zy-wcs.git - Gitblit

			@@ -4,9 +4,7 @@
			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.common.DateUtils;
			import com.core.common.R;
			import com.core.common.*;
			import com.core.exception.CoolException;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.entity.param.AgvTaskAssignmentParam;
			@@ -1081,7 +1079,7 @@
			//mark - 3 - ....
			this.locToLoc(crn, crnProtocol,mark);
			//预调度
			// this.crnRebackHp(crnProtocol, crnThread);
			this.crnRebackHp(crnProtocol, crnThread);

			}
			// News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
			@@ -1097,11 +1095,11 @@
			}
			int x=1;
			switch (crnProtocol.getCrnNo()){
			case 1: x =1; break;
			case 2: x =3; break;
			case 3: x =5; break;
			case 4: x =7; break;
			case 5: x =9; break;
			case 1: x =2; break;
			case 2: x =6; break;
			case 3: x =11; break;
			case 4: x =14; break;
			case 5: x =18; break;
			}

			// 已经存在吊车执行任务时，则过滤3,12
			@@ -1126,7 +1124,7 @@
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 任务模式: 回原点
			crnCommand.setSourcePosX((short) x); // 源库位排
			crnCommand.setSourcePosY((short) 1); // 源库位列
			crnCommand.setSourcePosY((short) 52); // 源库位列
			crnCommand.setSourcePosZ((short) 1); // 源库位层
			crnCommand.setDestinationPosX((short) 0); // 目标库位排
			crnCommand.setDestinationPosY((short) 0); // 目标库位列
			@@ -1902,31 +1900,33 @@
			News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			}
			} else if (crnProtocol.getTaskNo() == 9996) {//盘点入库衔接
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

			// 获取入库待确认工作档
			WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			// 入库 + 库位转移 ==> 4.入库完成
			if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			wrkMast.setWrkSts(4L);
			} else {
			continue;
			}
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
			News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			crnThread.setResetFlag(true);
			}
			}
			}else{
			}
			// else if (crnProtocol.getTaskNo() == 9996) {//盘点入库衔接
			// // 状态：等待确认并且任务完成位 = 1
			// if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			// News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());
			//
			// // 获取入库待确认工作档
			// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
			// // 入库 + 库位转移 ==> 4.入库完成
			// if (wrkMast.getWrkSts() == 3 \|\| (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
			// wrkMast.setWrkSts(4L);
			// } else {
			// continue;
			// }
			// Date now = new Date();
			// wrkMast.setCrnEndTime(now);
			// wrkMast.setModiTime(now);
			// // 修改成功后复位堆垛机
			// if (wrkMastMapper.updateById(wrkMast) > 0) {
			// // 堆垛机复位
			// log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
			// News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
			// crnThread.setResetFlag(true);
			// }
			// }
			// }
			else{
			// 状态：等待确认并且任务完成位 = 1
			if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
			News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());
			@@ -2220,7 +2220,12 @@
			}
			// 获取工作档数据
			WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
			if (null == wrkMast) { continue; }
			if (null == wrkMast) {
			if(staProtocol.getWorkNo() > 9999){ //异常退出
			MessageQueue.offer(SlaveType.Led, 2, new Task(3, "异常退出"));
			}
			continue;
			}
			wrkMasts.add(wrkMast);
			// 组装命令
			LedCommand ledCommand = new LedCommand();
			@@ -2270,13 +2275,13 @@
			total = locDetl.getAnfme();
			}
			if (wrkMast.getIoType() == 101 \|\| wrkMast.getIoType() == 1) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
			}
			if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() \|\| 0 == wrkDetl.getInspect())) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
			}
			if (wrkMast.getIoType() == 107) {
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
			ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
			}
			});
			}
			@@ -3324,7 +3329,7 @@
			continue;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			Integer workNo = 0;
			if(rgvProtocol.getTaskNo2() > 9999\|\| rgvProtocol.getTaskNo1() > 9999){
			workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1() : rgvProtocol.getTaskNo2();
			@@ -3390,7 +3395,7 @@
			continue;
			}
			BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
			basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			Integer workNo = 0;
			if(basRgv.getPakToCrn().equals("1")){
			workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1():rgvProtocol.getTaskNo2(); //正常情况出库放货优先工位1放
			@@ -3641,7 +3646,7 @@
			case 1: route = RouteUtils.getRouteOne();break;
			case 2: route = RouteUtils.getRouteTwo();break;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			basRgvMapService.updateById(basRgvMap);
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
			if( null == wrkMastSta ) {
			@@ -3767,7 +3772,7 @@
			case 1: route = RouteUtils.getRouteOne();break;
			case 2: route = RouteUtils.getRouteTwo();break;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			basRgvMapService.updateById(basRgvMap);
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
			if( null == wrkMastSta ) {
			@@ -3902,7 +3907,7 @@
			case 1: route = RouteUtils.getRouteOne();break;
			case 2: route = RouteUtils.getRouteTwo();break;
			}
			basRgvMap.setNowRoute(rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
			basRgvMapService.updateById(basRgvMap);
			WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
			if( null == wrkMastSta ) {
			@@ -4591,6 +4596,233 @@
			response, bool);
			}

