zy-wcs.git - Gitblit

			@@ -83,6 +83,8 @@
			@Autowired
			private BasDevpService basDevpService;
			@Autowired
			private SnowflakeIdWorker snowflakeIdWorker;
			@Autowired
			private LocDetlService locDetlService;
			@Autowired
			private BasErrLogService basErrLogService;
			@@ -448,23 +450,74 @@
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			// News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			continue;
			}
			} else {
			continue;
			}

			// 获取拣料入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			if (staProtocol.isFrontErr()) {
			errMsg = "前超限";
			back = true;
			}
			if (!back && staProtocol.isBackErr()) {
			errMsg = "后超限";
			back = true;
			}
			if (!back && staProtocol.isHighErr()) {
			errMsg = "高超限";
			back = true;
			}
			if (!back && staProtocol.isLeftErr()) {
			errMsg = "左超限";
			back = true;
			}
			if (!back && staProtocol.isRightErr()) {
			errMsg = "右超限";
			back = true;
			}
			if (!back && staProtocol.isWeightErr()) {
			errMsg = "超重";
			back = true;
			}
			if (!back && staProtocol.isBarcodeErr()) {
			errMsg = "扫码失败";
			log.error("物料码扫码失败");
			back = true;
			}
			// 退回
			if (back) {
			News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", pickSta.getStaNo(), errMsg);
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errMsg));

			if (!staProtocol.isLoading()){
			continue;
			}
			if (!staProtocol.isPakMk()) {
			continue;
			}
			// led 异常显示
			if (ledThread != null) {
			MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errMsg));
			}
			staProtocol.setWorkNo(wrkNo);
			staProtocol.setErrCode(errMsg);
			News.info("异常判断{}入库回退：{}，任务号：{}", pickSta.getStaNo(), errMsg,wrkNo);
			wrkNo++;
			staProtocol.setStaNo(pickSta.getBackSta().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			staProtocol.setBarcode(barcode);
			staProtocol.setPakMk(false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			System.out.println(staProtocol);
			log.error("输送线下发1："+wrkNo+","+pickSta.getBackSta());
			}


			// // 入出库模式判断
			// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
			@@ -504,7 +557,7 @@
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			//LED
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
			// led 异常显示
			if (ledThread != null) {
			String errorMsg = "此为拣料、并板、盘点再入库.请放在"+pickSta.getBackSta().shortValue()+"站点";
			@@ -923,16 +976,23 @@
			*/
			public synchronized void connectWrk(Integer mark) {
			for (DevpSlave devp : slaveProperties.getDevp()) {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocolIn = devpThread.getStation().get(4001);
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);

			StaProtocol staProtocolIn = devpThread2.getStation().get(4001);
			if (staProtocolIn == null) {
			continue;
			} else {
			staProtocolIn = staProtocolIn.clone();
			}
			int[] outStaNos = {1015, 2016}; //衔接入库点
			int[] outStaNos = {1015,2016}; //衔接入库点
			for (int outStaNo : outStaNos) {
			StaProtocol staProtocolOut = devpThread.getStation().get(outStaNo);// 盘点出库衔接站点（可能是 1015，也可能是 2016）
			StaProtocol staProtocolOut =null;
			if(outStaNo == 2016){
			staProtocolOut = devpThread2.getStation().get(outStaNo);
			}else{
			staProtocolOut = devpThread.getStation().get(outStaNo);
			}
			if (staProtocolOut == null) {
			continue;
			} else {
			@@ -2290,6 +2350,9 @@
			case 57:
			ledCommand.setTitle("盘点再入库");
			break;
			case 53:
			ledCommand.setTitle("拣料再入库");
			break;
			case 101:
			ledCommand.setTitle("全板出库");
			break;
			@@ -2861,6 +2924,8 @@

			public synchronized void autoEmptyOut() {
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
			SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);

