#接口+高度位变更为检测小车+扫码

zjj

2023-11-28 770a7701c1473993c0e8148377c4f44dfec31e20

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

@@ -8,11 +8,20 @@
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.entity.TaskWrk;
import com.zy.asrs.entity.ToWmsDTO;
import com.zy.asrs.entity.param.TaskOverParam;
import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
import com.zy.asrs.entity.param.taskCreateParam;
import com.zy.asrs.service.OpenService;
import com.zy.asrs.service.TaskWrkService;
import com.zy.common.utils.HttpHandler;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.Task;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
@@ -25,9 +34,14 @@

    @Autowired
    private TaskWrkService taskWrkService;
    @Autowired
    private SlaveProperties slaveProperties;

    @Value("${wms.url}")
    private String wmsUrl;
    public ArrayList<String> wharfCode1 = new ArrayList<String>(){{
        add("J-1101"); add("J-1103"); add("J-1105"); add("J-1107"); add("J-1109"); add("J-1111");
    }};

    @Override
    public void taskCreate(taskCreateParam param) {
@@ -74,9 +88,8 @@
        ToWmsDTO toWmsDTO = new ToWmsDTO();
        Map<String, Object> map = new HashMap<>();
        map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
        List<Integer> list = new ArrayList<>();
        list.add(1);
        list.add(4);
        List<Integer> list = getInEnableRoadway();

        //TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
        toWmsDTO.setWarehouseId("1688469798893297665");
        toWmsDTO.setContainerCode(param.getContainerCode());
@@ -105,4 +118,87 @@
        }

    }

    @Override
    public void getAgvTaskOver(TaskOverParam param) {
        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);

        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 获取入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
            StaProtocol staProtocol = devpThread.getStation().get(map.get(param.getWharfCode()));
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            Short workNo = staProtocol.getWorkNo();
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                if (inSta.getBackSta().equals(map.get(param.getWharfCode()))){
                    if (wharfCode1.contains(param.getWharfCode())){
                        if (!staProtocol.isLoading() && !staProtocol.isCar()){
                            //AGV出库完成以后
                        }

                    }else {
                        if (staProtocol.isLoading() && !staProtocol.isCar() && workNo == 0){
                            //AGV入库完成以后
                            staProtocol.setWorkNo((short) 9998);
                            staProtocol.setStaNo(inSta.getStaNo().shortValue());
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (result) {

                            } else {
                                throw new RuntimeException("agv返回完成后，命令下发失败");
                            }
                        }
                    }
                }
            }



        }

    }

    public List<Integer> getInEnableRoadway(){
        int[] roadway = null;
        List<Integer> list = new ArrayList<>();
        Map<Integer,Integer> map = new HashMap<>();
        map.put(103,1);
        map.put(107,2);
        map.put(111,3);
        map.put(115,4);
        map.put(119,5);
        map.put(123,6);
        map.put(300,7);
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getBackSta());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                Short workNo = staProtocol.getWorkNo();
                if (workNo == 0 && !staProtocol.isLoading()){
                    list.add(map.get(inSta.getStaNo()));
                }
            }
        }
        //roadway = list.stream().mapToInt(Integer::intValue).toArray();
        return list;
    }
}