@ -101,6 +101,8 @@

    @Autowired
    private HikUtils hikUtils;
    @Autowired
    private AgvTaskServiceImpl agvTaskService;

    /**
     * 组托
@@ -129,6 +131,38 @@
                //LED
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());

                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                if (staProtocol.isFrontError()) {
                    errMsg = "前超限";
                    back = true;
                }
                if (!back && staProtocol.isBackError()) {
                    errMsg = "后超限";
                    back = true;
                }
                if (!back && staProtocol.isHighError()) {
                    errMsg = "高超限";
                    back = true;
                }
                if (!back && staProtocol.isLeftError()) {
                    errMsg = "左超限";
                    back = true;
                }
                if (!back && staProtocol.isRightError()) {
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.isWeightError()) {
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeError()) {
                    errMsg = "扫码失败";
                    back = true;
                }

                // 判断是否满足入库条件
                if (!staProtocol.isLoading()) {
                    continue;
@@ -142,10 +176,25 @@
                        && staProtocol.isPakMk()) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");

                    if (back) {
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = errMsg;
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                        log.error("输送线异常组托退回={}",errMsg);
                        staProtocol.setWorkNo((short) 9999);

                        staProtocol.setStaNo((short) 0);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        continue;
                    }

                    String barcode = barcodeThread.getBarcode();
                    if (!Cools.isEmpty(barcode)) {
                        News.info("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)|| "00000000".equals(barcode)) {
//                            staProtocol.setWorkNo((short) 9992);
//                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -541,7 +590,7 @@
                    if (staProtocol.isAutoing()
                            && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && staProtocol.getWorkNo() > 0
                            && staProtocol.getWorkNo() == 9991
                            && staProtocol.isPakMk()) {
                        News.warnNoLog("" + mark + " - 0" + " - 开始执行");

@@ -550,7 +599,21 @@
                        if (barcodeThread == null) {
                            continue;
                        }

                        String name="401";
                        if (staProtocol.getSiteId()==402){
                            name = "402";
                        }
                        String bar = "";
                        Config name1 = configService.selectOne(new EntityWrapper<Config>().eq("name", name));
                        if (!Cools.isEmpty(name1)) {
                            bar = name1.getValue();
                        }

                        String barcode = barcodeThread.getBarcode();
                        if (barcode.equals("00000000")){
                            barcode = bar;
                        }
                        if (!Cools.isEmpty(barcode)) {
                            News.info("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", insta.getBarcode(), barcode);
                            if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
@@ -607,7 +670,8 @@
                                throw new CoolException("保存工作明细档历史档失败");
                            }
                            // 保存工作主档历史档
                            if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {

                            if (!wrkMastLogService.save(wrkMast.getWrkNo())) {
                                throw new CoolException("保存工作主档历史档失败");
                            }

@@ -705,12 +769,12 @@
                staProtocol = staProtocol.clone();
            }

            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
            if (staProtocol.isAutoing() && staProtocol.isLoading()) {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();

                if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                        && (crnProtocol.statusType == CrnStatusType.PUTTING || crnProtocol.statusType == CrnStatusType.WAITING)) {
                        && crnProtocol.statusType == CrnStatusType.WAITING) {
                    //放货中 或 等待确认
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");

@@ -719,9 +783,6 @@
                            .eq("loc_no", wrkMast.getSourceLocNo()));

                    short staNo = wrkMast.getStaNo().shortValue();
                    if (wrkMast.getStaNo() == 1004) {
                        staNo = 2003;
                    }

                    // 下发站点信息
                    staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
@@ -1169,7 +1230,7 @@
                }
                //查询在库信息
                LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                        .eq("loc_sts", "R")
                        .in("loc_sts", "R","P")
                        .eq("loc_no", wrkMast.getSourceLocNo()));
                if (Cools.isEmpty(locMast)) {
                    News.error("出库 ===>> 库位中没有这笔资料", wrkMast.getSourceLocNo());
@@ -1200,11 +1261,16 @@
                    }
                }

                // 判断堆垛机出库站状态
                // 判断堆垛机出库站状态&& staProtocol.isOutEnable()
                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable() && staProtocol.isEmptyOutType()) {
                        && staProtocol.isEmptyOutType()) {
                    // 命令下发区 --------------------------------------------------------------------------

