#

zjj

2024-05-20 774af73065b7623a36d384fc6a63b30535868d75

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

@@ -94,6 +94,8 @@
    private WrkMastStaService wrkMastStaService;
    @Autowired
    private MatnrCodeService matnrCodeService;
    @Autowired
    private WaitPakinService waitPakinService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -2065,10 +2067,14 @@
                    List<StaDesc> staDescs = staDescService.selectList(new EntityWrapper<StaDesc>().eq("type_no", 10).eq("stn_no", sta.getStaNo()));
                    for (StaDesc staDesc:staDescs){

                        BasDevp basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", staDesc.getCrnStn()));
                        BasDevp basDevp = new BasDevp();

                        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("crn_no", staDesc.getCrnNo()).gt("io_type", 100));
                        if (!Cools.isEmpty(wrkMast)){
                        if (staDesc.getCrnNo() == 1){
                            basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", 1004));
                        } else if (staDesc.getCrnNo() == 2) {
                            basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", 1008));
                        }
                        if (Cools.isEmpty(basDevp)){
                            continue;
                        }

@@ -2146,11 +2152,19 @@
//                        && staProtocol.isEmptyMk()
                        && staProtocol.getWorkNo() == 0
                ) {
                    WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(sta.getStaNo());
                    Integer staNo = sta.getStaNo();
                    switch (staProtocol.getSiteId()){
                        case 4007:
                            staNo = 4002;break;
                        case 4016:
                            staNo = 4011;break;
                    }
                    WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(staNo);
                    if (null != pakoutEmpty) {
                        return;
                    }
                    List<StaDesc> staDescs = staDescService.selectList(new EntityWrapper<StaDesc>().eq("stn_no", sta.getStaNo()));

                    List<StaDesc> staDescs = staDescService.selectList(new EntityWrapper<StaDesc>().eq("stn_no", staNo));
                    for (StaDesc staDesc: staDescs){
                        BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", staDesc.getCrnNo()));
                        if (!basCrnp.getCrnSts().equals(3) || basCrnp.getCrnErr() != 0){
@@ -2159,6 +2173,7 @@
                        try {
                            HashMap<String, Object> map = new HashMap<>();
                            map.put("crnNo", staDesc.getCrnNo());//目标站
                            map.put("staNo",staDesc.getStnNo());
                            String response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setParams(map)
@@ -2265,7 +2280,7 @@
            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
            crnCommand.setDestinationPosX(locMast.getRow1()==9?(short)4:(short)5);     // 目标库位排
            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
            crnCommand.setLocType1(locMast.getLocType1().shortValue());     // 货物类型
@@ -2410,7 +2425,7 @@
                    crnCommand.setTaskNo(wrkMast.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.setSourcePosX(locMast.getRow1()==9?(short)4:(short)5);     // 源库位排
                    crnCommand.setSourcePosX(locMast.getRow1().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(locMast.getBay1().shortValue());     // 源库位列
                    crnCommand.setSourcePosZ(locMast.getLev1().shortValue());     // 源库位层
                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
@@ -2501,6 +2516,10 @@
            }else {
                rgvProtocol = rgvProtocol.clone();
            }
            List<WrkMastSta> wrkMastStas = wrkMastStaService.selectRGVTask1(rgvSlave.getId());
            if (!Cools.isEmpty(wrkMastStas)){
                continue;
            }
            if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getLoaded1() == 0){
                boolean work1 = false;
                boolean work2 = false;
@@ -2518,6 +2537,8 @@
                short type2 = 0;
                short anfme = 0;
                short anfme2 = 0;
                Double weight = 0d;
                Double weight2 = 0d;

                //工位一任务
                for (RgvSlave.Sta inStn :  rgvSlave.getInStn()){
@@ -2527,12 +2548,12 @@
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
                    StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
                    if (staProtocol == null) {
                        break;
//                    continue;
//                        break;
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && staProtocol.getWorkNo()>0){
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && (staProtocol.getWorkNo()>0 && staProtocol.getWorkNo()<9900)){

                            WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
                            if (Cools.isEmpty(wrkMast)){
@@ -2547,6 +2568,36 @@
                            break;


                    } else if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && (staProtocol.getWorkNo()>=9900 || staProtocol.getWorkNo()==0)) {
                        if (rgvSlave.getId() != 2 ){
                            continue;
                        }
                        workNo1 = workNo++;
                        souSta1 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getSourceStaNo());
                        if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 1){
                            sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
                        } else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 2) {
                            sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
                        } else if (inStn.getSourceStaNo() == 2102 && staProtocol.isFullPlt()) {
                            sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2301);
                        } else {
                            sta1 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getStaNo());
                        }

                        if (inStn.getSourceStaNo() == 2102 && staProtocol.isEmptyMk()){ //区分空板
                            type = 1;
                        }
                        if(inStn.getSourceStaNo() == 2102){
                            weight = staProtocol.getWeight().doubleValue()/10;
                        }

