1

ZY

2025-03-29 9b3ef339f87a7eb82c3322c5ec4549ebeb1221ac

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

@@ -1,29 +1,69 @@
package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.domain.enums.WorkNoType;
import com.zy.asrs.mapper.TaskWrkMapper;
import com.zy.asrs.entity.StaDesc;
import com.zy.asrs.entity.TaskWrk;
import com.zy.asrs.mapper.TaskWrkMapper;
import com.zy.asrs.service.ApiLogService;
import com.zy.asrs.service.StaDescService;
import com.zy.asrs.service.TaskWrkService;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import com.zy.asrs.service.ToWmsService;
import com.zy.asrs.utils.Utils;
import com.zy.common.service.CommonService;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.CrnTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.StaProtocol;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;

import java.util.Date;
import java.util.List;

@Slf4j
@Service("taskWrkService")
public class TaskWrkServiceImpl extends ServiceImpl<TaskWrkMapper, TaskWrk> implements TaskWrkService {

    @Autowired
    private CommonService commonService;

    @Autowired
    private StaDescService staDescService;


    @Autowired
    private ApiLogService apiLogService;


    @Autowired
    private ToWmsService toWmsService;

    @Override
    public TaskWrk selectByTaskNo(String taskNo) {
        return this.baseMapper.selectByTaskNo(taskNo);
    }

    @Override
    public TaskWrk selectByStartPoint(String taskNo) {
        return this.baseMapper.selectByStartPoint(taskNo);
    }

    @Override
    public TaskWrk selectByBarcode(String barcode) {
        return this.baseMapper.selectByBarcode(barcode);
    }

    @Override
@@ -37,7 +77,7 @@
    }

    @Override
    @Transactional
    @Transactional(propagation = Propagation.REQUIRES_NEW)
    public void distribute(String taskNo, Long userId) {
        TaskWrk taskWrk = this.selectByTaskNo(taskNo);
        if (taskWrk == null) {
@@ -51,8 +91,11 @@
        //创建任务
        if (taskWrk.getIoType() == 1) {
            //1.入库
            if (taskWrk.getStartPoint() == null || taskWrk.getTargetPoint() == null) {
                throw new CoolException("未接收到起点和终点，不进行派发");
            }
            startup(taskWrk, userId);
        }else if(taskWrk.getIoType() == 2){
        } else if (taskWrk.getIoType() == 2) {
            //2.出库
            stockOut(taskWrk, userId);
        } else if (taskWrk.getIoType() == 3) {
@@ -63,41 +106,112 @@

    @Override
    public void startup(TaskWrk taskWrk, Long userId) {

        //入库任务派发
        StaDesc staDesc = staDescService.queryCrn(taskWrk.getIoType(), Integer.parseInt(taskWrk.getStartPoint()), taskWrk.getCrnNo());
        if (staDesc == null) {
            throw new CoolException("入库路径不存在");
        }
        int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
        taskWrk.setWrkNo(workNo);//工作号
        taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
        taskWrk.setAssignTime(new Date());//派发时间
        taskWrk.setWrkSts(2);//工作状态 2.设备上走
        taskWrk.setWrkSts(3);//工作状态 2.吊车入库
        taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号
        taskWrk.setModiTime(new Date());
        taskWrk.setModiUser(userId);
        updateById(taskWrk);
        super.updateById(taskWrk);

        CrnSlave.CrnStn crnStn = Utils.getCrnStnByStaNo(staDesc.getCrnStn(), true);
        if (crnStn == null) {
            throw new CoolException("堆垛机入库站不存在");
        }
        // 命令下发区 --------------------------------------------------------------------------
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(staDesc.getCrnNo()); // 堆垛机编号
        crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
        crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位列
        crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位层
        crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位排
        crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位列
        crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位层
        crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位排
        crnCommand.setCommand((short) 1);
        if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(5, crnCommand))) {
            log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
            throw new CoolException("堆垛机命令生成失败");
        } else {
            toWmsService.addReportLog(taskWrk);
        }
    }

    @Override
    public void stockOut(TaskWrk taskWrk, Long userId) {
        //出库任务派发
        StaDesc staDesc = staDescService.queryCrn(taskWrk.getIoType(), Integer.parseInt(taskWrk.getTargetPoint()), taskWrk.getCrnNo());
        if (staDesc == null) {
            return;//不存在路径
        }
        int workNo = commonService.getWorkNo(WorkNoType.PAKOUT.type);//获取出库工作号
        taskWrk.setWrkNo(workNo);//工作号
        taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
        taskWrk.setAssignTime(new Date());//派发时间
        taskWrk.setWrkSts(11);//工作状态 11.生成出库ID
        taskWrk.setWrkSts(12);//工作状态 12.吊车入库中
        taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号
        taskWrk.setModiTime(new Date());
        taskWrk.setModiUser(userId);
        updateById(taskWrk);
        super.updateById(taskWrk);

        CrnSlave.CrnStn crnStn = Utils.getCrnStnByStaNo(staDesc.getCrnStn(), false);
        if (crnStn == null) {
            throw new CoolException("堆垛机出库站不存在");
        }
        //生成堆垛机出库命令
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(taskWrk.getCrnNo()); // 堆垛机编号
        crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
        crnCommand.setSourcePosX(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位排
        crnCommand.setSourcePosY(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位列
        crnCommand.setSourcePosZ(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位层
        crnCommand.setDestinationPosX(crnStn.getBay().shortValue());     // 目标库位排
        crnCommand.setDestinationPosY(crnStn.getLev().shortValue());     // 目标库位列
        crnCommand.setDestinationPosZ(crnStn.getRow().shortValue());     // 目标库位层
        crnCommand.setCommand((short) 1);
        if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(5, crnCommand))) {
            log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
            throw new CoolException("堆垛机命令生成失败");
        }

        //生成输送线命令
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
        StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()).clone();
        staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
        staProtocol.setStaNo((short) Integer.parseInt(taskWrk.getTargetPoint()));
        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(3, staProtocol))) {
            log.error("输送线命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
            throw new CoolException("输送线命令生成失败");
        }
    }

    @Override
    public void locMove(TaskWrk taskWrk, Long userId) {
        //库格移载任务派发
        if (Cools.isEmpty(taskWrk.getTargetPoint())) {
            return;
        }
        int workNo = commonService.getWorkNo(WorkNoType.OTHER.type);//获取工作号
        taskWrk.setWrkNo(workNo);//工作号
        taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
        taskWrk.setAssignTime(new Date());//派发时间
        taskWrk.setWrkSts(11);//工作状态 11.生成出库ID
        //taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号
        taskWrk.setModiTime(new Date());
        taskWrk.setModiUser(userId);
        updateById(taskWrk);
        super.updateById(taskWrk);
    }

    @Override