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2025-05-27 b791daa70e38b4e426d2b065da5bd317fe8c91f3

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

@@ -121,7 +121,7 @@
                        staProtocol = staProtocol.clone();
                    }
                    Integer workNo = staProtocol.getWorkNo();
                    if (workNo!=9998){
                    if (workNo!=9998 && workNo!=9997){
                        continue;
                    }
                    Integer stano = staProtocol.getStaNo();
@@ -189,7 +189,7 @@
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && workNo == 9998
                            && (workNo == 9998 || workNo == 9997)
                            && staProtocol.isPakMk()
                            && staProtocol.isPakMkWalk()
                    ) {
@@ -199,13 +199,14 @@
                            continue;
                        }
                        String barcode = barcodeThread.getBarcode();
                        if (!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
                        if (!Cools.isEmpty(barcode) && !barcode.equals("99999999") && !barcode.equals("000000")) {
                            // 请求wms接口，获取工作号和目标库位
                            ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, 0);
                            ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, workNo == 9998? 0 : 1);

                            TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", barcode));
                            if (!Cools.isEmpty(taskWrk1)) {
                                log.info("托盘码：" + barcode + "任务档存在");
                                if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
                                if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && 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()));

@@ -215,6 +216,7 @@
                                    } else {
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo());
                                        staProtocol.setStaNo(staProtocol.getSiteId());
                                        devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    }
                                }
@@ -249,6 +251,7 @@
                                staProtocol.setWorkNo(9999);
                                staProtocol.setStaNo(inSta.getBackSta());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                devpThread.setPakMkWalk(staProtocol.getSiteId(), false);
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                continue;
                            }
@@ -264,7 +267,7 @@
                            );
                            log.info("入库请求参数{}" + JSON.toJSONString(toWmsDTO));
                            log.info("入库请求返回参数{}" + JSON.toJSONString(response));
                            if (jsonObject.getInteger("code").equals(200)) {
                            if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
                                try {
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                } catch (Exception e) {
@@ -384,9 +387,21 @@
                            && staProtocol.isPakMk()
                            && staProtocol.isPakMkWalk()
                    ) {
                        // 获取条码扫描仪信息
                        BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                        if (barcodeThread == null) {
                            continue;
                        }
                        String barcode = barcodeThread.getBarcode();
                        if (Cools.isEmpty(barcode) || barcode.equals("0")  || barcode.equals("000000")) {
                            staProtocol.setWorkNo(9999);
                            staProtocol.setStaNo(inSta.getBackSta());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            continue;
                        }
                        // 请求wms接口，获取工作号和目标库位
                        ToWmsDTO toWmsDTO = new ToWmsDTO("", staProtocol.getSiteId(), 1);

                        ToWmsDTO toWmsDTO = new ToWmsDTO(staProtocol.getSiteId(),staProtocol.getGrossWt(),barcode, 1);
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("Content-Type", "application/json");
                        String response;
@@ -431,7 +446,7 @@
                        );
                        log.info("入库请求参数{}" + JSON.toJSONString(toWmsDTO));
                        log.info("入库请求返回参数{}" + JSON.toJSONString(response));
                        if (jsonObject.getInteger("code").equals(200)) {
                        if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
                            try {
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                            } catch (Exception e) {
@@ -494,7 +509,7 @@

                                if (!Cools.isEmpty(taskWrk1)) {
                                    log.info("托盘码：" + barcode + "任务档存在");
                                    if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
                                    if (taskWrk1.getIoType() == 1 && taskWrk1.getStatus() < 3 && 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()));

@@ -792,7 +807,7 @@
//                    //开始运行
//                    String response = CrnStartRunning(taskWrk);
//                    JSONObject jsonObject = JSON.parseObject(response);
//                    if (jsonObject.getInteger("code").equals(200)) {
//                    if (!Cools.isEmpty(jsonObject.getInteger("code")) && jsonObject.getInteger("code").equals(200)) {
//
//                    }else {
//                        log.error("入库开始运行通讯失败,"+jsonObject.get("msg"));
@@ -813,7 +828,7 @@
                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);
//                crnCommand.setCommand((short) 1);
                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, 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");
@@ -1041,7 +1056,7 @@
                crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setCommand((short) 1);
//                crnCommand.setCommand((short) 1);
                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
@@ -1173,43 +1188,43 @@
                    taskWrkService.updateById(taskWrk);


                    try {
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("taskNo",taskWrk.getTaskNo());
                        headParam.put("taskStatus",taskWrk.getStatusWms());
                        headParam.put("ioType",taskWrk.getIoTypeWms());
                        headParam.put("barCode",taskWrk.getBarcode());
                        headParam.put("reportTime", LocalDateTime.now());
                        headParam.put("weight",taskWrk.getScWeight().doubleValue());

                        String response;
                        log.error("wcs完结任务上报wms==》", headParam);

                        response = new HttpHandler.Builder()
                                // .setHeaders(headParam)
                                .setUri(wmsUrl)
                                .setPath(taskStatusFeedbackPath)
                                .setJson(JSON.toJSONString(headParam))
                                .build()
                                .doPost();
                        log.error("wcs完结任务上报wms==》", response);

//                        JSONObject jsonObject = JSON.parseObject(response);
//                        log.error("wcs完结任务上报wms==》", jsonObject);