			/*
			* agv任务生成 Full
			* */
			public synchronized void agvTaskCreateFull() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历出库口
			for (DevpSlave.Sta outStaAgv : devp.getOutStaAgvFull()) {
			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(outStaAgv.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 判断是否满足入库条件
			if (!staProtocol.isLoading()){
			continue;
			}
			if (staProtocol.isAutoing() ) {
			WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
			if (Cools.isEmpty(wrkMast) \|\| Cools.isEmpty(wrkMast.getTakeNone()) \|\| !wrkMast.getTakeNone().equals("1")){
			continue;
			}

			// 判断重复工作档
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("task_no", staProtocol.getWorkNo()));
			if (!basAgvMastList.isEmpty()) {
			wrkMast.setTakeNone("2");
			wrkMastMapper.updateById(wrkMast);
			continue;
			}

			// 任务生成区 --------------------------------------------------------------------------

			BasAgvMast basAgvMast = new BasAgvMast();


			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(wrkMast.getBarcode());
			param.setIoType(1);
			param.setSourceStaNo(outStaAgv.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/agv/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			basAgvMast.setTaskNo(wrkMast.getWrkNo());
			basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
			basAgvMast.setLocNo(dto.getLocNo());
			basAgvMast.setSourceLocNo(wrkMast.getSourceLocNo());
			basAgvMast.setDevpId(devp.getId());
			basAgvMast.setIoType(2);

			basAgvMastService.insert(basAgvMast);


			wrkMast.setTakeNone("2");
			wrkMastMapper.updateById(wrkMast);
			} else {
			News.error(JSON.toJSONString(staProtocol));
			}
			} catch (Exception e) {
			News.error(JSON.toJSONString(e.getMessage()));
			}
			}
			}
			}
			}

			/*
			* agv任务生成 Empty
			* */
			public synchronized void agvTaskCreateEmpty() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历出库口
			for (DevpSlave.Sta outStaAgv : devp.getOutStaAgvEmpty()) {
			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(outStaAgv.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 判断是否满足入库条件
			if (!staProtocol.isLoading()){
			continue;
			}

			String barcode = staProtocol.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			News.info("{}号站点扫描器检测条码信息：{}", outStaAgv.getStaNo(), barcode);
			continue;
			}
			} else {
			News.info("{}号站点扫描器检测条码信息：{}", outStaAgv.getStaNo(), barcode);
			continue;
			}
			if (staProtocol.isAutoing()) {

			// 判断重复工作档
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()));
			if (!basAgvMastList.isEmpty()) {
			News.info("{}号站点存在任务执行中，请等待任务执行完毕：{}", outStaAgv.getStaNo(), barcode);
			continue;
			}

			List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>().eq("barcode", barcode));
			if (!locMastList.isEmpty()) {
			News.info("{}号站点条码信息重复：{}", outStaAgv.getStaNo(), barcode);
			continue;
			}
			// 任务生成区 --------------------------------------------------------------------------

			BasAgvMast basAgvMast = new BasAgvMast();


			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(outStaAgv.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			String response = new HttpHandler.Builder()
			.setUri(wmsUrl)
			.setPath("/rpc/pakin/agv/loc/v1")
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);

			basAgvMast.setTaskNo(outStaAgv.getStaNo());
			basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
			basAgvMast.setLocNo(dto.getLocNo());
			basAgvMast.setDevpId(devp.getId());
			basAgvMast.setIoType(2);

			basAgvMastService.insert(basAgvMast);
			} else {
			News.error(JSON.toJSONString(staProtocol));
			}
			} catch (Exception e) {
			News.error(JSON.toJSONString(e.getMessage()));
			}
			}
			}
			}
			}

			/*
			* agv任务生成 Empty
			* */
			public synchronized void agvTaskCreateR() {
			// 根据输送线plc遍历
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历出库口
			for (DevpSlave.Sta inStaAgv : devp.getInStaAgv()) {
			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inStaAgv.getStaNo());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			// 判断是否满足入库条件
			if (staProtocol.isLoading()){
			continue;
			}

			if (staProtocol.isAutoing()) {

			// 判断重复工作档
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("sta_no", inStaAgv.getStaNo()));
			if (!basAgvMastList.isEmpty()) {
			News.info("{}号站点存在任务执行中，等待任务执行完毕!!!", inStaAgv.getStaNo());
			continue;
			}
			// 任务生成区 --------------------------------------------------------------------------

			BasAgvMast basAgvMast = new BasAgvMast();
			try {
			List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>()
			.eq("loc_sts", "R")
			.ge("row1", 23)
			.le("row1", 32)
			.orderBy("io_time",true)
			);

			for (LocMast locMast : locMastList){
			basAgvMast.setTaskNo(inStaAgv.getStaNo());
			basAgvMast.setSourceLocNo(locMast.getLocNo());
			basAgvMast.setStaNo(inStaAgv.getStaNo());
			basAgvMast.setDevpId(devp.getId());
			basAgvMast.setIoType(0);//AGV库位==》输送线站点 0
			basAgvMastService.insert(basAgvMast);
			break;
			}

			} catch (Exception e) {
			News.error(JSON.toJSONString(e.getMessage()));
			}
			}
			}
			}
			}


			/*
			* agv任务下发:AGV库位==》输送线站点
			@@ -4685,7 +4917,9 @@
			staProtocol = staProtocol.clone();
			}

			if (!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())){
			if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo()))
			\|\|
			(basAgvMast.getSourceStaNo().equals(2033))){

			AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);