#

luxiaotao1123

2022-12-22 7fc050e4bcf6e1eec5ed40605dc19e92352a427c

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

@@ -6,9 +6,7 @@
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.mapper.WrkChargeMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.LocTypeDto;
@@ -17,6 +15,7 @@
import com.zy.common.model.StartupDto;
import com.zy.common.model.enums.WrkChargeType;
import com.zy.common.service.CommonService;
import com.zy.common.service.erp.ErpService;
import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
@@ -43,10 +42,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Set;
import java.util.*;
import java.util.stream.Collectors;

/**
@@ -92,6 +88,12 @@
    private CommonService commonService;
    @Autowired
    private WrkChargeMapper wrkChargeMapper;
    @Autowired
    private ErpService erpService;
    @Autowired
    private OrderMapper orderMapper;
    @Autowired
    private OrderDetlMapper orderDetlMapper;

    /**
     * 组托
@@ -152,7 +154,7 @@
                    // 退回
                    if (back) {
                        log.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                        staProtocol.setWorkNo((short) 9995);
                        staProtocol.setWorkNo((short) 32002);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -174,7 +176,7 @@
                    if(!Cools.isEmpty(barcode)) {
//                        log.info("{}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)) {
                            staProtocol.setWorkNo((short) 9995);
                            staProtocol.setWorkNo((short) 32002);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -188,7 +190,7 @@
                            continue;
                        }
                    } else {
                        staProtocol.setWorkNo((short) 9995);
                        staProtocol.setWorkNo((short) 32002);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -251,7 +253,7 @@
                            }
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        } else if (code == 700) {
                            staProtocol.setWorkNo((short) 9995);
                            staProtocol.setWorkNo((short) 32002);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -331,7 +333,7 @@
                    // 退回
                    if (back) {
                        log.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                        staProtocol.setWorkNo((short) 9995);
                        staProtocol.setWorkNo((short) 32002);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -415,7 +417,7 @@
//                        if(!Cools.isEmpty(barcode)) {
//                            log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                            if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
//                                staProtocol.setWorkNo((short) 9995);
//                                staProtocol.setWorkNo((short) 32002);
//                                staProtocol.setStaNo(pickSta.getBackSta().shortValue());
//                                devpThread.setPakMk(staProtocol.getSiteId(), false);
//                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -429,7 +431,7 @@
//                                continue;
//                            }
//                        } else {
//                            staProtocol.setWorkNo((short) 9995);
//                            staProtocol.setWorkNo((short) 32002);
//                            staProtocol.setStaNo(pickSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -529,7 +531,7 @@
                            }
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        } else {
                            staProtocol.setWorkNo((short) 9995);
                            staProtocol.setWorkNo((short) 32002);
                            staProtocol.setStaNo(pickSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -662,6 +664,8 @@
                }
                // 库位移转
//                this.locToLoc(crn, crnProtocol);
                // 演示
                this.steMoveDemo(crn, crnProtocol);
            }
        }
    }
@@ -692,6 +696,15 @@
//                log.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                continue;
            }

            // 同库位组进行校验
            List<String> groupLocNo = Utils.getGroupLocNo(wrkMast.getLocNo());
            if (!Cools.isEmpty(groupLocNo)) {
                if (null != wrkMastMapper.selectPakoutWorkingByGroupLoc(groupLocNo)) {
                    continue;
                }
            }

            if (wrkMast.getWrkSts() < 3) {
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                        && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
@@ -965,6 +978,14 @@
            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={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                continue;
            }

            // 同库位组进行校验
            List<String> groupLocNo = Utils.getGroupLocNo(wrkMast.getSourceLocNo());
            if (!Cools.isEmpty(groupLocNo)) {
                if (null != wrkMastMapper.selectPakinWorkingByGroupLoc(groupLocNo)) {
                    continue;
                }
            }

