1

zhang

2025-06-13 9c3da520c38c813d6b615adb5b49e7519c994f6b

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

@@ -7,7 +7,6 @@
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.controller.CrnController;
import com.zy.asrs.controller.OpenController;
import com.zy.asrs.controller.SiteController;
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.domain.enums.WorkNoType;
@@ -16,7 +15,10 @@
import com.zy.asrs.entity.param.Result;
import com.zy.asrs.entity.param.StorageEscalationParam;
import com.zy.asrs.entity.param.TaskOverToWms;
import com.zy.asrs.mapper.*;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.mapper.StaDescMapper;
import com.zy.asrs.mapper.TaskWrkMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.CommandUtils;
import com.zy.asrs.utils.Utils;
@@ -29,28 +31,26 @@
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.LedSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CommandPackage;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.LedThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.Synchronized;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.io.IOException;
import java.util.*;
import java.util.concurrent.CompletableFuture;

/**
 * 立体仓库WCS系统主流程业务
@@ -304,6 +304,8 @@
                    }
                    Short workNo = staProtocol.getWorkNo();
                    Short stano = staProtocol.getStaNo();
                    //led
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());

                    // 尺寸检测异常
                    boolean back = false;
@@ -332,150 +334,55 @@
                        errMsg = "超重";
                        back = true;
                    }
                    if (!back && staProtocol.isBarcodeErr()) {
                        errMsg = "扫码失败";
                        back = true;
                    }
//                    if (!back && staProtocol.isBarcodeErr()) {
//                        errMsg = "扫码失败";
//                        back = true;
//                    }
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && workNo >= 9990
                            && staProtocol.isPakMk()) {
                        // 获取条码扫描仪信息
                        BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                        if (barcodeThread == null) {
                            continue;
                        }
                        String BoxNo = barcodeThread.getBarcode();
                        TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", BoxNo));
                        if (!Cools.isEmpty(taskWrk1)) {
                            log.info("托盘码：" + BoxNo + "任务档存在");
                            if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
                                StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                        .eq("crn_no", taskWrk1.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
                                if (Cools.isEmpty(staDesc)) {
                                    return;
                                } else {
                                    continue;
                                }
                        if (back) {
                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = errMsg;
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                            }
                        }
                        if (back) {
                            storageEscalationParam.setWCSStatus(1);
                            storageEscalationParam.setWCSErrorMessage(storageEscalationParam.getWCSErrorMessage() + errMsg);
                        }
                        storageEscalationParam.setBoxNo(BoxNo);
                        //是否满板 1满板  0空板
                        storageEscalationParam.setStaType(staProtocol.isEmptyMk() ? 0 : 1);
                        //库位类型 1高库位 0低库位
                        storageEscalationParam.setLocType(staProtocol.isHigh() ? 1 : 0);
                        storageEscalationParam.setTerminalNo(staProtocol.getSiteId());
                        log.info("组托入库={}", storageEscalationParam);
                        String response = "";
                        Boolean success = false;
                        try {
                            response = new HttpHandler.Builder()

                        TaskWrk taskWrk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().orderBy("create_time"));
                        if (taskWrk != null) {
                            HashMap<String, Object> hashMap = new HashMap<>();
                            hashMap.put("TaskNo", taskWrk.getTaskNo());
                            //开始上报,任务开始时，WCS回调WMS
                            String response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath(inboundTaskApplyPath)
                                    .setJson(JSON.toJSONString(storageEscalationParam))
                                    .setPath(taskStatusFeedbackPath)
                                    .setJson(JSON.toJSONString(hashMap))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject = JSON.parseObject(response);
                            if (back) {
                                staProtocol.setWorkNo((short) 9991);
                                staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            } else {
                                if (!Cools.isEmpty(response) && !Cools.isEmpty(jsonObject.get("ReturnStatus")) && jsonObject.get("ReturnStatus").equals(0) && !Cools.isEmpty(jsonObject.get("Result").toString())) {
                                    Result result = JSON.parseObject(jsonObject.get("Result").toString(), Result.class);
                                    // 创新一个入库工作档
                                    TaskWrk taskWrk = taskWrkService.selectByTaskNo(result.getTaskNo());
                                    if (Cools.isEmpty(taskWrk)) {
                                        taskWrk = createTask1(result, BoxNo,staProtocol.getSiteId());
                                        if (Cools.isEmpty(taskWrk)) {
                                            log.error("库位异常，库位号：={}", taskWrk.getOriginTargetPoint());
                                        } else {
                                            taskWrkService.insert(taskWrk);
                                            StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                                    .eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
                                            staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                                            staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                            HashMap<String, Object> hashMap = new HashMap<>();
                                            hashMap.put("TaskNo", taskWrk.getTaskNo());
                                            try {
                                                //开始上报,任务开始时，WCS回调WMS
                                                response = new HttpHandler.Builder()
                                                        .setUri(wmsUrl)
                                                        .setPath(taskStatusFeedbackPath)
                                                        .setJson(JSON.toJSONString(hashMap))
                                                        .build()
                                                        .doPost();
                                                JSONObject jsonObject1 = JSON.parseObject(response);
                                                Boolean bool = false;
                                                if (jsonObject1.get("ReturnStatus").equals(0)) {
                                                    taskWrk.setStatus(2);//派发任务
                                                    bool = true;
                                                    taskWrkService.updateById(taskWrk);
                                                }
                                                apiLogService.save("wcs开始入库任务上报wms"
                                                        , wmsUrl + TaskExecCallback
                                                        , null
                                                        , "127.0.0.1"
                                                        , JSON.toJSONString(hashMap)
                                                        , response
                                                        , bool
                                                );
                                            } catch (Exception e) {

