zy-wcs.git - Gitblit

			@@ -4,13 +4,16 @@
			import com.alibaba.fastjson.JSONObject;
			import com.baomidou.mybatisplus.mapper.EntityWrapper;
			import com.core.common.Cools;
			import com.core.common.R;
			import com.core.common.SpringUtils;
			import com.core.exception.CoolException;
			import com.zy.asrs.controller.CrnController;
			import com.zy.asrs.controller.TaskWrkController;
			import com.zy.asrs.domain.enums.TaskStatusType;
			import com.zy.asrs.domain.enums.WorkNoType;
			import com.zy.asrs.domain.param.CrnOperatorParam;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.entity.param.CarryParam;
			import com.zy.asrs.entity.param.TaskCreateParam;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.service.*;
			@@ -70,6 +73,8 @@
			private TaskWrkMapper taskWrkMapper;
			@Autowired
			private TaskWrkService taskWrkService;
			@Autowired
			private TaskWrkController taskWrkController;
			@Autowired
			private StaDescMapper staDescMapper;
			@Autowired
			@@ -2805,41 +2810,49 @@
			continue;
			}

			// CrnSlave crn = new CrnSlave(crnSlave);
			// if (Cools.isEmpty(crnProtocol.getLaneNo()) \|\| crnProtocol.getLaneNo()==0){
			// CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机巷道号异常！");
			// continue;
			// }
			//
			// if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
			// for (CrnSlave crnOther : slaveProperties.getCrn()) {
			// if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			// crn.updateCrnInStn(crnOther);
			// }
			// }
			// }

			// 只有当堆垛机空闲并且无任务时才继续执行
			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
			&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
			// 如果最近一次是入库模式
			if (crnProtocol.getLastIo().equals("I")) {
			if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLocDemo(crnSlave, crnProtocol); // 入库
			crnProtocol.setLastIo("O");
			boolean crnStnToLocDemo = this.crnStnToLocDemo(crnSlave, crnProtocol);// 入库
			if (crnStnToLocDemo){
			crnProtocol.setLastIo("O");
			} else if (!crnProtocol.isSignIntOut()){
			crnProtocol.setLastIo("O");
			}
			} else if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStnDemo(crnSlave, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			boolean locToCrnStnDemo = this.locToCrnStnDemo(crnSlave, crnProtocol);// 出库
			if (locToCrnStnDemo && crnProtocol.isSignIntOut()){
			crnProtocol.setLastIo("I");
			} else if (locToCrnStnDemo){
			crnProtocol.setLastIo("I");
			crnProtocol.setSignIntOut(true);
			} else if (!crnProtocol.isSignIntOut()){
			crnProtocol.setLastIo("I");
			}
			}
			}
			// 如果最近一次是出库模式
			else if (crnProtocol.getLastIo().equals("O")) {
			if (basCrnp.getOutEnable().equals("Y")) {
			this.locToCrnStnDemo(crnSlave, crnProtocol); // 出库
			crnProtocol.setLastIo("I");
			boolean locToCrnStnDemo = this.locToCrnStnDemo(crnSlave, crnProtocol);// 出库
			if (locToCrnStnDemo && crnProtocol.isSignIntOut()){
			crnProtocol.setLastIo("I");
			} else if (locToCrnStnDemo){
			crnProtocol.setLastIo("I");
			crnProtocol.setSignIntOut(true);
			} else if (!crnProtocol.isSignIntOut()){
			crnProtocol.setLastIo("I");
			}
			} else if (basCrnp.getInEnable().equals("Y")) {
			this.crnStnToLocDemo(crnSlave, crnProtocol); // 入库
			crnProtocol.setLastIo("O");
			boolean crnStnToLocDemo = this.crnStnToLocDemo(crnSlave, crnProtocol);// 入库
			if (crnStnToLocDemo){
			crnProtocol.setLastIo("O");
			} else if (!crnProtocol.isSignIntOut()){
			crnProtocol.setLastIo("O");
			}
			}
			}
			} else {
			@@ -2861,7 +2874,8 @@
			/**
			* 入库 ===>> 堆垛机站到库位
			*/
			public void crnStnToLocDemo(CrnSlave slave, CrnProtocol crnProtocol) throws IOException {
			public boolean crnStnToLocDemo(CrnSlave slave, CrnProtocol crnProtocol) throws IOException {
			boolean result = false;
			for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("CRN_NO", crnProtocol.getLaneNo()).eq("CRN_STN", crnStn.getStaNo()));

