#

Junjie

2023-12-15 91f54031fbe09695c0664aa712a66d31fd97cd7b

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

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

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
@@ -37,8 +36,6 @@

import java.util.*;
import java.util.stream.Collectors;

import static com.zy.asrs.utils.Utils.isJson;

/**
 * 立体仓库WCS系统主流程业务
@@ -106,7 +103,7 @@
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private WrkMastLocMapper wrkMastLocMapper;
    private WrkMastLogMapper wrkMastLogMapper;
    @Autowired
    private BasLiftOptService basLiftOptService;
    @Autowired
@@ -1390,7 +1387,7 @@
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            if (wrkMast.getWrkSts() == 111) {
                                // 保存工作主档历史档
                                if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
                                if (wrkMastLogMapper.save(wrkMast.getWrkNo()) <= 0) {
                                    log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
                                }
                                // 删除工作主档
@@ -1680,6 +1677,16 @@
                    News.info("{}任务，{}小车，小车在输送站点调度小车避让失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                    return false;
                }
            }

            if (!basDevp.getAutoing().equals("Y")) {
                News.info("{}任务，{}站点，没有自动信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
                return false;//出库站点不可出
            }

            if (basDevp.getLoading().equals("Y")) {
                News.info("{}任务，{}站点，存在有物信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
                return false;//出库站点不可出
            }

            if (!basDevp.getOutEnable().equals("Y")) {
@@ -2817,6 +2824,7 @@
                List<LedCommand> commands = new ArrayList<>();
                // 工作档集合
                List<WrkMast> wrkMasts = new ArrayList<>();
                List<WrkMastLog> wrkMastLogs = new ArrayList<>();
                for (Integer staNo : led.getStaArr()) {
                    // 获取叉车站点
                    StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -2827,16 +2835,41 @@
                    }
                    // 获取工作档数据
                    WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
                    if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) {
                        continue;
                    Integer wrkNo = staProtocol.getWorkNo().intValue();
                    Integer ioType = null;
                    String sourceLocNo = null;
                    String locNo = null;
                    Integer wrkStaNo = null;
                    String barcode = null;
                    if (wrkMast == null) {
                        //查询历史档
                        WrkMastLog wrkMastLog = wrkMastLogMapper.selectLatestByWorkNo(staProtocol.getWorkNo().intValue());
                        if (wrkMastLog == null) {
                            continue;
                        }
                        ioType = wrkMastLog.getIoType();
                        sourceLocNo = wrkMastLog.getSourceLocNo();
                        locNo = wrkMastLog.getLocNo();
                        wrkStaNo = wrkMastLog.getStaNo();
                        barcode = wrkMastLog.getBarcode();
                        wrkMastLogs.add(wrkMastLog);
                    }else {
                        if (wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) {
                            continue;
                        }
                        ioType = wrkMast.getIoType();
                        sourceLocNo = wrkMast.getSourceLocNo();
                        locNo = wrkMast.getLocNo();
                        wrkStaNo = wrkMast.getStaNo();
                        barcode = wrkMast.getBarcode();
                        wrkMasts.add(wrkMast);
                    }
                    wrkMasts.add(wrkMast);
                    // 组装命令
                    LedCommand ledCommand = new LedCommand();
                    ledCommand.setWorkNo(wrkMast.getWrkNo());
                    ledCommand.setIoType(wrkMast.getIoType());
                    ledCommand.setWorkNo(wrkNo);
                    ledCommand.setIoType(ioType);
                    // 出库模式
                    switch (wrkMast.getIoType()) {
                    switch (ioType) {
                        case 101:
                            ledCommand.setTitle("全板出库");
                            break;
@@ -2854,17 +2887,17 @@
                            ledCommand.setEmptyMk(true);
                            break;
                        default:
                            News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                            News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkNo, ioType);
                            break;
                    }
                    ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                    ledCommand.setLocNo(wrkMast.getLocNo());
                    ledCommand.setStaNo(wrkMast.getStaNo());
                    ledCommand.setBarcode(wrkMast.getBarcode());
                    if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", wrkMast.getSourceLocNo()));
                    ledCommand.setSourceLocNo(sourceLocNo);
                    ledCommand.setLocNo(locNo);
                    ledCommand.setStaNo(wrkStaNo);
                    ledCommand.setBarcode(barcode);
                    if (ioType != 110 && ioType != 10) {
                        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
                        locDetls.forEach(locDetl -> {
                            Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkMast.getWrkNo());
                            Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
                            Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
                            Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
                            Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
@@ -2895,23 +2928,29 @@
                        });

                        if (locDetls.isEmpty()) {
                            List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkMast.getWrkNo()));
                            List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
                            wrkDetls.forEach(wrkDetl -> {
                                ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getAnfme(), wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
                            });

                            if (wrkDetls.isEmpty()) {//从历史档查询
                                List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkMast.getWrkNo());
                                wrkDetlLogs.forEach(wrkDetl -> {
                                    ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getAnfme(), wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
                                });
                                List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo, barcode);
                                for (WrkDetlLog wrkDetlLog : wrkDetlLogs) {
                                    ledCommand.getMatDtos().add(new MatDto(wrkDetlLog.getMatnr(), wrkDetlLog.getMaktx(), wrkDetlLog.getAnfme(), wrkDetlLog.getAnfme(), wrkDetlLog.getSpecs(), wrkDetlLog.getSuppCode()));
                                }

                            }
                        }
                    }

                    commands.add(ledCommand);
                }
                Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
                Set<Integer> workNos = null;
                if (!wrkMasts.isEmpty()) {
                    workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
                }else {
                    workNos = wrkMastLogs.stream().map(WrkMastLog::getWrkNo).collect(Collectors.toSet());
                }
                // 获取LED线程
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
                // 相同工作号集合则过滤
@@ -3350,6 +3389,17 @@

            //获取小车到输送站点行走命令
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id);
            if (result == null) {
                //路径获取失败，需要解锁上面锁定的路径
                //尝试解锁目标站路径
                boolean result3 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, false);//所使用的路径进行解锁
                if (!result3) {
                    News.info("{}任务，{}小车，路径解锁失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                    return false;//路径解锁失败
                }
                News.info("{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径解锁失败
            }
            List<NyShuttleHttpCommand> commands = result.getCommands();

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
@@ -3828,7 +3878,7 @@

                if (wrkMast.getWrkSts() == 111) {
                    // 保存工作主档历史档
                    if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
                    if (wrkMastLogMapper.save(wrkMast.getWrkNo()) <= 0) {
                        log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
                    }
                    // 删除工作主档