zy-wcs.git - Gitblit

			@@ -3,7 +3,6 @@
			import com.alibaba.fastjson.JSON;
			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.exception.CoolException;
			import com.zy.asrs.entity.*;
			@@ -66,6 +65,8 @@
			private WrkDetlService wrkDetlService;
			@Autowired
			private LocMastService locMastService;
			@Autowired
			private LocDetlService locDetlService;
			@Autowired
			private StaDescService staDescService;
			@Autowired
			@@ -151,6 +152,11 @@
			continue;
			}

			// 过滤盘点/拣料/并板任务
			if (null != wrkMastMapper.selectPickStepByBarcode(barcode)) {
			continue;
			}

			// 判断重复工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
			if (wrkMast != null) {
			@@ -181,6 +187,8 @@
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);

			ledThread.errorReset();

			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			@@ -266,12 +274,12 @@
			}

			/**
			* 拣料、并板、盘点再入库
			* 拣料、并板、盘点再入库【第1阶段】
			*/
			public synchronized void stnToCrnStnPick(){
			public synchronized void stnToCrnStnPick0(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickSta()) {
			for (DevpSlave.Sta pickSta : devp.getPickOutSta()) {

			// 获取拣料入库站信息
			DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			@@ -281,24 +289,119 @@
			} else {
			staProtocol = staProtocol.clone();
			}
			if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){
			if (staProtocol.isAutoing()
			&& staProtocol.isLoading()
			&& staProtocol.isInEnable()
			&& staProtocol.getWorkNo() > 0
			&& staProtocol.isPakMk()) {
			WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
			if (wrkMast == null) {
			// 无拣料数据
			continue;
			}
			short staNo;
			switch (wrkMast.getSourceStaNo()) {
			case 104:
			case 108:
			staNo = 103;
			break;
			case 204:
			case 208:
			staNo = 203;
			break;
			default:
			log.error("{}任务再入库失败，系统数据异常！", wrkMast.getWrkNo());
			continue;
			}
			// 更新站点信息且下发plc命令
			// staProtocol.setWorkNo((short) 9994);
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(staNo);
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}
			}
			}
			}
			}

			/**
			* 拣料、并板、盘点再入库【第2阶段】
			*/
			public synchronized void stnToCrnStnPick1(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历拣料入库口
			for (DevpSlave.Sta pickSta : devp.getPickInSta()) {

			// 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()
			// 0 - 9990 或者 9996
			&& ((staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) \|\| staProtocol.getWorkNo() == 9996)
			&& staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
			&& staProtocol.isPakMk()){

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

			WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
			WrkMast wrkMast = null;
			if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
			wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
			if (null == wrkMast) {
			log.error("{}任务号错误，暂无拣料任务！", staProtocol.getWorkNo());
			}
			}
			if (staProtocol.getWorkNo() == 9996) {
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "empty".equals(barcode)) {
			staProtocol.setWorkNo((short) 9995);
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			}
			continue;
			}
			} else {
			staProtocol.setWorkNo((short) 9995);
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

			// led 异常显示
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			if (ledThread != null) {
			String errorMsg = "扫码失败，请重试";
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			}
			continue;
			}
			wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
			if (null == wrkMast) {
			log.error("{}条码错误，暂无拣料任务！", barcode);
			}
			}

			if (wrkMast == null) {
			// 无拣料数据
			continue;
			@@ -308,67 +411,126 @@
			continue;
			}

			// 获取目标站
			Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			.eq("type_no", wrkMast.getIoType() - 50)
			.eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
			StaDesc staDesc = staDescService.selectOne(wrapper);
			if (Cools.isEmpty(staDesc)) {
			log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			continue;
			}

			try {
			// 保存工作明细档历史档
			// 访问 WMS 获取入库库位
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
			SearchLocParam param = new SearchLocParam();
			param.setWrkNo(wrkMast.getWrkNo());
			param.setIoType(wrkMast.getIoType());
			param.setSourceStaNo(pickSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			// // 获取目标站
			// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
			// .eq("type_no", wrkMast.getIoType() - 50)
			// .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
			// .eq("crn_no", dto.getCrnNo()); // 堆垛机号
			// StaDesc staDesc = staDescService.selectOne(wrapper);
			// if (Cools.isEmpty(staDesc)) {
			// log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
			// continue;
			// }
			// // 堆垛机站点(目标站)
			// Integer staNo = staDesc.getCrnStn();

			// 保存工作明细档历史档
			// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
			// throw new CoolException("保存工作明细档历史档失败");
			// }
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException("保存工作主档历史档失败");
			// 保存工作主档历史档
			if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
			throw new CoolException(wrkMast.getWrkNo() + "保存工作主档历史档失败");
			}

			String sourceLocNo = wrkMast.getSourceLocNo().trim();
			// 更新工作档数据状态
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站
			wrkMast.setStaNo(dto.getStaNo()); // 目标站
			wrkMast.setCrnNo(dto.getCrnNo());
			wrkMast.setLocNo(dto.getLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			}
			if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
			throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
			}
			// 修改源库位状态 O.空库位
			LocMast locMast = locMastService.selectById(sourceLocNo);
			locMast.setLocSts("O");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException(wrkMast.getWrkNo() + "修改源库位状态 O.空库位");
			}
			// 修改目标库位状态 Q.拣料/盘点/并板再入库
			locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException(wrkMast.getWrkNo() + "修改目标库位状态 Q.拣料/盘点/并板再入库");
			}
			// 库存明细转移
			if (!locDetlService.updateLocNo(wrkMast.getLocNo(), sourceLocNo)) {
			throw new CoolException(wrkMast.getWrkNo() + "任务库存明细转移失败！！！");
			}