			List<Integer> list = new ArrayList<>();
			list.add(1108);list.add(2031);
			for (Integer site:list){
			@@ -2868,13 +2933,13 @@
			StaProtocol staProtocol = null;
			if(emptyCount >= 2 && site == 1108){
			continue;
			}else if(emptyCount == 1 && site == 2031){
			}else if(emptyCount > 1 && site == 2031){
			continue;
			}
			//如果站点可出禁用，则不生成空盘出库任务
			switch (site){
			case 1108:staProtocol = devpThread.getStation().get(site - 2);break;
			case 2031:staProtocol = devpThread.getStation().get(site);break;
			case 2031:staProtocol = devpThread2.getStation().get(site);break;
			}
			if (staProtocol == null) {
			return;
			@@ -4414,13 +4479,84 @@
			}
			String barcode = staProtocol.getBarcode();
			if(!Cools.isEmpty(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "0".equals(barcode) \|\| barcode.length()<5) {
			armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
			continue;
			}
			} else {
			armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
			continue;
			}
			String[] barcodeList = barcode.split(";");
			String[][] barcodeArr = new String[barcodeList.length / 2][2];
			int i = 0;
			for (String[] barcodes : barcodeArr){
			barcodes[0]=barcodeList[i];
			i++;
			barcodes[1]=barcodeList[i];
			i++;
			}
			ArmBarcodeTwoParam armBarcodeTwoParam = new ArmBarcodeTwoParam(barcodeArr);
			if (!armBarcodeTwoParam.allBool()){
			continue;
			}


			List<BasArmMast> basArmMastList = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", armSta.getArmNo())
			.lt("status", 2)
			);
			if (!basArmMastList.isEmpty()){
			armTaskAssignmentCallApiLogSave(staProtocol, armSta.getArmNo()+"号机械臂存在未完成任务", staProtocol.getSiteId()+"机械臂，===》存在未完成任务", false);
			continue;
			}
			List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().eq("arm_no",armSta.getArmNo()));
			boolean sign = true;
			for (BasArm basArm : basArmList){
			if (basArm.getStaNo()==2){//NG
			continue;
			}
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
			if (Cools.isEmpty(locMast) \|\| !locMast.getLocSts().equals("D")){
			continue;
			}
			List<BasArmMast> basArmMastList2 = basArmMastService.selectList(
			new EntityWrapper<BasArmMast>()
			.eq("arm_no", basArm.getArmNo())
			.eq("sorting_line", basArm.getSortingLineSou())
			.eq("sta_no", basArm.getStaNoSou())
			.eq("status", 2)
			);
			if (!basArmMastList2.isEmpty()){
			BasArmMast basArmMast2 = basArmMastList2.get(0);
			if (!armBarcodeTwoParam.allBool(basArmMast2)){
			continue;
			}
			}
			BasArmMast basArmMast = new BasArmMast(armBarcodeTwoParam);
			basArmMast.setArmNo(basArm.getArmNo());
			basArmMast.setStaNo(basArm.getStaNoSou());
			basArmMast.setSortingLine(basArm.getSortingLineSou());
			basArmMastService.insert(basArmMast);
			sign = false;
			break;
			}
			if (sign){
			for (BasArm basArm : basArmList){
			if (basArm.getStaNo()==2){//NG
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", basArm.getStaNoSou()));
			if (Cools.isEmpty(locMast) \|\| !locMast.getLocSts().equals("D")){
			continue;
			}
			BasArmMast basArmMast = new BasArmMast(armBarcodeTwoParam);
			basArmMast.setArmNo(basArm.getArmNo());
			basArmMast.setStaNo(basArm.getStaNoSou());
			basArmMast.setSortingLine(basArm.getSortingLineSou());
			basArmMastService.insert(basArmMast);
			break;
			}
			}
			}
			}
			}
			@@ -4907,6 +5043,55 @@
			continue;
			}
			if (staProtocol.isAutoing() ) {
			if(staProtocol.getWorkNo()>10000){
			BasAgvMast basAgvMast = new BasAgvMast();
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("task_no", staProtocol.getWorkNo()));
			if(!basAgvMastList.isEmpty()){
			continue;
			}

			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			param.setBarcode(staProtocol.getWorkNo().toString());
			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.setFloorNo(1);
			basAgvMast.setTaskNo(staProtocol.getWorkNo());
			basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
			basAgvMast.setLocNo(dto.getLocNo());
			basAgvMast.setBarcode("1");
			basAgvMast.setSourceLocNo("1041");
			basAgvMast.setDevpId(devp.getId());
			basAgvMast.setIoType(2);
			basAgvMastService.insert(basAgvMast);
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no",dto.getLocNo()));
			locMast.setLocSts("S");
			locMastService.updateById(locMast);

			AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
			agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
			agvBindCtnrAndBinParam.setCtnrTyp("1");
			ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV出库容器绑定解绑", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);

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

			}

			}
			WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
			if (Cools.isEmpty(wrkMast) \|\| Cools.isEmpty(wrkMast.getTakeNone()) \|\| !wrkMast.getTakeNone().equals("1")){
			continue;
			@@ -4958,8 +5143,10 @@
			basAgvMast.setIoType(2);

			basAgvMastService.insert(basAgvMast);


			AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
			agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getBarcode());
			agvBindCtnrAndBinParam.setCtnrTyp("1");
			ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);

			wrkMast.setTakeNone("2");
			wrkMastMapper.updateById(wrkMast);
			@@ -4985,6 +5172,8 @@
			// 获取入库站信息
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(outStaAgv.getStaNo());
			BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 6);

			if (staProtocol == null) {
			continue;
			} else {
			@@ -4996,7 +5185,7 @@
			continue;
			}

			String barcode = staProtocol.getBarcode();
			String barcode = barcodeThread.getBarcode();//2033
			if(!Cools.isEmpty(barcode)) {
			if("NG".endsWith(barcode) \|\| "NoRead".equals(barcode) \|\| "0".equals(barcode)) {
			// News.info("{}号站点扫描器检测条码信息：{}", outStaAgv.getStaNo(), barcode);
			@@ -5009,7 +5198,7 @@
			if (staProtocol.isAutoing()) {

			// 判断重复工作档
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()));
			List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()).eq("barcode",barcode));
			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;
			@@ -5017,9 +5206,17 @@
			if(barcode.equals("0")){
			continue;
			}
			List<LocMast> locMastListFull = locMastService.selectList(new EntityWrapper<LocMast>()
			.eq("loc_sts", "O")
			.ge("row1", 28)
			.le("row1", 31)
			);
			if(locMastListFull.isEmpty()){
			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);
			// News.info("{}号站点条码信息重复：{}", outStaAgv.getStaNo(), barcode);
			continue;
			}
			// 任务生成区 --------------------------------------------------------------------------
			@@ -5044,7 +5241,29 @@
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			StartupDto dto = jsonObject.getObject("data", StartupDto.class);
			basAgvMast.setTaskNo(outStaAgv.getStaNo());
			List<BasAgvMast> list = basAgvMastService.selectList(
			new EntityWrapper<BasAgvMast>()
			.eq("source_sta_no", outStaAgv.getStaNo())
			.in("task_no", 2033, 2031)
			);
			boolean has2033 = false;
			boolean has2034 = false;
			for (BasAgvMast mast : list) {
			if (mast.getTaskNo() == 2033) {
			has2033 = true;
			}
			if (mast.getTaskNo() == 2031) {
			has2034 = true;
			}
			}

			if (has2033 && has2034) {
			return;
			} else if (has2033) {
			basAgvMast.setTaskNo(2031);
			} else {
			basAgvMast.setTaskNo(2033);
			}
			basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
			basAgvMast.setLocNo(dto.getLocNo());
			basAgvMast.setDevpId(devp.getId());
			@@ -5057,8 +5276,10 @@
			News.error(JSON.toJSONString(staProtocol));
			}
			} catch (Exception e) {
			News.error(JSON.toJSONString(e.getMessage()));
			News.error("AGV任务生成异常", e);
			throw new CoolException("AGV任务生成异常");
			}

			}
			}
			}
			@@ -5285,12 +5506,9 @@
			staProtocol = staProtocol.clone();
			}

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

			if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())) \|\| basAgvMast.getSourceStaNo().equals(2033)){
			AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
			if(basAgvMast.getFloorNo()==1 \|\| basAgvMast.getStaNo().equals(2034)) {
			if(basAgvMast.getFloorNo()==1) {
			// WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
			// AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
			// agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
			@@ -5317,6 +5535,22 @@
			agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
			}
			}else{
			if (!Cools.isEmpty(basAgvMast.getSourceStaNo())){
			if (basAgvMast.getSourceStaNo().equals(4006)){

			AgvBindCtnrAndBinTwoParam agvBindCtnrAndBinTwoParam = new AgvBindCtnrAndBinTwoParam();
			agvBindCtnrAndBinTwoParam.setReqCode(String.valueOf(snowflakeIdWorker.nextId()));
			agvBindCtnrAndBinTwoParam.setPodcode(basAgvMast.getBarcode());
			agvBindCtnrAndBinTwoParam.setPositionCode(basAgvMast.getSourceStaNo().toString());
			agvBindCtnrAndBinTwoParam.setIndBind("1");;
			ReturnT<String> resultBind = new PostMesDataUtils().postMesDataArmGrating("AGV容器绑定解绑",
			AgvConstant.AGV_URL+"/"+AgvConstant.AGV_hikRpcService,AgvConstant.getAGVADAPTOR(2), agvBindCtnrAndBinTwoParam);
			if (resultBind.getCode()!=200){
			basAgvMast.setStatus(4);
			basAgvMastService.updateById(basAgvMast);
			}
			}
			}
			//任务下发
			ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
			if (result.getCode()==200){