                    //判断是否有正在执行中的AGV任务
                    List<AgvTask> agvTasks = agvTaskService.selectList(new EntityWrapper<AgvTask>().eq("wrk_sts", 302).eq("source_sta_no", staProtocol.getSiteId()));
                    if (agvTasks != null && agvTasks.size() > 0) {
                        continue;
                    }
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
@@ -2007,9 +2073,8 @@
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
            // 命令集合
            List<LedCommand> commands = new ArrayList<>();
//            // 工作档集合
//            List<WrkMast> wrkMasts = new ArrayList<>();
            List<Integer> workNoList = new ArrayList<>();
            // 工作档集合
            List<WrkMast> wrkMasts = new ArrayList<>();
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -2018,48 +2083,20 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                Integer wrkNo = null;
                Integer ioType = null;
                Integer targetStaNo = null;
                String sourceLocNo = null;
                String locNo = null;
                String barcode = null;

                // 获取工作档数据
                WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
//                if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
                if (null == wrkMast) {
                    List<WrkMastLog> wrkMastLogs = wrkMastLogService.selectList(new EntityWrapper<WrkMastLog>()
                            .eq("wrk_no", staProtocol.getWorkNo())
                            .orderBy("modi_time", false)
                    );
                    if (wrkMastLogs.isEmpty()) {
                        continue;
                    }

                    WrkMastLog wrkMastLog = wrkMastLogs.get(0);
                    wrkNo = wrkMastLog.getWrkNo();
                    ioType = wrkMastLog.getIoType();
                    sourceLocNo = wrkMastLog.getSourceLocNo();
                    locNo = wrkMastLog.getLocNo();
                    targetStaNo = wrkMastLog.getStaNo();
                    barcode = wrkMastLog.getBarcode();
                }else {
                    wrkNo = wrkMast.getWrkNo();
                    ioType = wrkMast.getIoType();
                    sourceLocNo = wrkMast.getSourceLocNo();
                    locNo = wrkMast.getLocNo();
                    targetStaNo = wrkMast.getStaNo();
                    barcode = wrkMast.getBarcode();
                    continue;
                }
                News.warnNoLog("" + mark + " - 0" + " - 开始执行:出库  ===>> 工作档信息写入led显示器");
                workNoList.add(wrkNo);
                News.warnNoLog(""+mark+" - 0"+" - 开始执行:出库  ===>> 工作档信息写入led显示器");
                wrkMasts.add(wrkMast);
                // 组装命令
                LedCommand ledCommand = new LedCommand();
                ledCommand.setWorkNo(wrkNo);
                ledCommand.setIoType(ioType);
                ledCommand.setWorkNo(wrkMast.getWrkNo());
                ledCommand.setIoType(wrkMast.getIoType());
                // 出库模式
                switch (ioType) {
                switch (wrkMast.getIoType()) {
                    case 1:
                        ledCommand.setTitle("全板入库");
                        break;
@@ -2092,104 +2129,34 @@
                        ledCommand.setTitle("并板入库");
                        break;
                    default:
                        News.error("" + mark + " - 1" + " - 任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkNo, ioType);
                        News.error(""+mark+" - 1"+" - 任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                        break;
                }
                ledCommand.setSourceLocNo(sourceLocNo);
                ledCommand.setLocNo(locNo);
                ledCommand.setStaNo(targetStaNo);
                ledCommand.setBarcode(barcode);
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setLocNo(wrkMast.getLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
//                ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
                if (ioType != 110 && ioType != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkNo);

                    if (!wrkDetls.isEmpty()) {
                        WrkDetl wrkDetl = wrkDetls.get(0);
                        double anfme = 0D;
                        double weight = 0D;
                        for (WrkDetl detl : wrkDetls) {
                            anfme += detl.getAnfme();
                            weight += detl.getWeight();
                            wrkDetl.setAnfme(anfme);
                            wrkDetl.setWeight(weight);
                        }

                        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>()
                                .eq("loc_no", wrkMast.getSourceLocNo()));
                        double totalAnfme = 0D;
                        double totalWeight = 0D;
                        for (LocDetl locDetl : locDetls) {
                            totalAnfme += locDetl.getAnfme();
                            totalWeight += locDetl.getWeight();
                        }
                        wrkDetl.setStockNum(totalAnfme);
                        wrkDetl.setStockNum2(totalWeight);

                        ledCommand.getMatDtos().add(new MatDto(
                                wrkDetl.getMatnr()
                                , wrkDetl.getMaktx()
                                , wrkDetl.getAnfme()
                                , wrkDetl.getWeight()
                                , wrkDetl.getStockNum()
                                , wrkDetl.getStockNum2()
                                , wrkDetl.getSpecs()
                                , wrkDetl.getSku()
                                , wrkDetl.getZpallet()
                                , wrkDetl.getModel()
                                , wrkDetl.getSupp()
                                , wrkDetl.getKpCstmrName()
                                , wrkDetl.getOrderNo()
                                , wrkDetl.getCstateid$()
                        ));

