*

lsh

5 天以前 ccd6309576bfa66ddf40b8a48202ced37c05333a

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

@@ -4,16 +4,12 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.controller.CrnController;
import com.zy.asrs.controller.OpenController;
import com.zy.asrs.controller.SiteController;
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.domain.enums.WorkNoType;
import com.zy.asrs.domain.param.CrnOperatorParam;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.TaskOverToWms;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.CommandUtils;
@@ -23,20 +19,20 @@
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.RgvStatusCache;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CommandPackage;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -45,10 +41,6 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.io.IOException;
import java.lang.management.ManagementFactory;
import java.lang.management.MemoryMXBean;
import java.lang.management.MemoryUsage;
import java.lang.management.ThreadMXBean;
import java.util.*;

/**
@@ -80,31 +72,36 @@
    private TaskWrkService taskWrkService;
    @Autowired
    private StaDescMapper staDescMapper;

    @Autowired
    private StaDescService staDescService;

    @Autowired
    private ApiLogService apiLogService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private CrnController crnController;

    @Value("${wms.url}")
    private String wmsUrl;
    @Value("${wms.inboundTaskApplyPath}")
    private String inboundTaskApplyPath;
    @Value("${wms.movePath}")
    private String movePath;
    @Value("${wms.taskStatusFeedbackPath}")
    private String taskStatusFeedbackPath;
    @Autowired
    private CrnController crnController;

    @Value("${wms.rgvOpen}")
    private boolean rgvOpen;

    public void generateStoreWrkFile() throws IOException, InterruptedException {
    @Value("${constant-parameters.trackEntireLength}")
    private Long trackEntireLength;

    @Value("${constant-parameters.trackBenchmark}")
    private Long trackBenchmark;

    @Value("${constant-parameters.trackProportion}")
    private Long trackProportion;

    public void generateStoreWrkFile() {
        try {


            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历入库口
@@ -117,8 +114,8 @@
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    Short workNo = staProtocol.getWorkNo();
                    Short stano = staProtocol.getStaNo();
                    Integer workNo = staProtocol.getWorkNo();
                    Integer stano = staProtocol.getStaNo();

                    // 尺寸检测异常
                    boolean back = false;
@@ -164,7 +161,7 @@
                        }
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                        staProtocol.setWorkNo(workNo);
                        staProtocol.setStaNo(inSta.getStaNo().shortValue());
                        staProtocol.setStaNo(inSta.getStaNo());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -199,8 +196,8 @@
                                        log.info("托盘码："+barcode+"任务档存在");
                                        return;
                                    }else {
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo().shortValue());
                                        staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo());
                                        staProtocol.setStaNo(staDesc.getCrnStn());
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    }
                                }
@@ -232,8 +229,8 @@
                                    // 退回
                                    log.error("扫码检测程序异常"+inSta.getStaNo()+"异常信息"+e1);
                                }
                                staProtocol.setWorkNo((short)9999);
                                staProtocol.setStaNo(inSta.getStaNo().shortValue());
                                staProtocol.setWorkNo(9999);
                                staProtocol.setStaNo(inSta.getStaNo());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                    TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -286,8 +283,8 @@
                                    log.error("扫码检测程序异常"+inSta.getStaNo()+errMsg);
                                    log.error("扫码检测程序异常,异常信息"+e);

                                    staProtocol.setWorkNo((short)9999);
                                    staProtocol.setStaNo(inSta.getStaNo().shortValue());
                                    staProtocol.setWorkNo(9999);
                                    staProtocol.setStaNo(inSta.getStaNo());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                    TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -341,8 +338,8 @@
                                        taskWrkService.insert(taskWrk);
                                        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                                .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
                                        staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                                        staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                                        staProtocol.setWorkNo(taskWrk.getWrkNo());
                                        staProtocol.setStaNo(staDesc.getCrnStn());
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    }
                                }
@@ -355,8 +352,8 @@
                            // 退回
                            log.error("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);

                            staProtocol.setWorkNo((short)9999);
                            staProtocol.setStaNo(inSta.getStaNo().shortValue());
                            staProtocol.setWorkNo(9999);
                            staProtocol.setStaNo(inSta.getStaNo());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -376,7 +373,6 @@
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
    }


    /**
     * 堆垛机站出库到出库站
@@ -404,8 +400,8 @@
                            }
                            log.info("下发输送线任务：taskWrk:"+JSON.toJSONString(taskWrk));
//                            R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
                            staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                            staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                            staProtocol.setWorkNo(taskWrk.getWrkNo());
                            staProtocol.setStaNo(staDesc.getCrnStn());
                            boolean offer = false;
                            try{
                                offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
@@ -752,11 +748,12 @@
    public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的移库工作档
            List<TaskWrk> taskWrks = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>()
                    .eq("\"crn_no\"",slave.getId())
                    .eq("\"wrk_sts\"",11)
                    .eq("\"io_type\"",3)
                    .orderBy("\"io_pri\"",false));
            List<TaskWrk> taskWrks = taskWrkMapper.selectList(
                    new EntityWrapper<TaskWrk>()
                    .eq("CRN_NO",slave.getId())
                    .eq("WRK_STS",11)
                    .eq("IO_TYPE",3)
                    .orderBy("IO_PRI",false));
            for (TaskWrk taskWrk : taskWrks){

                // 双深库位且浅库位有货，则需先对浅库位进行库位移转
@@ -1105,23 +1102,74 @@
            if (!Cools.isEmpty(taskWrk.getTargetPoint())) {
                taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint());
            }

//        } else if (param.getIoType() == 2) {
//            taskWrk.setWrkSts(11);
//            if (!Cools.isEmpty(param.getStartPoint())) {
//                taskWrk.setStartPoint(Utils.getWcsLocNo(param.getStartPoint()));//起点
//                taskWrk.setOriginStartPoint(param.getStartPoint());
//            }
//            taskWrk.setTargetPoint(param.getTargetPoint());
//        }else if (param.getIoType() == 3){
//            taskWrk.setWrkSts(11);
//            if (!Cools.isEmpty(param.getStartPoint())) {
//                taskWrk.setStartPoint(param.getStartPoint());//起点
//                taskWrk.setOriginStartPoint(param.getStartPoint());
//            }
        }
        return taskWrk;
    }

    public boolean deviceDetection(RgvSlave slave){
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        if (rgvProtocol == null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L)
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
        if (rgvProtocolOther == null) {
            return false;
        }
        if (rgvProtocolOther.statusEnable){
            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
                return false;
            }
        }
        return true;
    }

    public boolean rgvOtherStatusEnable(RgvSlave slave){
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
        if (rgvProtocolOther == null) {
            return true;
        }
        if (rgvProtocolOther.statusEnable){
//            if (!rgvProtocolOther.getModeType().equals(RgvModeType.AUTO) || rgvProtocolOther.getRgvPos().equals(0L)) {
                return true;
//            }
        }
        return false;
    }


    private void sc(){


        // 根据输送线plc遍历
        for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
            if (!deviceDetection(rgvSlave)){
                continue;
            }
            RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(rgvSlave.getId());

            RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(rgvSlave.getOtherId());

            //求出当前车可运行范围
            Long[] farthestPoint = new Long[]{0L,0L};
            if (!rgvProtocolOther.statusEnable){
                farthestPoint = new Long[]{0L,0L};
            } else {
                if (rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)){

                }
            }


            // 遍历入库口
            for (RgvSlave.RgvStn inSta : rgvSlave.getRgvInSStn()) {

            }
        }

    }

}