#小车地图bug修复，小车动画

1

5 天以前 a84e04a54fa499bcff8c9806df5c15e09ce3c504

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

@@ -4,9 +4,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.R;
import com.core.common.*;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.AgvTaskAssignmentParam;
@@ -1081,7 +1079,7 @@
            //mark - 3 - ....
            this.locToLoc(crn, crnProtocol,mark);
            //预调度
//            this.crnRebackHp(crnProtocol, crnThread);
            this.crnRebackHp(crnProtocol, crnThread);

        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
@@ -1097,11 +1095,11 @@
            }
            int x=1;
            switch (crnProtocol.getCrnNo()){
                case 1: x =1; break;
                case 2: x =3; break;
                case 3: x =5; break;
                case 4: x =7; break;
                case 5: x =9; break;
                case 1: x =2; break;
                case 2: x =6; break;
                case 3: x =11; break;
                case 4: x =14; break;
                case 5: x =18; break;
            }

            // 已经存在吊车执行任务时，则过滤3,12
@@ -1126,7 +1124,7 @@
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 任务模式:  回原点
            crnCommand.setSourcePosX((short) x);     // 源库位排
            crnCommand.setSourcePosY((short) 1);     // 源库位列
            crnCommand.setSourcePosY((short) 52);     // 源库位列
            crnCommand.setSourcePosZ((short) 1);     // 源库位层
            crnCommand.setDestinationPosX((short) 0);     // 目标库位排
            crnCommand.setDestinationPosY((short) 0);     // 目标库位列
@@ -1902,31 +1900,33 @@
                    News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
                    crnThread.setResetFlag(true);
                }
            } else if (crnProtocol.getTaskNo() == 9996) {//盘点入库衔接
                //  状态：等待确认 并且  任务完成位 = 1
                if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                    // 入库 + 库位转移  ==> 4.入库完成
                    if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                        wrkMast.setWrkSts(4L);
                    } else {
                        continue;
                    }
                    Date now = new Date();
                    wrkMast.setCrnEndTime(now);
                    wrkMast.setModiTime(now);
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        // 堆垛机复位
                        log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
                        News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
                        crnThread.setResetFlag(true);
                    }
                }
            }else{
            }
//            else if (crnProtocol.getTaskNo() == 9996) {//盘点入库衔接
//                //  状态：等待确认 并且  任务完成位 = 1
//                if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
//                    News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());
//
//                    // 获取入库待确认工作档
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
//                    // 入库 + 库位转移  ==> 4.入库完成
//                    if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
//                        wrkMast.setWrkSts(4L);
//                    } else {
//                        continue;
//                    }
//                    Date now = new Date();
//                    wrkMast.setCrnEndTime(now);
//                    wrkMast.setModiTime(now);
//                    // 修改成功后复位堆垛机
//                    if (wrkMastMapper.updateById(wrkMast) > 0) {
//                        // 堆垛机复位
//                        log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
//                        News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
//                        crnThread.setResetFlag(true);
//                    }
//                }
//            }
            else{
                //  状态：等待确认 并且  任务完成位 = 1
                if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());
@@ -2220,7 +2220,12 @@
                }
                // 获取工作档数据
                WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
                if (null == wrkMast) { continue; }
                if (null == wrkMast) {
                    if(staProtocol.getWorkNo() > 9999){ //异常退出
                        MessageQueue.offer(SlaveType.Led, 2, new Task(3, "异常退出"));
                    }
                    continue;
                }
                wrkMasts.add(wrkMast);
                // 组装命令
                LedCommand ledCommand = new LedCommand();
@@ -2270,13 +2275,13 @@
                            total = locDetl.getAnfme();
                        }
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
                        }
                        if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
                        }
                        if (wrkMast.getIoType() == 107) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
                        }
                    });
                }
@@ -3324,7 +3329,7 @@
                        continue;
                    }
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
                    Integer workNo = 0;
                    if(rgvProtocol.getTaskNo2() > 9999|| rgvProtocol.getTaskNo1() > 9999){
                        workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1() : rgvProtocol.getTaskNo2();
@@ -3390,7 +3395,7 @@
                        continue;
                    }
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
                    Integer workNo = 0;
                    if(basRgv.getPakToCrn().equals("1")){
                        workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1():rgvProtocol.getTaskNo2();  //正常情况出库放货优先工位1放
@@ -3641,7 +3646,7 @@
                case 1: route = RouteUtils.getRouteOne();break;
                case 2: route = RouteUtils.getRouteTwo();break;
            }
            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
            basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
            basRgvMapService.updateById(basRgvMap);
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
            if( null == wrkMastSta ) {
@@ -3767,7 +3772,7 @@
                case 1: route = RouteUtils.getRouteOne();break;
                case 2: route = RouteUtils.getRouteTwo();break;
            }
            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
            basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
            basRgvMapService.updateById(basRgvMap);
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
            if( null == wrkMastSta ) {
@@ -3902,7 +3907,7 @@
                case 1: route = RouteUtils.getRouteOne();break;
                case 2: route = RouteUtils.getRouteTwo();break;
            }
            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
            basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
            basRgvMapService.updateById(basRgvMap);
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
            if( null == wrkMastSta ) {
@@ -4591,6 +4596,174 @@
                response, bool);
    }

    /*
     * agv任务生成  Full
     * */
    public synchronized void agvTaskCreateFull() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历出库口
            for (DevpSlave.Sta outStaAgv : devp.getOutStaAgvFull())  {
                // 获取入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(outStaAgv.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                // 判断是否满足入库条件
                if (!staProtocol.isLoading()){
                    continue;
                }
                if (staProtocol.isAutoing() ) {
                    WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
                    if (Cools.isEmpty(wrkMast) || Cools.isEmpty(wrkMast.getTakeNone()) || !wrkMast.getTakeNone().equals("1")){
                        continue;
                    }

                    // 判断重复工作档
                    List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("task_no", staProtocol.getWorkNo()));
                    if (!basAgvMastList.isEmpty()) {
                        wrkMast.setTakeNone("2");
                        wrkMastMapper.updateById(wrkMast);
                        continue;
                    }

                    // 任务生成区 --------------------------------------------------------------------------

                    BasAgvMast basAgvMast = new BasAgvMast();


                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(wrkMast.getBarcode());
                        param.setIoType(1);
                        param.setSourceStaNo(outStaAgv.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/agv/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            basAgvMast.setTaskNo(wrkMast.getWrkNo());
                            basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
                            basAgvMast.setLocNo(dto.getLocNo());
                            basAgvMast.setSourceLocNo(wrkMast.getSourceLocNo());
                            basAgvMast.setDevpId(devp.getId());
                            basAgvMast.setIoType(2);

                            basAgvMastService.insert(basAgvMast);


                            wrkMast.setTakeNone("2");
                            wrkMastMapper.updateById(wrkMast);
                        } else {
                            News.error(JSON.toJSONString(staProtocol));
                        }
                    } catch (Exception e) {
                        News.error(JSON.toJSONString(e.getMessage()));
                    }
                }
            }
        }
    }

    /*
     * agv任务生成  Empty
     * */
    public synchronized void agvTaskCreateEmpty() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历出库口
            for (DevpSlave.Sta outStaAgv : devp.getOutStaAgvEmpty())  {
                // 获取入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(outStaAgv.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                // 判断是否满足入库条件
                if (!staProtocol.isLoading()){
                    continue;
                }

                String barcode = staProtocol.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        News.info("{}号站点扫描器检测条码信息：{}", outStaAgv.getStaNo(), barcode);
                        continue;
                    }
                } else {
                    News.info("{}号站点扫描器检测条码信息：{}", outStaAgv.getStaNo(), barcode);
                    continue;
                }
                if (staProtocol.isAutoing()) {

                    // 判断重复工作档
                    List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()));
                    if (!basAgvMastList.isEmpty()) {
                        News.info("{}号站点存在任务执行中，请等待任务执行完毕：{}", outStaAgv.getStaNo(), barcode);
                        continue;
                    }

                    List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>().eq("barcode", barcode));
                    if (!locMastList.isEmpty()) {
                        News.info("{}号站点条码信息重复：{}", outStaAgv.getStaNo(), barcode);
                        continue;
                    }
                    // 任务生成区 --------------------------------------------------------------------------

                    BasAgvMast basAgvMast = new BasAgvMast();


                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setSourceStaNo(outStaAgv.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/agv/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            basAgvMast.setTaskNo(outStaAgv.getStaNo());
                            basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
                            basAgvMast.setLocNo(dto.getLocNo());
                            basAgvMast.setDevpId(devp.getId());
                            basAgvMast.setIoType(2);

                            basAgvMastService.insert(basAgvMast);
                        } else {
                            News.error(JSON.toJSONString(staProtocol));
                        }
                    } catch (Exception e) {
                        News.error(JSON.toJSONString(e.getMessage()));
                    }
                }
            }
        }
    }


    /*
     * agv任务下发:AGV库位==》输送线站点
@@ -4685,7 +4858,9 @@
                        staProtocol = staProtocol.clone();
                    }

                    if (!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())){
                    if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo()))
                            ||
                            (basAgvMast.getSourceStaNo().equals(2033))){

                        AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);