                                            }
                                        }
                                    } else {
                                        staProtocol.setWorkNo((short) 9991);
                                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    }

                                } else {
                                    staProtocol.setWorkNo((short) 9991);
                                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                }
                            JSONObject jsonObject1 = JSON.parseObject(response);
                            Boolean bool = false;
                            if (jsonObject1.get("ReturnStatus").equals(0)) {
                                taskWrk.setStatus(2);//派发任务
                                bool = true;
                                taskWrkService.updateById(taskWrk);
                            }
                        } catch (Exception e) {
                            log.error("请求入库调用接口失败");
                            log.error("异常信息打印：" + e);
                            try {
                                BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
                                if (Cools.isEmpty(basDevp)) {
                                    log.error("站点号异常" + inSta.getStaNo());
                                } else if (basDevp.getStaErr() != 0) {
                                    basDevp.setStaErr(2);
                                    basDevpService.updateById(basDevp);
                                }
                            } catch (Exception e1) {
                                // 退回
                                log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1);
                            }
                        } finally {
                            apiLogService.save("wms请求入库货位接口"
                                    , wmsUrl + inboundTaskApplyPath
                            apiLogService.save("wcs开始入库任务上报wms"
                                    , wmsUrl + TaskExecCallback
                                    , null
                                    , "127.0.0.1"
                                    , JSON.toJSONString(storageEscalationParam)
                                    , JSON.toJSONString(hashMap)
                                    , response
                                    , success
                                    , bool
                            );
                        }
                        log.info("入库请求参数=" + JSON.toJSONString(BoxNo));
                        log.info("入库请求返回参数=" + JSON.toJSONString(response));
                    }
                }
            }
        } catch (Exception e) {
        } catch (
                Exception e) {
            log.error("generateStoreWrkFile e", e);
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
@@ -498,19 +405,28 @@
                        staProtocol = staProtocol.clone();
                    }
                    Short workNo = staProtocol.getWorkNo();
                    //led
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());

                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && staProtocol.isPakMk()) {
                        // 获取条码扫描仪信息
                        String BoxNo = "";
                        if(!staProtocol.isEmptyMk()&&staProtocol.getWorkNo()<9990){
                            TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("task_no", workNo));
                        //站点拣料回库任务是会有一条
                        TaskWrk taskWrkk = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("start_point", staProtocol.getSiteId()));
                        if (!Cools.isEmpty(taskWrkk)) {
                            continue;
                        }
                        if (!staProtocol.isEmptyMk() && staProtocol.getWorkNo() < 9990) {

                            TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("wrk_no", workNo));

                            if (!Cools.isEmpty(taskWrk1)) {
                                BoxNo = taskWrk1.getBarcode();
                            } else {
                                TaskWrkLog taskWrkLog = taskWrkLogService.selectOne(new EntityWrapper<TaskWrkLog>().eq("task_no", workNo).orderBy("modi_time", false));
                                TaskWrkLog taskWrkLog = taskWrkLogService.selectOne(new EntityWrapper<TaskWrkLog>().eq("wrk_no", workNo).orderBy("modi_time", false));
                                if (taskWrkLog != null) {
                                    BoxNo = taskWrkLog.getBarcode();
                                }
@@ -536,10 +452,11 @@

                            if (!Cools.isEmpty(response) && !Cools.isEmpty(jsonObject.get("ReturnStatus")) && jsonObject.get("ReturnStatus").equals(0) && !Cools.isEmpty(jsonObject.get("Result").toString())) {
                                Result result = JSON.parseObject(jsonObject.get("Result").toString(), Result.class);

                                // 创新一个入库工作档
                                TaskWrk taskWrk = taskWrkService.selectByTaskNo(result.getTaskNo());
                                if (Cools.isEmpty(taskWrk)) {
                                    taskWrk = createTask1(result, BoxNo,staProtocol.getSiteId());
                                    taskWrk = createTask1(result, BoxNo, staProtocol.getSiteId());
                                    if (Cools.isEmpty(taskWrk)) {
                                        log.error("库位异常，库位号：={}", taskWrk.getOriginTargetPoint());
                                    } else {
@@ -579,6 +496,11 @@
                                        }
                                    }
                                } else {
                                    // led 异常显示
                                    if (ledThread != null) {
                                        String errorMsg = "任务已存在！！！！";
                                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                                    }
                                    staProtocol.setWorkNo((short) 9991);
                                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -586,6 +508,11 @@
                                }

