#AGV 输送线扫码器扫描

zyx

2024-02-06 e53d36a01183ebe660ab2d77c9bcd4e0ab6c42a3

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

@@ -2633,9 +2633,10 @@
                    }

                    if (wrkMast.getInvWh() == null) {
                        wrkMast.setInvWh("Y");//标记已经下发机械臂任务
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303");
                        boolean result = RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303");
                        if (result) {
                            wrkMast.setInvWh("Y");//标记已经下发机械臂任务
                            wrkMastMapper.updateById(wrkMast);
                        }
                    }
                }
@@ -2652,9 +2653,10 @@
                        continue;
                    }
                    if (wrkMast.getInvWh() == null) {
                        wrkMast.setInvWh("Y");//标记已经下发机械臂任务
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            RobotUtils.sendTask(staProtocol317.getWorkNo().toString(), wrkDetls.size(), "317");
                        boolean result = RobotUtils.sendTask(staProtocol317.getWorkNo().toString(), wrkDetls.size(), "317");
                        if (result) {
                            wrkMast.setInvWh("Y");//标记已经下发机械臂任务
                            wrkMastMapper.updateById(wrkMast);
                        }
                    }
                }
@@ -2737,13 +2739,38 @@
        return false;
    }

    //通知WMS当前拣料站点信息
    private boolean agvCureentCall(String staNo, String barcode) {
        try {
            HashMap<String, Object> param = new HashMap<>();
            param.put("devNo", staNo);
            param.put("containerCode", barcode);
            String response = new HttpHandler.Builder()
                    .setUri(wmsUrl)
                    .setPath("/rpc/current/containerCode")
                    .setJson(JSON.toJSONString(param))
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            News.info("悬挂线，WMS返回结果：" + jsonObject);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {//呼叫AGV
                return true;
            }
        } catch (Exception e) {
            e.printStackTrace();
            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        }
        return false;
    }

    /**
     * AGV补货(悬挂线通知AGV取货)
     */
    public void agvRestockIntoByHangingWire() {
        try {
            //检测350和351扫码器
            int[] barcodeStaNo = {11, 12};//11 => 350站扫码器,12 => 351站扫码器
            int[] barcodeStaNo = {11, 12,14,16,18,20};//11 => 350站扫码器,12 => 351站扫码器
            for (int staNo : barcodeStaNo) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);
@@ -2759,11 +2786,61 @@
                    String agvStaNo = null;
                    if (staNo == 11) {
                        agvStaNo = "303-1";
                    } else {
                    } else if(staNo == 12){
                        agvStaNo = "304-1";
                    } else if(staNo == 14){
                        agvStaNo = "311-1";
                    } else if(staNo == 16){
                        agvStaNo = "313-1";
                    } else if(staNo == 18){
                        agvStaNo = "315-1";
                    } else if(staNo == 20){
                        agvStaNo = "317-1";
                    }
                    //通知AGV取货
                    boolean result = agvRestockCall(agvStaNo, barcode);
                    if (result) {
                        barcodeThread.setBarcode("");
                    }
                    log.info(barcodeThread.getSlave().getId() + "号扫码器，通知AGV取货，条码号：" + barcode);
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    /**
     * AGV拣料站点信息
     */
    public void agvCurrentContainerCodeInfoWire() {
        try {
            //检测350和351扫码器
            int[] barcodeStaNo = {13, 15,17,19};//11 => 350站扫码器,12 => 351站扫码器
            for (int staNo : barcodeStaNo) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                if (!Cools.isEmpty(barcode)) {
                    if (barcode.contains("NoRead")) {
                        continue;
                    }

                    String agvStaNo = null;
                    if (staNo == 13) {
                        agvStaNo = "310-1";
                    } else if(staNo == 15){
                        agvStaNo = "312-1";
                    } else if(staNo == 17){
                        agvStaNo = "314-1";
                    } else if(staNo == 19){
                        agvStaNo = "316-1";
                    }
                    //通知WMS当前容器码
                    boolean result = agvCureentCall(agvStaNo, barcode);
                    if (result) {
                        barcodeThread.setBarcode("");
                    }
@@ -2968,7 +3045,7 @@
                                        if (wrkDetl.getSuppCode() != null) {
                                            suppCode = wrkDetl.getSuppCode();
                                        }
                                        ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), 0D, wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
                                        ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (locDetl.getAnfme() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
                                    }
                                }