			@@ -2897,7 +2911,7 @@
			if (Cools.isEmpty(taskWrk1)){
			continue;
			}
			if (taskWrk1.getWrkSts() == 2){
			if (taskWrk1.getIoType() == 1 && taskWrk1.getWrkSts()<3){
			taskWrk = taskWrk1;
			break;
			}
			@@ -2953,6 +2967,7 @@

			throw new CoolException("堆垛机命令生成失败");
			} else {
			result = true;
			try {
			devpThread.setErrorDev(staProtocol.getSiteId(), "-");
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "-");
			@@ -2965,16 +2980,18 @@
			}
			}
			}
			return result;
			}

			/**
			* 出库 ===>> 库位到堆垛机站
			* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
			*/
			public void locToCrnStnDemo(CrnSlave slave, CrnProtocol crnProtocol) {
			public boolean locToCrnStnDemo(CrnSlave slave, CrnProtocol crnProtocol) {
			boolean result = false;
			List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(crnProtocol.getLaneNo(), null);
			if (taskWrksInitial.size() == 0) {
			return;
			return result;
			}
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("CRN_NO", crnProtocol.getLaneNo()).eq("CRN_STN", crnStn.getStaNo()));
			@@ -3007,7 +3024,7 @@
			}

			// 判断堆垛机出库站状态
			if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
			if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE)) {
			devpThread.setErrorDev(staProtocol.getSiteId(), "堆垛机非空闲");
			@@ -3047,6 +3064,7 @@
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");
			throw new CoolException("堆垛机命令生成失败");
			} else {
			result = true;
			try {
			// 修改工作档状态 11.生成出库ID => 12.吊车出库中
			Date now = new Date();
			@@ -3060,39 +3078,11 @@
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}


			} catch (Exception e) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，异常：" + e);
			}
			try {
			HashMap<String, Object> headParam = new HashMap<>();
			headParam.put("taskNo",taskWrk.getTaskNo());
			headParam.put("taskStatus",taskWrk.getStatusWms());
			headParam.put("ioType",taskWrk.getIoTypeWms());
			headParam.put("barCode",taskWrk.getBarcode());
			headParam.put("reportTime", LocalDateTime.now());
			headParam.put("weight",taskWrk.getScWeight().doubleValue());

			String response;
			response = new HttpHandler.Builder()
			// .setHeaders(headParam)
			.setUri(wmsUrl)
			.setPath(taskStatusFeedbackPath)
			.setJson(JSON.toJSONString(headParam))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			apiLogService.save("wcs派发出库任务上报wms"
			, wmsUrl + taskStatusFeedbackPath
			, null
			, "127.0.0.1"
			, JSON.toJSONString(headParam)
			, response
			, true
			);
			} catch (Exception e) {
			log.error("wcs派发出库任务上报wms失败", JSON.toJSONString(taskWrk));
			// throw new CoolException("wcs派发入库任务上报wms失败");
			}
			}
			} else {
			@@ -3117,6 +3107,7 @@
			}
			}
			}
			return result;
			}

			/**
			@@ -3185,10 +3176,23 @@
			if (offer) {
			log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
			Date now = new Date();
			taskWrk.setStatus(TaskStatusType.OVER3.id);
			// taskWrk.setStatus(TaskStatusType.OVER3.id);
			taskWrk.setStatus(TaskStatusType.OVER.id);//手动完成任务
			taskWrk.setWrkSts(14);
			taskWrk.setModiTime(now);
			taskWrk.setCompleteTime(now);

			LocMast locMast=locMastService.selectByLocNo(taskWrk.getStartPoint());
			if(Cools.isEmpty(locMast)){
			R.error("没有找到该库位") ;
			}
			locMast.setLocSts("O");
			locMast.setModiTime(now);
			locMast.setModiTime(now);



			locMastService.updateById(locMast);
			taskWrkService.updateById(taskWrk);
			} else {
			log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(taskWrk));
			@@ -3218,19 +3222,7 @@
			continue;
			}

			CrnSlave crn = new CrnSlave(crnSlave);
			if (Cools.isEmpty(crnProtocol.getLaneNo()) \|\| crnProtocol.getLaneNo()==0){
			CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机巷道号异常！");
			continue;
			}

			if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
			for (CrnSlave crnOther : slaveProperties.getCrn()) {
			if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
			crn.updateCrnInStn(crnOther);
			}
			}
			}
			CrnSlave crn = crnSlave;

			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			@@ -3240,14 +3232,7 @@
			log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，巷道号={}，工作号={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
			continue;
			}
			// Thread.sleep(300);
			//确认完成信号
			// CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
			// crnOperatorParam.setCrnNo(crn.getId());
			Date now = new Date();

			// crnController.crnTaskComplete(crnOperatorParam);
			// MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))
			crnThread.setResetFlag(true);

			if (!Cools.isEmpty(taskWrk)) {
			@@ -3293,44 +3278,6 @@
			taskWrk.setCompleteTime(now);
			taskWrkService.updateById(taskWrk);


			// try {
			// HashMap<String, Object> headParam = new HashMap<>();
			// headParam.put("taskNo",taskWrk.getTaskNo());
			// headParam.put("taskStatus",taskWrk.getStatusWms());
			// headParam.put("ioType",taskWrk.getIoTypeWms());
			// headParam.put("barCode",taskWrk.getBarcode());
			// headParam.put("reportTime", LocalDateTime.now());
			// headParam.put("weight",taskWrk.getScWeight().doubleValue());
			//
			// String response;
			// log.error("wcs完结任务上报wms==》", headParam);
			//
			// response = new HttpHandler.Builder()
			// // .setHeaders(headParam)
			// .setUri(wmsUrl)
			// .setPath(taskStatusFeedbackPath)
			// .setJson(JSON.toJSONString(headParam))
			// .build()
			// .doPost();
			// log.error("wcs完结任务上报wms==》", response);
			//
			//// JSONObject jsonObject = JSON.parseObject(response);
			//// log.error("wcs完结任务上报wms==》", jsonObject);
			//
			// apiLogService.save("wcs派发入库任务上报wms"
			// , wmsUrl + taskStatusFeedbackPath
			// , null
			// , "127.0.0.1"
			// , JSON.toJSONString(headParam)
			// , response
			// , true
			// );
			// } catch (Exception e) {
			// log.error("wcs完结任务上报wms失败", taskWrk);
			// log.error("wcs完结任务上报wms失败,报错信息：", e);
			//// throw new CoolException("wcs派发入库任务上报wms失败");
			// }
			}

			}
			@@ -3339,5 +3286,64 @@
			}
			}
			}
			public void locMastTaskDemo(){
			try{
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			try{
			// 获取堆垛机信息
			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
			CrnProtocol crnProtocol = crnThread.getCrnProtocol();
			if (crnProtocol == null) {
			continue;
			}
			if (Cools.isEmpty(crnProtocol.getLocMastDemoList())) {
			continue;
			}
			BasCrnp basCrnp = basCrnpService.selectById(crnSlave.getId());
			if (basCrnp == null) {
			log.error("{}号堆垛机尚未在数据库进行维护！", crnSlave.getId());
			continue;
			}
			if (Cools.isEmpty(basCrnp.getHpMk()) \|\| !basCrnp.getHpMk().equals("Y")){
			continue;
			}
			for (String[] locS : crnProtocol.getLocMastDemoListSign()){
			if (locS[3].equals("1")){
			String locNo = locS[0];
			LocMast locMast = locMastService.selectByLocNo(locNo);
			if (locMast.getLocSts().equals("F")){
			CarryParam carryParam = new CarryParam();
			carryParam.setTaskNo(locNo);
			carryParam.setBarcode(locNo);
			carryParam.setIoType(1);//任务类型=》1：出库、2：移库、3：入库 ====转换为====> 1：入库，2：出库，3：移库
			carryParam.setTaskPriority(1);
			carryParam.setTargetPoint("1012");
			carryParam.setStartPoint(BarcodeUtils.formatCode(locNo));
			carryParam.setMeno("Demo");
			taskWrkController.addTaskPoint(carryParam);
			Thread.sleep(50);
			} else if (locMast.getLocSts().equals("O")){
			CarryParam carryParam = new CarryParam();
			carryParam.setTaskNo(locNo);
			carryParam.setBarcode(locNo);
			carryParam.setIoType(3);//任务类型=》1：出库、2：移库、3：入库 ====转换为====> 1：入库，2：出库，3：移库
			carryParam.setTaskPriority(1);
			carryParam.setStartPoint("1012");
			carryParam.setTargetPoint(BarcodeUtils.formatCode(locNo));
			carryParam.setMeno("Demo");
			taskWrkController.addTaskPoint(carryParam);
			Thread.sleep(50);
			LocFCSUtils.updateLocSInPlace(crnProtocol.getLocMastDemoListSign());
			}
			}
			}

			} catch (Exception e){

			}
			}
			} catch (Exception e){

			}
			}
			}