                        work1 = true;
                        if (inStn.getSourcePlcId() == 4 || inStn.getSourcePlcId() ==5){ //灌装站需要获取输送线物料代码
                            matnr = staProtocol.getMatnr();
                        }

                        devpThread.setPakMk(inStn.getSourceStaNo(),false);
                        break;
                    }
                }

@@ -2562,12 +2613,12 @@
                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
                        StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
                        if (staProtocol == null) {
                            break;
//                    continue;
//                            break;
                            continue;
                        } else {
                            staProtocol = staProtocol.clone();
                        }
                        if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()&& staProtocol.isPakMk() && staProtocol.getWorkNo()>0){
                        if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()&& staProtocol.isPakMk() && (staProtocol.getWorkNo()>0 && staProtocol.getWorkNo()<9900)){

                                WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
                                if (Cools.isEmpty(wrkMast)){
@@ -2580,7 +2631,37 @@
                                work2 = true;
                                devpThread.setPakMk(inStn.getSourceStaNo(),false);
                                break;
                        } else if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && (staProtocol.getWorkNo()>=9900 || staProtocol.getWorkNo()==0)) {
                            if (rgvSlave.getId() != 2 ){
                                continue;
                            }
                            workNo2 = workNo++;
                            souSta2 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getSourceStaNo());
                            if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 1){
                                sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
                            } else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 2) {
                                sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
                            }else if (inStn.getSourceStaNo() == 2102 && staProtocol.isFullPlt()) {
                                sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2301);
                            } else {
                                sta2 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getStaNo());
                            }

                            if (inStn.getSourceStaNo() == 2102 && staProtocol.isEmptyMk()){ //区分空板
                                type2 = 1;
                            }

                            if(inStn.getSourceStaNo() == 2102){
                                weight2 = staProtocol.getWeight().doubleValue()/10;
                            }

                            work2 = true;
                            if (inStn.getSourcePlcId() == 4){
                                matnr2 = staProtocol.getMatnr();
                            }
                            devpThread.setPakMk(inStn.getSourceStaNo(),false);
                            break;
                        }


                    }
@@ -2612,6 +2693,9 @@

                    command.setType(type);
                    command.setType2(type2);

                    command.setWeight(weight);
                    command.setWeight2(weight2);

                    if (workNo1 == 0 && workNo2 !=0){
                        command.setTaskMode(RgvTaskModeType.FETCH_PUT2); // 任务模式: 2取放货
@@ -2656,10 +2740,10 @@
                    log.info("{}号rgv工位一工作完成复位,工作号:{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
                    if (offer){
                        //完成rgv任务
                        Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no", rgvProtocol.getTaskNo1());
                        Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvSlave.getId()).eq("wrk_no", rgvProtocol.getTaskNo1());
                        WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
                        if (Cools.isEmpty(wrkMastSta1)){
                            log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                            log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
                        }else {
                            if (wrkMastSta1.getWrkType() == 8 ){
                                wrkMastSta1.setWrkSts(3);
@@ -2762,7 +2846,7 @@
                WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo(rgvSlave.getId(), rgvProtocol.getTaskNo1());
                WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo1());
                if (Cools.isEmpty(wrkMastSta)){
                    log.error("未查询到rgv工作任务，rgv编号{},工作号{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
                    log.error("未查询到rgv工作任务，rgv编号{},工作号{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
                    continue;
                }
                for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
@@ -2840,6 +2924,9 @@
                    continue;
                }
                for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
                    if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getWrkEnd()), outStn.getStaNo())){
                        continue;
                    }
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
                    StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
                    if (staProtocol == null) {
@@ -2875,6 +2962,9 @@
                    continue;
                }
                for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
                    if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getStaEnd()), outStn.getStaNo())){
                        continue;
                    }
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
                    StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
                    if (staProtocol == null) {
@@ -2967,7 +3057,7 @@
                    boolean offer = MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(4, new RgvCommand()));
                    log.info("{}号rgv工位二工作完成复位,工作号:{}",rgvSlave.getId(),rgvProtocol.getTaskNo2());
                    if (offer){
                        Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no", rgvProtocol.getTaskNo2());
                        Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no2", rgvProtocol.getTaskNo2());
                        WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
                        if (Cools.isEmpty(wrkMastSta1)){
                            log.error("完成{}号车工位二任务未找到对应工作任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
@@ -3011,10 +3101,26 @@

    public boolean rgvTaskSave(RgvCommand command){
//        Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", command.getRgvNo()).eq("wrk_no", command.getTaskNo1());
        List<WrkMastSta> wrkMastSta1 = wrkMastStaService.selectBywrkNoHistoricalTasks(command.getRgvNo(),command.getTaskNo1(),command.getTaskNo2());
        if (!Cools.isEmpty(wrkMastSta1)){
            wrkMastStaService.deleteBatchIds(wrkMastSta1);
        if (command.getTaskNo1() > 0){
            List<WrkMastSta> wrkMastSta1 = wrkMastStaService.selectBywrkNoHistoricalTasks(command.getRgvNo(),command.getTaskNo1());
            if (!Cools.isEmpty(wrkMastSta1)){
                for (WrkMastSta wrkMastSta :wrkMastSta1){
                    wrkMastStaService.deleteById(wrkMastSta);
                }