                    }else {
                        List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectTodayByWrkNo(wrkNo);
                        if(!wrkDetlLogs.isEmpty()) {
                            WrkDetlLog wrkDetlLog = wrkDetlLogs.get(0);

                            double anfme = 0D;
                            double weight = 0D;
                            for (WrkDetlLog detl : wrkDetlLogs) {
                                anfme += detl.getAnfme();
                                weight += detl.getWeight();
                                wrkDetlLog.setAnfme(anfme);
                                wrkDetlLog.setWeight(weight);
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    try{
                        if (wrkMast.getIoType()>100){
                            for (WrkDetl wrkDetl : wrkDetls){
                                LocDetl locDetl = locDetlService.selectMatnrSpecs(wrkDetl.getMatnr(), wrkDetl.getSpecs(), wrkMast.getSourceLocNo());
                                wrkDetl.setWeight(locDetl.getAnfme());
                            }

                            List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>()
                                    .eq("loc_no", sourceLocNo));
                            double totalAnfme = 0D;
                            double totalWeight = 0D;
                            for (LocDetl locDetl : locDetls) {
                                totalAnfme += locDetl.getAnfme();
                                totalWeight += locDetl.getWeight();
                        }else {
                            for (WrkDetl wrkDetl : wrkDetls){
                                wrkDetl.setWeight(wrkDetl.getAnfme());
                            }
                            wrkDetlLog.setStockNum(totalAnfme);
                            wrkDetlLog.setStockNum2(totalWeight);

                            ledCommand.getMatDtos().add(new MatDto(
                                    wrkDetlLog.getMatnr()
                                    , wrkDetlLog.getMaktx()
                                    , wrkDetlLog.getAnfme()
                                    , wrkDetlLog.getWeight()
                                    , wrkDetlLog.getStockNum()
                                    , wrkDetlLog.getStockNum2()
                                    , wrkDetlLog.getSpecs()
                                    , wrkDetlLog.getSku()
                                    , wrkDetlLog.getZpallet()
                                    , wrkDetlLog.getModel()
                                    , wrkDetlLog.getSupp()
                                    , wrkDetlLog.getKpCstmrName()
                                    , wrkDetlLog.getOrderNo()
                                    , wrkDetlLog.getCstateid$()
                            ));
                        }
                    }catch (Exception e){
                        log.error("工作档案明细输入电视机失败1：异常信息==》"+e);
                    }

                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getWeight(),wrkDetl.getSpecs(),wrkDetl.getSku())));
                }
                commands.add(ledCommand);
            }
            Set<Integer> workNos = new HashSet<>(workNoList);
            Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
            // 获取LED线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
            // 相同工作号集合则过滤
@@ -2220,22 +2187,19 @@
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
                    News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    continue;
                } else {
                }else {
                    ledThread.setLedMk(false);
                }
            }

            try {
                // 修改主档led标记
                for (Integer wrkNo : workNoList) {
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", wrkNo));
                    if (wrkMast != null) {
                        wrkMast.setOveMk("Y");
                        wrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.errorNoLog("" + mark + " - 4" + " - 更新工作档失败");
                            throw new CoolException("更新工作档失败");
                        }
                for (WrkMast wrkMast : wrkMasts) {
                    wrkMast.setOveMk("Y");
                    wrkMast.setModiTime(new Date());
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        News.errorNoLog(""+mark+" - 4"+" - 更新工作档失败");
                        throw new CoolException("更新工作档失败");
                    }
                }

@@ -2248,7 +2212,7 @@
            }

        }
        News.infoNoLog("" + mark + " - 0" + " - 出库  ===>> 工作档信息写入led显示器执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 出库  ===>> 工作档信息写入led显示器执行完成");
    }

    /**
@@ -2256,7 +2220,7 @@
     */
    public synchronized void ledReset(Integer mark) {

        News.warnNoLog("" + mark + " - 0" + " - 开始执行:其他  ===>> LED显示器复位，显示默认信息");
        News.warnNoLog(""+mark+" - 0"+" - 开始执行:其他  ===>> LED显示器复位，显示默认信息");
        for (LedSlave led : slaveProperties.getLed()) {

            // 获取输送线plc线程
@@ -2280,13 +2244,13 @@
            if (reset && !ledThread.isLedMk()) {
                ledThread.setLedMk(true);
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
                    News.error("" + mark + " - 1" + " - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    News.error(""+mark+" - 1"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                } else {

                }
            }
        }
        News.infoNoLog("" + mark + " - 0" + " - 执行完成：其他  ===>> LED显示器复位，显示默认信息");
        News.infoNoLog(""+mark+" - 0"+" - 执行完成：其他  ===>> LED显示器复位，显示默认信息");
    }

    /**