#AGV补货

Junjie

2023-10-14 c88c8381441298cd209a5e41222f2011f911511b

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

@@ -1196,6 +1196,23 @@
                return false;//出库站点不存在
            }

            //获取源站对应的牛眼提升机站点编号(起点编号)
            LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
            if (liftStaProtocol == null) {
                return false;//找不到站点
            }
            Integer startSta = liftStaProtocol.getStaNo();

            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
                //小车还在输送站点
                //调度小车避让
                boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
                if (!result) {
                    return false;
                }
            }

            if (!basDevp.getOutEnable().equals("Y")) {
                return false;//出库站点不可出
            }
@@ -1220,23 +1237,6 @@
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
            if (liftWrkMast != null) {
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

            //获取源站对应的牛眼提升机站点编号(起点编号)
            LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(liftThread.getSlave().getId(), Utils.getLev(wrkMast.getSourceLocNo()));
            if (liftStaProtocol == null) {
                return false;//找不到站点
            }
            Integer startSta = liftStaProtocol.getStaNo();

            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
                //小车还在输送站点
                //调度小车避让
                boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
                if (!result) {
                    return false;
                }
            }

            //获目标站源站对应的输送站点
@@ -2005,54 +2005,54 @@

                    if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) {
                        //向AGV发起组托请求
//                        try {
//                            HashMap<String, Object> param = new HashMap<>();
//                            param.put("wrkNo", wrkMast.getWrkNo());
//                            String response = new HttpHandler.Builder()
//                                    .setUri(wmsUrl)
//                                    .setPath("/openAGV")
//                                    .setJson(JSON.toJSONString(param))
//                                    .build()
//                                    .doPost();
//                            JSONObject jsonObject = JSON.parseObject(response);
//                            Integer code = jsonObject.getInteger("code");
//                            if (code.equals(200)) {//AGV组托成功
//                                //覆盖工作档目标站
//                                wrkMast.setStaNo(targetSta.intValue());
//                                wrkMast.setShuttleNo(null);//释放小车
//                                if (wrkMastMapper.updateById(wrkMast) > 0) {
//                                    //向300站写入目标站
//                                    staProtocol = staProtocol.clone();
//                                    staProtocol.setStaNo(targetSta);//移动到目标站
//                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                    try {
//                                        Thread.sleep(500);
//                                    } catch (Exception e) {
//                                        e.printStackTrace();
//                                    }
//                                    continue;
//                                }
//                            }
//                        } catch (Exception e) {
//                            e.printStackTrace();
//                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                        }

                        //覆盖工作档目标站
                        wrkMast.setStaNo(targetSta.intValue());
                        wrkMast.setShuttleNo(null);//释放小车
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            //向300站写入目标站
                            staProtocol = staProtocol.clone();
                            staProtocol.setStaNo(targetSta);//移动到目标站
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            try {
                                Thread.sleep(500);
                            } catch (Exception e) {
                                e.printStackTrace();
                        try {
                            HashMap<String, Object> param = new HashMap<>();
                            param.put("wrkNo", wrkMast.getWrkNo());
                            String response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/replenishment")
                                    .setJson(JSON.toJSONString(param))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject = JSON.parseObject(response);
                            Integer code = jsonObject.getInteger("code");
                            if (code.equals(200)) {//AGV组托成功
                                //覆盖工作档目标站
                                wrkMast.setStaNo(targetSta.intValue());
                                wrkMast.setShuttleNo(null);//释放小车
                                if (wrkMastMapper.updateById(wrkMast) > 0) {
                                    //向300站写入目标站
                                    staProtocol = staProtocol.clone();
                                    staProtocol.setStaNo(targetSta);//移动到目标站
                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    try {
                                        Thread.sleep(500);
                                    } catch (Exception e) {
                                        e.printStackTrace();
                                    }
                                    continue;
                                }
                            }
                            continue;
                        } catch (Exception e) {
                            e.printStackTrace();
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        }

//                        //覆盖工作档目标站
//                        wrkMast.setStaNo(targetSta.intValue());
//                        wrkMast.setShuttleNo(null);//释放小车
//                        if (wrkMastMapper.updateById(wrkMast) > 0) {
//                            //向300站写入目标站
//                            staProtocol = staProtocol.clone();
//                            staProtocol.setStaNo(targetSta);//移动到目标站
//                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            try {
//                                Thread.sleep(500);
//                            } catch (Exception e) {
//                                e.printStackTrace();
//                            }
//                            continue;
//                        }
                    }
                }
            }
@@ -2142,11 +2142,11 @@
    private boolean agvRestockCall(String staNo, String barcode) {
        try {
            HashMap<String, Object> param = new HashMap<>();
            param.put("staNo", staNo);
            param.put("barcode", barcode);
            param.put("devNo", staNo);
            param.put("containerCode", barcode);
            String response = new HttpHandler.Builder()
                    .setUri(wmsUrl)
                    .setPath("/callAGV")
                    .setPath("/rpc/start")
                    .setJson(JSON.toJSONString(param))
                    .build()
                    .doPost();