                        apiLogService.save("wcs派发入库任务上报wms"
                                , wmsUrl + taskStatusFeedbackPath
                                , null
                                , "127.0.0.1"
                                , JSON.toJSONString(headParam)
                                , response
                                , true
                        );
                    } catch (Exception e) {
                        log.error("wcs完结任务上报wms失败", taskWrk);
                        log.error("wcs完结任务上报wms失败,报错信息：", e);
//                        throw new CoolException("wcs派发入库任务上报wms失败");
                    }
//                    try {
//                        HashMap<String, Object> headParam = new HashMap<>();
//                        headParam.put("taskNo",taskWrk.getTaskNo());
//                        headParam.put("taskStatus",taskWrk.getStatusWms());
//                        headParam.put("ioType",taskWrk.getIoTypeWms());
//                        headParam.put("barCode",taskWrk.getBarcode());
//                        headParam.put("reportTime", LocalDateTime.now());
//                        headParam.put("weight",taskWrk.getScWeight().doubleValue());
//
//                        String response;
//                        log.error("wcs完结任务上报wms==》", headParam);
//
//                        response = new HttpHandler.Builder()
//                                // .setHeaders(headParam)
//                                .setUri(wmsUrl)
//                                .setPath(taskStatusFeedbackPath)
//                                .setJson(JSON.toJSONString(headParam))
//                                .build()
//                                .doPost();
//                        log.error("wcs完结任务上报wms==》", response);
//
////                        JSONObject jsonObject = JSON.parseObject(response);
////                        log.error("wcs完结任务上报wms==》", jsonObject);
//
//                        apiLogService.save("wcs派发入库任务上报wms"
//                                , wmsUrl + taskStatusFeedbackPath
//                                , null
//                                , "127.0.0.1"
//                                , JSON.toJSONString(headParam)
//                                , response
//                                , true
//                        );
//                    } catch (Exception e) {
//                        log.error("wcs完结任务上报wms失败", taskWrk);
//                        log.error("wcs完结任务上报wms失败,报错信息：", e);
////                        throw new CoolException("wcs派发入库任务上报wms失败");
//                    }
                }

            }
@@ -1389,7 +1404,10 @@
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
                || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
        if (rgvProtocol.getLoaded()==1){
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
@@ -1413,7 +1431,7 @@
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
                || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }

@@ -1430,7 +1448,7 @@
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
                || ((!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) || (Math.abs(rgvProtocol.getRgvPos() - rgvProtocol.getRgvPosDestination())>100)) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
@@ -1526,46 +1544,6 @@
                        Long[][] avoidedRange = new TrackRangeUtils().avoidRangeArr(rgvSlave, trackEntireLength, trackBenchmark, avoidDistance);
                        List<Integer> belongToRange = RouteUtils.SortNearby(RouteUtils.belongToRange(rangeList, avoidedRange[0], basDevpPositions), rgvProtocol.RgvPos, basDevpPositions);

                        for (Integer staNoNow : belongToRange) {
                            for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                if (rgvStn.getStaNo().equals(staNoNow)) {
                                    TaskWrk taskWrk = deviceDetection(rgvStn);
                                    if (taskWrk != null) {
                                        BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                        if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                            sign = taskGenerate(rgvSlave, rgvStn, 0);
                                        }
                                    }
                                    break;
                                }
                            }
                            if (sign) {
                                break;
                            }
                        }
                        if (!sign) {
                            //  筛选范围内取货任务
                            for (Integer staNoNow : belongToRange) {
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                    if (rgvStn.getStaNo().equals(staNoNow)) {
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk != null) {
                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                                            for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
                                                if (rgvStnOut.getStaNo().equals(outStaNo)) {
                                                    sign = taskGenerate(rgvSlave, rgvStn, 0);
                                                    break;
                                                }
                                            }
                                        }
                                        break;
                                    }
                                }
                                if (sign) {
                                    break;
                                }
                            }
                        }
                        if (!sign && staList.size()==1){
                            if (rgvOtherIDLEOther(rgvSlave)){
                                if (!rgvOtherIDLE(rgvSlave,staList.get(0))){
@@ -1593,6 +1571,49 @@
                            }
                        }

                        if(!sign){
                            for (Integer staNoNow : belongToRange) {
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                    if (rgvStn.getStaNo().equals(staNoNow)) {
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk != null) {
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
                                            }
                                        }
                                        break;
                                    }
                                }
                                if (sign) {
                                    break;
                                }
                            }
                        }
                        if (!sign) {
                            //  筛选范围内取货任务
                            for (Integer staNoNow : belongToRange) {
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                    if (rgvStn.getStaNo().equals(staNoNow)) {
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk != null) {
                                            Integer outStaNo = BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint());
                                            for (RgvSlave.RgvStn rgvStnOut : rgvSlave.getRgvOutSta()) {
                                                if (rgvStnOut.getStaNo().equals(outStaNo)) {
                                                    sign = taskGenerate(rgvSlave, rgvStn, 0);
                                                    break;
                                                }
                                            }
                                        }
                                        break;
                                    }
                                }
                                if (sign) {
                                    break;
                                }
                            }
                        }

                        if (!sign) {
                            for (Integer staNoNow : rangeList) {
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {