Merge remote-tracking branch 'origin/gdykwcs' into gdykwcs

zjj

2024-08-01 8ef3eccb7d244c89d0422d06f5274da1e408e9d6

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

@@ -112,6 +112,7 @@
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                BarcodeThread barcodeThreadMat = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcodeMat());
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
@@ -124,7 +125,14 @@
                if (barcodeThread == null) {
                    continue;
                }

                if (barcodeThreadMat == null) {
                    continue;
                }

                String barcode = barcodeThread.getBarcode();

                String barcodeMat = barcodeThreadMat.getBarcode();
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
@@ -184,6 +192,18 @@
                        && staProtocol.isPakMk()) {
                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);

                        staProtocol.setWorkNo(wrkNo);
                        News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
                        wrkNo++;
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
                        continue;
                    }
                    if(Cools.isEmpty(barcodeMat) || "NG".endsWith(barcodeMat) || "NoRead".equals(barcodeMat) || "00000000".equals(barcodeMat)) {
                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcodeMat(), barcodeMat);

                        staProtocol.setWorkNo(wrkNo);
                        News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
@@ -262,6 +282,25 @@
                                News.error(methodName + ":更新plc站点信息失败");

                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else if (jsonObject.getInteger("code").equals(700)) {
                            SearchLocParam param2 = new SearchLocParam();
                            param2.setBarcode(barcode);
                            param2.setBarcodeMat(barcodeMat);
                            param2.setSourceStaNo(inSta.getStaNo());
                            param2.setLocType1(locTypeDto.getLocType1());
                            String response2 = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin/yk/loc/v33")
                                    .setJson(JSON.toJSONString(param2))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject2 = JSON.parseObject(response2);
                            if (jsonObject2.getInteger("code").equals(200)) {
                                log.info("自动组托成功！！");
                            } else {
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, "自动组托失败！！！barcodeMat==>"+barcodeMat));
                                News.error(methodName + "==>组托失败:请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/yk/loc/v33", JSON.toJSONString(param), response);
                            }
                        } else {
                            staProtocol.setWorkNo(wrkNo);
@@ -1368,7 +1407,7 @@
            }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                News.warnNoLog(""+mark+" - 0"+" - 开始执行对工作档的完成操作");
                News.warnNoLog(""+mark+" - 0"+" - 开始执行对工作档的完成操作，任务号:"+crnProtocol.getTaskNo());

                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
@@ -1767,13 +1806,13 @@
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (staProtocol == null) { continue; }
                if (staProtocol.getWorkNo() != 0) {
                if (staProtocol.getWorkNo() != 0 || staProtocol.isErr()) {
                    reset = false;
                    break;
                }
            }
            // 获取led线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
            // led显示默认内容
            if (reset) {
                if (ledThread == null) {
@@ -2332,12 +2371,15 @@
     * 小车地图更新  更新锁
     * */
    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd,String sign){
        log.info("小车地图更新！[标记：{}];[BasRgvMap：{}];[staStart：{}];[staEnd：{}];",sign,JSON.toJSONString(basRgvMapCurrent),staStart,staEnd);

//        List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
        //更新当前小车锁
        try{
            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
            log.info("小车地图更新！获取最远站点;[farCurrentStaNo：{}]",farCurrentStaNo);
            Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
            log.info("小车地图更新！获取合并干涉项;[fallMerge：{}]",fallMerge);
            basRgvMapCurrent.setLockEndRoute(fallMerge);
            Integer i = basRgvMapMapper.updateById(basRgvMapCurrent);
//            if (i>0){
@@ -2346,9 +2388,14 @@

            //更新另一台小车地图
            Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther(basRgvMapCurrent.getRgvNo());
            log.info("小车地图更新！另一台小车号;[rgvNoOther：{}]",rgvNoOther);

            BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
            log.info("小车地图更新！另一台小车;[basRgvMapOther：{}]",JSON.toJSONString(basRgvMapOther));

            List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
            Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置
            log.info("小车地图更新！另一台小车可活动最远位置;[lockEndRoute：{}]",lockEndRoute);
            basRgvMapOther.setEndRoute(lockEndRoute);
            Integer i1 = basRgvMapMapper.updateById(basRgvMapOther);
//            if (i1>0){
@@ -2356,7 +2403,7 @@
//            }
            return true;
        }catch (Exception e){
            log.error("小车地图更新出错！");
            log.error("小车地图更新出错！异常原因："+e);
            return false;
        }
    }
@@ -2540,7 +2587,7 @@
    /**
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastFullSta() {
    public synchronized boolean rgvRunWrkMastFullSta() {
        boolean wrkEnable = false;
        try{
            List<BasRgvMap> basRgvMaps = basRgvMapService.selectList(new EntityWrapper<>());
@@ -2574,42 +2621,71 @@
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                    for (WrkMastSta wrkMastSta : wrkMastStaList){
                        if (wrkMastSta.getType()!=0 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                        if (wrkMastSta.getType()!=0 || wrkMastSta.getWrkType()!=3 || wrkMastSta.getWrkSts()!=0){//1:满版   3：取放
                            continue;
                        }
                        //判断工作结束位置状态
                        boolean signDev = false;
                        BasDevp devNo = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", wrkMastSta.getStaEnd()));
                        if (devNo.getDevNo()==113){
                            BasDevp devNo114 = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", 114));
                            if (!Cools.isEmpty(devNo114)){
                                if (devNo114.getOutEnable().equals("Y")){
                                    signDev = true;
                                }
                            }
                        }
                        if (!Cools.isEmpty(devNo)){
                            if (devNo.getAutoing().equals("Y") && !devNo.getWrkNo().equals(0) && !devNo.getLoading().equals("N")){
                                continue;
                            }
                            if (!signDev && devNo.getDevNo()==113){
                                if (!devNo.getAutoing().equals("Y") || !devNo.getWrkNo().equals(0) || !devNo.getLoading().equals("N")){
                                    wrkEnable = true;
                                    continue;
                                }
                                if (!devNo.getOutEnable().equals("Y")){
                                    wrkEnable = true;
                                    continue;
                                }
                            }
                        }
                        boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
                        wrkEnable = true;
                        if (sign){
                            wrkMastSta.setWrkSts(1);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                                log.error("更新小车任务成功");
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            rgvThread.setPakMk(false);
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2526");
                            if (signMap){
                                Thread.sleep(300);
                                wrkMastSta.setWrkSts(1);
                                try{
                                    wrkMastStaMapper.updateById(wrkMastSta);
                                    return;
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                break;
                                return wrkEnable;
//                                break;
                            }else {
                                log.error("3864行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                                Thread.sleep(500);
                            }
                        } else {
                            log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                            Thread.sleep(500);
                        }
                        break;
                    }
                }

            }
            if (!wrkEnable){
                rgvRunWrkMastEmptyStaAvoidance();
            }
//            if (!wrkEnable){
//                rgvRunWrkMastEmptyStaAvoidance();
//            }
        }catch (Exception e){
            log.error("3875行执行小车搬运任务下发失败");
            log.error("3875行"+e);
        }
        return wrkEnable;
    }
    /**
     * 执行小车搬运任务