#小车避让库位更新

Junjie

2023-12-07 92ab7fb5928ca5f877339d9f3cb38ddafb80cc4e

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

@@ -398,7 +398,7 @@
    }

    /**
     * 拣料、并板、盘点再入库
     * 拣料、并板再入库
     */
    @Transactional
    public synchronized void stnToCrnStnPick(){
@@ -441,7 +441,7 @@
                        continue;
                    }

                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104)
                            || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
                        continue;
                    }
@@ -495,10 +495,6 @@
                        News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
                        continue;
                    }
                    if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
                        News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
                        continue;
                    }

                    // 修改库位状态 Q.拣料/盘点/并板再入库
                    LocMast locMast = locMastService.selectById(sourceLocNo);
@@ -515,7 +511,7 @@
    }

    /**
     * 拣料、并板、盘点再入库(325、331、333、339)
     * 拣料、并板再入库(325、331、333、339)
     */
    @Transactional
    public synchronized void stnToCrnStnPick2(){
@@ -545,7 +541,7 @@
                        continue;
                    }

                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104)
                            || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
                        continue;
                    }
@@ -599,10 +595,6 @@
                        News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
                        continue;
                    }
                    if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
                        News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
                        continue;
                    }

                    // 修改库位状态 Q.拣料/盘点/并板再入库
                    LocMast locMast = locMastService.selectById(sourceLocNo);
@@ -618,6 +610,127 @@
                }
            }

        }
    }

    /**
     * 盘点再入库
     */
    @Transactional
    public synchronized void stnToCrnStnPlate(){
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历拣料入库口
            for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
//                if (pickSta.getStaNo() == 325 || pickSta.getStaNo() == 331 || pickSta.getStaNo() == 333 || pickSta.getStaNo() == 339) {
//                    continue;
//                }

                // 获取拣料入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && (staProtocol.getWorkNo() > 0)
                        && staProtocol.isPakMk()){

                    WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {//找不到工作档
                        continue;
                    }

                    if ((wrkMast.getIoType() != 107)
                            || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
                        continue;
                    }

                    //*********************同库位组校验*********************
                    boolean flag = false;
                    String th = "";
                    List<String> innerLoc = Utils.getGroupInnerLoc(wrkMast.getSourceLocNo());
                    for (String loc : innerLoc) {
                        LocMast locMast = locMastService.selectById(loc);
                        if (locMast == null) {
                            continue;
                        }

                        if (!locMast.getLocSts().equals("F")) {
                            flag = true;
                            th = loc + "库位存在未回库任务";
                            break;
                        }
                    }
                    if (flag) {
                        News.info(th);
                        continue;
                    }
                    //*********************同库位组校验*********************

                    // 保存工作主档历史档
                    if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
                        News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
                        continue;
                    }

                    //盘点找新库位
                    try {
                        LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位
                        SearchLocParam param = new SearchLocParam();
                        param.setWrkNo(wrkMast.getWrkNo());
                        param.setBarcode(wrkMast.getBarcode());
                        param.setIoType(107);//盘点
                        param.setSourceStaNo(wrkMast.getStaNo());
                        param.setLocType1(locMast.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        Integer code = jsonObject.getInteger("code");
                        if (code.equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            //获取回库提升机目标站
                            LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
                            if (liftStaProtocol == null) {
                                News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
                                continue;
                            }

                            // 更新工作档数据状态
                            wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 107->57
                            wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                            wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
                            wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
                            wrkMast.setLocNo(dto.getLocNo()); // 目标库位
                            wrkMast.setShuttleNo(null); // 穿梭车清空
                            wrkMast.setLiftNo(null);// 提升机清空
                            wrkMast.setModiTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
                                continue;
                            }

                            staProtocol.setStaNo(dto.getSourceStaNo().shortValue());//写入目标站
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                        } else if (code == 500){
                            News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }

                }
            }
        }
    }

@@ -1422,10 +1535,12 @@
                if(!("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode))) {
                    //存在条码值，判断是否和当前工作档一致
                    if (!barcode.equals(wrkMast.getBarcode())) {
                        News.info("{}任务，条码器{}值{}与工作档条码值不一致，系统跳过执行", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId, barcode);
                        News.info("{}任务,{}站点，条码器{}值{}与工作档条码值{}不一致，系统跳过执行", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId, barcode,wrkMast.getBarcode());
                        return false;//站点不可入
                    }
                }
            }else {
                return false;
            }

            //判断提升机整个三楼是否都处于入库模式
@@ -1725,11 +1840,11 @@
     */
    public synchronized void locToLocExecute() {
        //获取出入库工作档
        List<WrkMast> wrkMasts = wrkMastMapper.selectInOutWrkMast();
        if (wrkMasts.size() > 0) {
            //有出入库任务，必须等待任务执行完毕再执行库位移转
            return;
        }
//        List<WrkMast> wrkMasts = wrkMastMapper.selectInOutWrkMast();
//        if (wrkMasts.size() > 0) {
//            //有出入库任务，必须等待任务执行完毕再执行库位移转
//            return;
//        }

        //查询库位移转工作档
        List<WrkMast> wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast();
@@ -2489,7 +2604,9 @@
                        RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303");
                    }
                }
            }else if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) {
            }

            if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) {
                //调度机械臂
                //查询是否有工作档
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol317.getWorkNo().intValue());
@@ -2567,7 +2684,7 @@
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            log.info("悬挂线，wms返回结果：" + jsonObject);
            News.info("悬挂线，WMS返回结果：" + jsonObject);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {//呼叫AGV
                return true;
@@ -2709,7 +2826,7 @@
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setLocNo(wrkMast.getLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10 && wrkMast.getIoType() != 107) {
                    //for (WrkDetl wrkDetl : wrkDetls) {
                    //    LocDetl locDetl = locDetlService.selectOne(new EntityWrapper<LocDetl>().eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
                    //
@@ -2749,11 +2866,11 @@
                    //}
                    List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", wrkMast.getSourceLocNo()));
                    locDetls.forEach(locDetl -> {
                        Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no",wrkMast.getWrkNo());
                        Utils.wapperSetCondition(wrapper,"batch",locDetl.getBatch());
                        Utils.wapperSetCondition(wrapper,"three_code",locDetl.getThreeCode());
                        Utils.wapperSetCondition(wrapper,"dead_time",locDetl.getDeadTime());
                        Utils.wapperSetCondition(wrapper,"supp_code",locDetl.getSuppCode());//料箱码
                        Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkMast.getWrkNo());
                        Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
                        Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
                        Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
                        Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//料箱码
                        WrkDetl detl = wrkDetlService.selectOne(wrapper);
                        if (Cools.isEmpty(detl)) {
                            String suppCode = "";
@@ -2770,6 +2887,14 @@
                        }
                    });
                }

                if (wrkMast.getIoType() == 107) {
                    List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkMast.getWrkNo()));
                    wrkDetls.forEach(wrkDetl -> {
                        ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getAnfme(), wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
                    });
                }

                commands.add(ledCommand);
            }
            Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
@@ -3017,9 +3142,18 @@
                    continue;
                }

                if (shuttleProtocol.getVoltage() < 5630) {
                    continue;//电压不够继续充电
                //***************判断是否满充校准***************
                EntityWrapper<Config> wrapper1 = new EntityWrapper<>();
                wrapper.eq("code", "shuttleMaxPowerVerify");
                Config config1 = configService.selectOne(wrapper1);
                if (config1 != null) {
                    if (config1.getValue().equals("true")) {
                        if (shuttleProtocol.getVoltage() < 5630) {
                            continue;//电压不够继续充电
                        }
                    }
                }
                //***************判断是否满充校准***************

                //小车满电，结束充电任务
                NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), false);