#联机

zjj

2023-11-22 7d06cea49f39ab2bc9177833d0ab2a04bd53e3eb

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

@@ -1,6 +1,7 @@
package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
@@ -14,6 +15,7 @@
import com.zy.asrs.utils.PostMesDataUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.service.CommonService;
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.SlaveConnection;
@@ -213,17 +215,6 @@
            if(null == taskWrk) {
                continue;
            }
            // 获取库位信息
            String locNo = taskWrk.getTargetPoint();
            LocMast locMast = locMastService.selectById(locNo);
            if (locMast == null) {
                log.error("查询库存无数据--库位号{}", locNo);
                continue;
            }
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", locNo, locMast.getLocSts());
                continue;
            }

            // 堆垛机控制过滤
            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
@@ -241,12 +232,13 @@
            crnCommand.setTaskNo(taskWrk.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(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().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.setSourcePosX(crnStn.getBay().shortValue());     // 源库位列
            crnCommand.setSourcePosY(crnStn.getLev().shortValue());     // 源库位层
            crnCommand.setSourcePosZ(crnStn.getRow().shortValue());     // 源库位排
            crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位列
            crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位层
            crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位排
            crnCommand.setCommand((short)1);
            if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
            } else {
@@ -277,13 +269,6 @@
                // 工作档状态判断
                if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == null) {
                    log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
                    continue;
                }
                // 获取源库位信息
                String locNo = taskWrk.getStartPoint();
                LocMast sourceSta = locMastService.selectById(locNo);
                if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
                    log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", locNo, sourceSta.getLocSts());
                    continue;
                }
                // 获取堆垛机出库站信息
@@ -320,25 +305,33 @@
                    // 双深库位且浅库位有货，则需先对浅库位进行库位移转
                    if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {

                        taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());

                        List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
                        if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
                            break;
                            continue;
                        }
                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
                        LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                        if (!shallowLoc.getLocSts().equals("O")){
                            // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                            if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                                log.error("工作号={}，库位号={}，浅库位异常：浅库位号：={}，库位状态={}",taskWrk.getTaskNo(),taskWrk.getStartPoint(),shallowLocNo,shallowLoc.getLocSts());
                            } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                                taskWrk.setTransferMark(1);
                                taskWrkMapper.updateById(taskWrk);
                                WMSAndAGVInterfaceParam param = new WMSAndAGVInterfaceParam();
                                param.setTaskNo(taskWrk.getTaskNo());
                                new PostMesDataUtils().postMesData("MES系统",wmsUrl,movePath,param);
                                log.error("工作号={}，库位号={}，浅库位需要移库：浅库位号：={}，库位状态={}",taskWrk.getTaskNo(),taskWrk.getStartPoint(),shallowLocNo,shallowLoc.getLocSts());
                            } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                                log.error("工作号={}，库位号={}，浅库位异常：浅库位号：={}，库位状态={}",taskWrk.getTaskNo(),taskWrk.getStartPoint(),shallowLocNo,shallowLoc.getLocSts());
                        TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
                        if (!Cools.isEmpty(hallowLocNoTask)){
                            if (!Cools.isEmpty(hallowLocNoTask.getTargetPoint())){
                                continue;
                            }
//                            new PostMesDataUtils().postMesData("移库任务分配库位",wmsUrl,movePath,hallowLocNoTask);
                            try {
                                String response = new HttpHandler.Builder()
                                        .setUri(wmsUrl)
                                        .setPath(movePath)
                                        .setJson(JSON.toJSONString(hallowLocNoTask))
                                        .build()
                                        .doPost();
                                System.out.println("response:"+response);
                                JSONObject jsonObject = JSON.parseObject(response);
                                if (jsonObject.getInteger("code").equals(200)) {
                                    //解析
                                }
                            }catch (Exception e){
                                log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/"+movePath, JSON.toJSONString(hallowLocNoTask), "请求移库任务分配库位");
                            }
                            continue;
                        }
@@ -350,9 +343,9 @@
                    crnCommand.setTaskNo(taskWrk.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(sourceSta.getRow1().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                    crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                    crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位排
                    crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位列
                    crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位层
                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
@@ -382,7 +375,7 @@
            // 获取工作状态为11（生成出库ID）的移库工作档
            List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut3(slave.getId(), crnStn.getStaNo().toString());
            for (TaskWrk taskWrk : taskWrks){
                if (taskWrk == null) {
                if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("")) {
                    continue;
                }
                // 工作档状态判断
@@ -390,38 +383,7 @@
                    log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
                    continue;
                }
                // 获取源库位信息
                String locNo = taskWrk.getStartPoint();
                LocMast sourceSta = locMastService.selectById(locNo);
                if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
                    log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", locNo, sourceSta.getLocSts());
                    continue;
                }

                // 获取目标库位信息
                String locNoEnd = taskWrk.getTargetPoint();
                LocMast sourceEnd = locMastService.selectById(locNoEnd);
                if (!sourceEnd.getLocSts().equals("S") && !sourceEnd.getLocSts().equals("Q")) {
                    log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", locNo, sourceSta.getLocSts());
                    continue;
                }


//                // 获取堆垛机出库站信息
//                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
//                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
//                if (staProtocol == null) {
//                    break;
//                } else {
//                    staProtocol = staProtocol.clone();
//                }

                // 查询站点详细信息
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    continue;
                }
                // 命令下发区 --------------------------------------------------------------------------

                // 堆垛机控制过滤
@@ -434,38 +396,6 @@
                    continue;
                }

                // 起始深库位浅库位不为空
                if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
                    // 获取浅库位信息
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
                    LocMast shallowLocMast = locMastService.selectById(shallowLocNo);
                    if (!shallowLocMast.getLocSts().equals("O")) {
                        log.error("移库操作起始库位浅库位状态不符合--状态, 库位号={}，库位状态={}", locNo, shallowLocMast.getLocSts());
                        continue;
                    }
                }

                // 目标库位为深库位且浅库位不为空
                if (Utils.isDeepLoc(slaveProperties, taskWrk.getTargetPoint())) {
                    // 获取浅库位信息
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getTargetPoint());
                    LocMast shallowLocMast = locMastService.selectById(shallowLocNo);
                    if (!shallowLocMast.getLocSts().equals("O")) {
                        log.error("移库操作目标库位浅库位状态不符合--状态, 库位号={}，库位状态={}", locNo, shallowLocMast.getLocSts());
                        continue;
                    }
                }

                // 目标库位为浅库位且深库位无货
                if (Utils.isShallowLoc(slaveProperties, taskWrk.getTargetPoint())) {
                    // 获取深库位信息
                    String deepLocNo = Utils.getDeepLoc(slaveProperties, taskWrk.getTargetPoint());
                    LocMast deepLocMast = locMastService.selectById(deepLocNo);
                    if (!deepLocMast.getLocSts().equals("F") && !deepLocMast.getLocSts().equals("D") ) {
                        log.error("移库操作目标库位深库位状态不符合--状态, 库位号={}，库位状态={}", locNo, deepLocMast.getLocSts());
                        continue;
                    }
                }

                // 1.堆垛机开始移动
                CrnCommand crnCommand = new CrnCommand();
@@ -473,12 +403,12 @@
                crnCommand.setTaskNo(taskWrk.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(sourceSta.getRow1().shortValue());     // 源库位排
                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                crnCommand.setDestinationPosX(sourceEnd.getRow1().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(sourceEnd.getBay1().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(sourceEnd.getLev1().shortValue());     // 目标库位层
                crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位排
                crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位列
                crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位层
                crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位层
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                } else {