#

luxiaotao1123

2022-10-09 9eff448bf1bee9a54ccbc423da1f265ddf549119

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

@@ -165,19 +165,39 @@
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        Integer code = jsonObject.getInteger("code");
                        if (code.equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);
                            // plc 处理
                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);

                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        } else if (code == 500){
                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                if (!Cools.isEmpty(errorMsg)) {
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                }
                            }
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        } else if (code == 700) {
                            staProtocol.setWorkNo((short) 9995);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = barcode + "托盘识别异常，请先进行组托！";
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                            }
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
@@ -514,7 +534,7 @@
            // 目标库位 ===>> 最外层库位
            if (locMastService.isOutMost(wrkMast.getLocNo())) {
                // 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库
                Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
                Integer steNo = this.hasCar(wrkMast.getLocNo());
                // 有小车
                if (steNo != null) {
                    // 小车行走到堆垛机待搬移点
@@ -861,6 +881,8 @@
        if (locMastService.isOutMost(wrkMast.getSourceLocNo())) {
            // 目标库位 ===>> 最外层库位
            if (locMastService.isOutMost(wrkMast.getLocNo())) {
                // todo:luxiaotao 判断目标库位是否存在小车，如果存在，则搬走小车

                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
@@ -1100,6 +1122,22 @@
                }
            }
        }
    }

    /**
     * 当前库位组是否存在空闲小车
     */
    public Integer hasCar(String locNo) {
        for (SteSlave ste : slaveProperties.getSte()) {
            // 获取堆垛机信息
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
                return steProtocol.getSteNo().intValue();
            }
        }
        return null;
    }

    /**
@@ -1931,14 +1969,36 @@
                    staProtocol = staProtocol.clone();
                }
                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 ||  (staProtocol.getWorkNo() >= 9990 && staProtocol.getWorkNo() <= 9999) || staProtocol.getWorkNo() == 9997) && staProtocol.isPakMk()) {
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() >= 9990 || staProtocol.getWorkNo() <= 9999))
                        && staProtocol.isPakMk()) {

                    // 获取条码扫描仪信息
                    String barcode = null;
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
                    if (barcodeThread != null) {
                        String barcode0 = barcodeThread.getBarcode();
                        if(!Cools.isEmpty(barcode0)) {
//                            log.info("{}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode0);
                            if(!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
                                barcode = barcode0;
                            }
                        }
                    }

                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setIoType(10);
                        if (!Cools.isEmpty(barcode)) {
                            param.setBarcode(barcode);
                        }
                        param.setSourceStaNo(emptyInSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
@@ -1948,7 +2008,8 @@
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                        Integer code = jsonObject.getInteger("code");
                        if (code.equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            // 更新站点信息 且 下发plc命令
@@ -1960,7 +2021,13 @@
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                if (!Cools.isEmpty(errorMsg)) {
                                    MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
                                }
                            }
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();