			// 条码设备处理
			barcodeThread.setBarcode("");

			ledThread.errorReset();

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			}

			} else if (code == 500){
			if (ledThread != null) {
			String errorMsg = jsonObject.getString("msg");
			if (!Cools.isEmpty(errorMsg)) {
			MessageQueue.offer(SlaveType.Led, pickSta.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 {
			staProtocol.setWorkNo((short) 9995);
			staProtocol.setStaNo(pickSta.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 = jsonObject.getString("msg");
			// String errorMsg = barcode + "托盘识别异常，请先进行组托！";
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
			}
			}

			// 堆垛机站点(目标站)
			Integer staNo = staDesc.getCrnStn();
			// 更新工作档数据状态
			wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
			wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
			wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
			wrkMast.setStaNo(staNo); // 目标站
			wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
			wrkMast.setSourceLocNo(""); // 源库位清空
			wrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			throw new CoolException("更新工作档数据状态失败");
			}
			if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
			// throw new CoolException("更新工作档数据状态失败");
			}
			// 修改库位状态 Q.拣料/盘点/并板再入库
			LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
			locMast.setLocSts("Q");
			locMast.setModiTime(new Date());
			if (!locMastService.updateById(locMast)) {
			throw new CoolException("修改库位状态失败");
			}
			} catch (Exception e) {
			e.printStackTrace();
			TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
			continue;
			}

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
			staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			if (!result) {
			log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
			// continue;
			}

			}

			}

			}
			@@ -536,7 +698,19 @@
			continue;
			}

			// 过滤
			// 检测是否存在出库任务
			// WrkMast pakoutWrkMast = wrkMastMapper.selectPakout(slave.getId(), null);
			// if (null != pakoutWrkMast) {
			// if ((pakoutWrkMast.getIoType() == 103 \|\| pakoutWrkMast.getIoType() == 104 \|\| pakoutWrkMast.getIoType() == 107)
			// && pakoutWrkMast.getWrkSts() == 17
			// && basDevpService.selectByWrkNo(pakoutWrkMast.getWrkNo()) != null
			// ) {
			//
			// } else {
			// log.error("{}入库任务无法作业，因存在出库中任务!", wrkMast.getWrkNo());
			// continue;
			// }
			// }
			if (null != wrkMastMapper.selectPakout(slave.getId(), null)) {
			log.error("{}入库任务无法作业，因存在出库中任务!", wrkMast.getWrkNo());
			continue;
			@@ -847,6 +1021,22 @@
			SteThread steThread = queryIdleCar(wrkMast);
			if (steThread != null) {
			// 没有其他任务
			// boolean hasPakout = true;
			// WrkMast pakoutWrkMast = wrkMastMapper.selectPakout(slave.getId(), steNo);
			// if (null != pakoutWrkMast) {
			// if ((pakoutWrkMast.getIoType() == 103 \|\| pakoutWrkMast.getIoType() == 104 \|\| pakoutWrkMast.getIoType() == 107)
			// && pakoutWrkMast.getWrkSts() == 17
			// && basDevpService.selectByWrkNo(pakoutWrkMast.getWrkNo()) != null
			// ) {
			// hasPakout = false;
			// }
			// } else {
			// hasPakout = false;
			// }
			// if (!hasPakout) {
			// // 让小车等待搬运待续
			// this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo());
			// }
			if (null == wrkMastMapper.selectPakout(slave.getId(), steNo)) {
			// 让小车等待搬运待续
			this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo());
			@@ -1812,6 +2002,7 @@
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0) {
			log.info("ste[id={}] 执行工作档完成，任务号={}", steProtocol.getSteNo(), steProtocol.getTaskNo());
			if (steProtocol.getTaskNo() == 9999) {
			steThread.setResetFlag(true);
			} else {
			@@ -2230,6 +2421,8 @@
			if (code.equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			ledThread.errorReset();

			// 更新站点信息且下发plc命令
			staProtocol.setWorkNo(dto.getWorkNo().shortValue());
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			@@ -2425,6 +2618,7 @@
			wrkCharge.setCrnNo(basSte.getCrnNo());
			wrkCharge.setIoPri((double) 10);
			wrkCharge.setLocNo(idleLoc);
			wrkCharge.setMemo("charge");
			if (!wrkChargeService.insert(wrkCharge)) {
			log.error("保存{}号穿梭车充电任务失败!!!", ste.getId());
			continue;
			@@ -2627,9 +2821,9 @@
			wrkCharge.setIoPri((double) 10);
			wrkCharge.setSourceLocNo(sourceLocNo);
			wrkCharge.setLocNo(locNo);
			wrkCharge.setMemo("demo");
			if (!wrkChargeService.insert(wrkCharge)) {
			log.error("生成演示任务失败，堆垛机号：{}，小车：{}，源库位：{}，目标库位：{}", crn.getId(), steNo, sourceLocNo, locNo);
			continue;
			}
			}
			}