            }
        }
        if (command.getTaskNo2() > 0){
            List<WrkMastSta> wrkMastSta1 = wrkMastStaService.selectBywrkNoHistoricalTasks2(command.getRgvNo(),command.getTaskNo2());
            if (!Cools.isEmpty(wrkMastSta1)){
                for (WrkMastSta wrkMastSta :wrkMastSta1){
                    wrkMastStaService.deleteById(wrkMastSta);
                }

            }
        }


        WrkMastSta wrkMastSta = new WrkMastSta();
        wrkMastSta.setWrkNo(Long.valueOf(command.getTaskNo1()));
        wrkMastSta.setWrkNo2(Long.valueOf(command.getTaskNo2()));
@@ -3028,14 +3134,17 @@
        wrkMastSta.setUpdateTime(now);
        wrkMastSta.setWrkCrn(command.getRgvNo());
        wrkMastSta.setWrkType(command.getTaskMode().intValue());
        wrkMastSta.setMatnr1(command.getMatnr().intValue());
        wrkMastSta.setMatnr2(command.getMatnr2().intValue());
        wrkMastSta.setMatnr1(command.getMatnr());
        wrkMastSta.setMatnr2(command.getMatnr2());
        wrkMastSta.setType(command.getType().intValue());
        wrkMastSta.setType2(command.getType2().intValue());
        wrkMastSta.setBatch(command.getBatch());
        wrkMastSta.setBatch2(command.getBatch2());
        wrkMastSta.setAnfme(command.getAnfme().intValue());
        wrkMastSta.setAnfme2(command.getAnfme2().intValue());
        wrkMastSta.setWeight(command.getWeight());
        wrkMastSta.setWeight2(command.getWeight2());

        return wrkMastStaService.insert(wrkMastSta);
    }

@@ -3105,14 +3214,26 @@
                        }
                    }
//                     获取入库通知档
                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
                    if (waitPakins.isEmpty()) {
                    WaitPakin waitPakin = waitPakinService.selectOne(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
                    if (Cools.isEmpty(waitPakin)) {
                        try {
                            CreateComb(barcode,staProtocol.getMatnr().intValue(),staProtocol.getWorkNo().intValue());
                            CreateComb(barcode, staProtocol.getMatnr(),staProtocol.getWorkNo().intValue(),staProtocol.getBatch());
                        }catch (IOException e) {
                            throw new CoolException(e);
                        }
                    }else {
                    } else if (waitPakin.getWeight() == null) {
                        WrkMastSta wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no", staProtocol.getWorkNo().intValue()));
                        if (Cools.isEmpty(wrkMastSta)){
                            wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no2", staProtocol.getWorkNo().intValue()));
                            if (Cools.isEmpty(wrkMastSta)){
                                throw new  CoolException("未找到对应的任务信息");
                            }
                            waitPakin.setWeight(wrkMastSta.getWeight2());
                        }else {
                            waitPakin.setWeight(wrkMastSta.getWeight());
                        }
                        waitPakinService.update(waitPakin,new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
                    } else {
                        try {
                            LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
                            SearchLocParam param = new SearchLocParam();
@@ -3166,23 +3287,30 @@

    }

    public void CreateComb(String barcode,Integer code,Integer wrkNo) throws IOException {
        String batch = "";
        Double anfme = 0D;
    public void CreateComb(String barcode,Integer code,Integer wrkNo,String batch) throws IOException {
        Double anfme = 0d;
        Double weight = 0d;

        WrkMastSta wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkNo));
        if (Cools.isEmpty(wrkMastSta)){
            wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no2", wrkNo));
            if (Cools.isEmpty(wrkMastSta)){
                throw new  CoolException("未找到对应的任务信息");
                if (code >0 && !Cools.isEmpty(batch)){
                    anfme = 1d;
                }else {
                    throw new  CoolException("未找到对应的任务信息");
                }
            }else {
                batch = wrkMastSta.getBatch2();
                anfme = wrkMastSta.getAnfme2().doubleValue();
                code = wrkMastSta.getMatnr2();
                weight = wrkMastSta.getWeight2();
            }
            batch = wrkMastSta.getBatch2();
            anfme = wrkMastSta.getAnfme2().doubleValue();
            code = wrkMastSta.getMatnr2();
        }else {
            batch = wrkMastSta.getBatch();
            anfme = wrkMastSta.getAnfme().doubleValue();
            code = wrkMastSta.getMatnr1();
            weight = wrkMastSta.getWeight();
        }
        MatnrCode matnrCode = matnrCodeService.selectByCode(code);
        if (Cools.isEmpty(matnrCode)){
@@ -3208,6 +3336,8 @@
        JSONObject jsonObject = JSON.parseObject(response);
        if (jsonObject.getInteger("code").equals(200)) {

        }else {
            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/mobile/comb/auth", JSON.toJSONString(combParam), response);
        }
    }