            // 判断是否有同库位组的出库任务，如果有，则暂停
@@ -1385,6 +1406,34 @@
            LocMast locMast = locMastService.selectById(locNo);
            int lev = locMast.getLev1();
            int bay = locMast.getBay1();
            int levAbs = Math.abs(lev - steProtocol.getLev());
            int bayAbs = Math.abs(bay - steProtocol.getBay());
            if (val == 0) {
                val = levAbs + bayAbs;
                result = steThread;
            } else {
                if ((levAbs + bayAbs) < val) {
                    val = levAbs + bayAbs;
                    result = steThread;
                }
            }
        }
        return result;
    }

    public SteThread queryIdleCar(CrnProtocol crnProtocol) {
        List<BasSte> basStes = basSteService.selectList(new EntityWrapper<>());
        int val = 0;
        SteThread result = null;
        for (BasSte basSte : basStes) {
            // 获取穿梭车信息
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (!steProtocol.isIdle()) { continue; }
            if (steProtocol.getRow() == 1) { continue;}
            int lev = crnProtocol.getLevel();
            int bay = crnProtocol.getBay();
            int levAbs = Math.abs(lev - steProtocol.getLev());
            int bayAbs = Math.abs(bay - steProtocol.getBay());
            if (val == 0) {
@@ -2467,14 +2516,15 @@
                ledCommand.setStaNo(wrkMast.getStaNo());
                if (wrkMast.getIoType() != 110) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    wrkDetls.forEach(wrkDetl -> {
                        if (wrkMast.getIoType() == 101) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getAnfme()));
                    try {
                        WrkDetl wrkDetl = wrkDetls.get(0);
                        if (!Cools.isEmpty(wrkDetl.getOrderNo())) {
                            OrderDetl orderDetl = orderDetlMapper.selectItemNoneOfBatch(wrkDetl.getOrderNo(), wrkDetl.getMatnr());
                            ledCommand.getMatDtos().add(new MatDto(orderDetl));
                        }
                        if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getAnfme()));
                        }
                    });
                    } catch (Exception e) {
                        log.error("led execute fail", e);
                    }
                }
                commands.add(ledCommand);
            }
@@ -2614,7 +2664,7 @@
                    } while (false);

                    if (steCharge == null) {
                        log.warn("{}号小车【电量：{}】充电失败，原因：没有空闲充电桩。", ste.getId(), steProtocol.getCharge());
//                        log.warn("{}号小车【电量：{}】充电失败，原因：没有空闲充电桩。", ste.getId(), steProtocol.getCharge());
                        continue;
                    }
                    String chargeLocNo = steCharge.locNo;
@@ -3206,5 +3256,185 @@
        }
    }

    public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";
    public synchronized void demo() {
        if (Cools.isEmpty(crn2DemoLocs)) {
            crn2DemoLocs = locMastService.getDemoNextLoc(2);
        }
        for (CrnSlave crn : slaveProperties.getCrn()) {
            if (!crn.getDemo()) {
                continue;
            }
            // 必须为演示状态
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }

            // 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) {

                // filter
                if (wrkChargeService.selectCount(new EntityWrapper<WrkCharge>()
                        .eq("crn_no", crn.getId()).between("wrk_sts", 31, 36)) > 0) {
                    continue;
                }

                SteThread steThread = queryIdleCar(crnProtocol);
                if (Cools.isEmpty(steThread)) {
                    log.warn("没有空闲的小车进行演示功能");
                    continue;
                }
                int steNo = steThread.getSlave().getId();
                SteProtocol steProtocol = steThread.getSteProtocol();
                BasSte basSte = basSteService.selectById(steNo);
                if (Cools.isEmpty(steProtocol, basSte)) { continue; }

                // 只有当穿梭车空闲 并且 无任务时才继续执行
                if (steProtocol.isIdle()) {

                    String locNo = null;
                    Iterator<String> iterator = crn2DemoLocs.iterator();
                    while (iterator.hasNext()) {
                        String next = iterator.next();
                        String lastLoc = crn2LastLoc;
                        if (!Cools.isEmpty(lastLoc)) {
                            if (!lastLoc.substring(2, 7).equals(next.substring(2, 7))
                                    || !Utils.getGroupRow(lastLoc, true).equals(Utils.getGroupRow(next, true))) {
                                locNo = next;
                                iterator.remove();
                                break;
                            } else {
                                iterator.remove();
                            }
                        } else {
                            locNo = next;
                            iterator.remove();
                            break;
                        }

