*

lsh

2025-09-09 bf8895d798f6308717f83b2bdb413ff5f304b3e4

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

@@ -9,6 +9,7 @@
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.ArmTaskAssignmentParam;
import com.zy.asrs.entity.param.CombParam;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.PostMesDataUtils;
@@ -104,6 +105,9 @@

    @Value("${wms.url}")
    private String wmsUrl;

    @Value("${wms.comb}")
    private String wmsComb;
    @Value("${inventory.number}")
    private Integer inventoryNumber;

@@ -4195,6 +4199,111 @@


    /*
     * arm任务完成自动组托
     * */
    public synchronized void armMissionAccomplished() {
        try{
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta armSta : devp.getArmSta()) {
                    // 获取条码扫描仪信息
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, armSta.getBarcode());
                    if (barcodeThread == null) {
                        continue;
                    }
                    String barcode = barcodeThread.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                            continue;
                        }
                    } else {
                        continue;
                    }

                    List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>()
                            .eq("arm_no", armSta.getArmNo())
                            .eq("sta_no", armSta.getStaNo())
                            .eq("status", 1));
                    for (BasArm basArm : basArmList) {
                        if (basArm.getStatus()!=1){
                            continue;
                        }
                        try{
                            List<BasArmMast> basArmMastList = basArmMastService.selectList(
                                    new EntityWrapper<BasArmMast>()
                                            .eq("arm_no", basArm.getArmNo())
                                            .eq("sorting_line", basArm.getSortingLine())
                                            .eq("status", 3)
                            );
                            if (basArmMastList.isEmpty()){
                                continue;
                            }
                            CombParam combParam = new CombParam(basArmMastList);
                            combParam.setBarcode(barcode);
                            //设置工作空间就绪
                            ReturnT<String> result = new PostMesDataUtils().postMesData("arm任务完成自动组托",wmsUrl, wmsComb, combParam);
                            if (result.getCode()==200){
                                basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLine(),3,4);
                            } else {
                                log.error("机械臂抓取任务完成："+JSON.toJSON(basArmMastList)+"===》自动组托失败，等待重试");
                            }
                        }  catch (Exception e){
                            log.error("arm编号："+basArm.getArmNo()+"====》机械臂抓取任务完成"+e.getMessage());
                        }
                        break;
                    }
                }
            }
        } catch (Exception e){
            log.error("机械臂抓取任务完成组托失败"+e.getMessage());
        }
    }
    public synchronized void armMissionAccomplishedScanToCheckIn() {
        try{
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta armSta : devp.getArmSta()) {

                    List<BasArmMast> basArmMastList = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", armSta.getArmNo())
                                    .eq("sta_no", armSta.getStaNo())
                                    .eq("status", 4)
                    );

                    if (basArmMastList.isEmpty()){
                        continue;
                    }
                    // 获取站点信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(armSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }

                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                        int workNo = commonService.getWorkNo(6);//待完善
                        // 更新站点信息 且 下发plc命令
                        staProtocol.setWorkNo(workNo);
                        staProtocol.setStaNo(armSta.getStaNoEnd().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发5："+workNo+","+armSta.getStaNoEnd());
                        if (!result) {
                            News.error(""+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                        }
                        basArmMastService.updateArmMastStatus(basArmMastList.get(0).getArmNo(),basArmMastList.get(0).getSortingLine(),4,5);
                    }
                }
            }
        } catch (Exception e){
            log.error("组托完成驱动托盘扫码入库失败"+e.getMessage());
        }
    }

    /*
     * arm任务下发
     * */
    public synchronized void armTaskAssignment() {
@@ -4211,7 +4320,13 @@
                                    .eq("sorting_line", basArm.getSortingLine())
                                    .eq("status", 1)
                    );
                    if (basArmMastListRuning.isEmpty()){
                    List<BasArmMast> basArmMastListRuning3 = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", basArm.getArmNo())
                                    .eq("sorting_line", basArm.getSortingLine())
                                    .eq("status", 3)
                    );
                    if (basArmMastListRuning.isEmpty() && basArmMastListRuning3.isEmpty()){
                        List<BasArmMast> basArmMastList = basArmMastService.selectList(
                                new EntityWrapper<BasArmMast>()
                                        .eq("arm_no", basArm.getArmNo())
@@ -4228,7 +4343,7 @@
                        for (BasArmMast basArmMast:basArmMastList) {
                            ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArmMast.getSortingLine());
                            //设置工作空间就绪
                            ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取任务",ArmConstant.ARM_URL, ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
                            ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取任务下发：通知工作空间已就绪",ArmConstant.ARM_URL, ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
                            if (result.getCode()==200){
                                basArmMast.setStatus(1);
                                basArmMastService.updateById(basArmMast);