                            } else {
                                // led 异常显示
                                if (ledThread != null) {
                                    String errorMsg = jsonObject.getString("ErrorMessage");
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                                }
                                staProtocol.setWorkNo((short) 9991);
                                staProtocol.setStaNo(inSta.getBackSta().shortValue());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -926,28 +853,28 @@
                            if (taskWrk == null) {
                                continue;
                            }
                            log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk));
//                            R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
                            staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                            staProtocol.setStaNo(staDesc.getStnNo().shortValue());
                            boolean offer = false;
                            try {
                                offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
                            } catch (Exception e) {
                                log.error("下发输送线任务失败：异常:" + e);
                                log.error("下发输送线任务失败：异常:offer:" + offer);
                            }
//                            log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk));
////                            R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
//                            staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
//                            staProtocol.setStaNo(staDesc.getStnNo().shortValue());
//                            boolean offer = false;
//                            try {
//                                offer = MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol));
//                            } catch (Exception e) {
//                                log.error("下发输送线任务失败：异常:" + e);
//                                log.error("下发输送线任务失败：异常:offer:" + offer);
//                            }
//                            JSONObject jsonObject = JSON.parseObject(JSON.toJSONString(r));
                            if (offer) {
                                log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
//                            if (offer) {
//                                log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
                                taskWrk.setStatus(5);
                                taskWrk.setWrkSts(14);
                                taskWrkService.updateById(taskWrk);

                            } else {
                                log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(taskWrk));
//                                log.error("下发输送线任务失败：异常信息:"+JSON.toJSONString(r));
                            }
//                            } else {
//                                log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(taskWrk));
////                                log.error("下发输送线任务失败：异常信息:"+JSON.toJSONString(r));
//                            }
                        }
                    } catch (Exception e) {
                        log.error("出库到出库站异常:异常信息：" + e);
@@ -1118,9 +1045,19 @@

                    LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
                    //判断其库位是否为深库位，如果为深库位找其浅库位是都有货
                    if (locMast.getRow1() == 8 || locMast.getRow1() == 5) {
                    if (locMast.getRow1() == 5) {
                        LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("row1", (locMast.getRow1() + 1))
                                .eq("bay1", locMast.getBay1())
                                .eq("lev1", locMast.getLev1()).eq("loc_sts", "F"));
                        if (!Cools.isEmpty(locMast1)) {
                            log.info(locMast.getLocNo() + "出深库位，浅库位有货");
                            continue;
                        }
                    }
                    if (locMast.getRow1() == 8) {
                        LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("row1", (locMast.getRow1() - 1))
                                .eq("bay1", locMast.getBay1())
                                .eq("lev1", locMast.getLev1()).eq("loc_sts", "F"));
                        if (!Cools.isEmpty(locMast1)) {
@@ -1334,9 +1271,9 @@

    }

    /**
     * 执行对工作档的完成操作
     */
/**
 * 执行对工作档的完成操作
 */
//    public void storeFinished() {
//        for (CrnSlave crn : slaveProperties.getCrn()) {
//            // 获取堆垛机信息
@@ -1768,7 +1705,7 @@
        return response;
    }

    private TaskWrk createTask1(Result result, String barcode,Integer staNo) {
    private TaskWrk createTask1(Result result, String barcode, Integer staNo) {
        String locNo = Utils.Fusion(result.getRow(), result.getFloor(), result.getColumn());

        Date now = new Date();
@@ -1782,7 +1719,7 @@
        taskWrk.setIoPri(13);//优先级
        taskWrk.setBarcode(barcode);//条码
        taskWrk.setTargetPoint(locNo);
        taskWrk.setStartPoint(staNo+"");
        taskWrk.setStartPoint(staNo + "");
        taskWrk.setCrnNo(Integer.valueOf(result.getAlley()));//堆垛机号

        if (taskWrk.getIoType() == 1) {
@@ -1836,4 +1773,44 @@
        return taskWrk;
    }

//----------------------------------------------------------电视机显示处理----------------------------------------

    /**
     * 其他  ===>> LED显示器复位，显示默认信息
     */
    public synchronized void ledReset(Integer mark) {

//        log.info(""+mark+" - 0"+" - 开始执行:其他  ===>> LED显示器复位，显示默认信息");
        for (LedSlave led : slaveProperties.getLed()) {

            // 获取输送线plc线程
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
            // 命令集合
            boolean reset = true;
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (staProtocol == null) {
                    continue;
                }
                if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
                    reset = false;
                    break;
                }
            }
            // 获取led线程
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
            // led显示默认内容
            if (reset && !ledThread.isLedMk()) {
                ledThread.setLedMk(true);
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
                    log.error("" + mark + " - 1" + " - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                } else {

                }
            }
        }
//        log.info(""+mark+" - 0"+" - 执行完成：其他  ===>> LED显示器复位，显示默认信息");
    }

}