                    }
                    if (!Cools.isEmpty(locNo)) {
                        crn2LastLoc = locNo;
                    }

                    log.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo);

                    String sourceLocNo = Utils.getLocNo(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev());

                    WrkCharge wrkCharge = new WrkCharge();
                    wrkCharge.setCrnNo(crn.getId());
                    wrkCharge.setSteNo(steNo);
                    wrkCharge.setWrkNo(commonService.getChargeWorkNo(5));
                    wrkCharge.setWrkSts(31L);   // 31.生成演示ID
                    wrkCharge.setIoPri((double) 10);
                    wrkCharge.setSourceLocNo(sourceLocNo);
                    wrkCharge.setLocNo(locNo);
                    wrkCharge.setMemo("demo");
                    if (!wrkChargeService.insert(wrkCharge)) {
                        log.error("生成演示任务失败，堆垛机号：{}，小车：{}，源库位：{}，目标库位：{}", crn.getId(), steNo, sourceLocNo, locNo);
                    }
                }
            }
        }
    }

    /**
     * 演示取货
     */
    private void steMoveDemo(CrnSlave slave, CrnProtocol crnProtocol) {
        // 获取工作档信息
        WrkCharge wrkCharge = wrkChargeService.selectOne(new EntityWrapper<WrkCharge>().eq("crn_no", slave.getId())
                .in("wrk_sts", 31, 33, 35));
        if (null == wrkCharge) {
            return;
        }
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (null == steProtocol) { return; }
        if (steProtocol.isIdle()) {
            // 31.生成演示ID
            if (wrkCharge.getWrkSts() == 31L) {
                this.letCarBeReady(wrkCharge, steProtocol.getSteNo().intValue());
                wrkCharge.setWrkSts(32L);
                wrkCharge.setModiTime(new Date());
                if (!wrkChargeService.updateById(wrkCharge)) {
                    log.error("修改演示任务{}工作档 31.生成演示ID ==>> 32.小车走行 失败!", wrkCharge.getWrkNo());
                }
                // 33.小车待搬
            } else if (wrkCharge.getWrkSts() == 33L) {
                if (steProtocol.isLoading()) {
                    return;
                }
                LocMast locMast = locMastService.selectById(wrkCharge.getLocNo());
                // 堆垛机命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排
                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).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
                if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改穿梭车运行中排列层
                    steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
                    // 修改工作档状态 33.小车待搬 => 34.吊车搬运
                    Date now = new Date();
                    wrkCharge.setWrkSts(34L);
                    wrkCharge.setCrnStrTime(now);
                    wrkCharge.setModiTime(now);
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        log.error("修改演示任务{}工作档 33.小车待搬 => 34.吊车搬运 失败!", wrkCharge.getWrkNo());
                    }
                }
                // 35.小车就绪
            } else if (wrkCharge.getWrkSts() == 35L) {

                int steNo = steProtocol.getSteNo().intValue();
                if (!basSteService.updatePakMk(steNo, "Y")) {
                    log.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
                    return;
                }

                // 命令下发区 --------------------------------------------------------------------------
                SteCommand steCommand = new SteCommand();
                steCommand.setSteNo(steNo); // 穿梭车编号
                steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                SteTaskModeType originByLoc = SteTaskModeType.findOriginByLoc(steProtocol.getRow());
                if (originByLoc.equals(SteTaskModeType.GO_ORIGIN)) {
                    originByLoc = SteTaskModeType.BACK_ORIGIN;
                } else if (originByLoc.equals(SteTaskModeType.BACK_ORIGIN)) {
                    originByLoc = SteTaskModeType.GO_ORIGIN;
                } else {
                    return;
                }
                steCommand.setTaskMode(originByLoc);

                steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
                steCommand.setBay(steProtocol.getBay());
                steCommand.setLev(steProtocol.getLev());

                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                } else {
                    // 修改工作档状态 35.小车就绪 => 36.小车走行
                    wrkCharge.setWrkSts(36L);
                    wrkCharge.setModiTime(new Date());
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        log.error("修改演示任务{}工作档 35.小车就绪 => 36.小车走行 失败!", wrkCharge.getWrkNo());
                    }
                }
            }
        }

    }


}