999

zhangc

2025-04-19 f0e2feba85291e700eae3b0a8cedd28f37b44c02

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

@@ -1,6 +1,7 @@
package com.zy.asrs.service.impl;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.*;
@@ -8,6 +9,7 @@
import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.MapNode;
import com.zy.common.model.SearchLocParam;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.*;
@@ -38,12 +40,10 @@
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;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Map;
import java.util.*;

/**
 * 立体仓库WCS系统主流程业务
@@ -99,9 +99,11 @@
    private LiftAction liftAction;
    @Autowired
    private BasWrkStatusService wrkStatusService;
    @Value("${asrs.wmsUrl}")
    private String wmsUrl;


    private boolean isInEnable(DevpThread devpThread, Integer staNo) {
    public boolean isInEnable(DevpThread devpThread, Integer staNo) {
        if (staNo == null) {
            return false;
        }
@@ -117,6 +119,7 @@
            case 1031:
            case 1032:
                return devpThread.getStation().get(1032).isInEnable();
            case 1024:
            case 1025:
            case 1026:
                return devpThread.getStation().get(1025).isInEnable();
@@ -128,7 +131,7 @@
        return false;
    }

    private boolean isOutEnable(DevpThread devpThread, Integer staNo) {
    public boolean isOutEnable(DevpThread devpThread, Integer staNo) {
        if (staNo == null) {
            return false;
        }
@@ -141,9 +144,7 @@
            case 1022:
            case 1023:
                return devpThread.getStation().get(1022).isOutEnable();
            case 1031:
            case 1032:
                return devpThread.getStation().get(1032).isOutEnable();
            case 1024:
            case 1025:
            case 1026:
                return devpThread.getStation().get(1025).isOutEnable();
@@ -151,6 +152,9 @@
            case 1014:
            case 1015:
                return devpThread.getStation().get(1014).isOutEnable();
            case 1031:
            case 1032:
                return devpThread.getStation().get(1032).isOutEnable();
        }
        return false;
    }
@@ -183,8 +187,8 @@
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
                        String barcode = staProtocol.getBarcode();
                        // 判断重复工作档
                        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("wrk_sts", WrkStsType.NEW_INBOUND.sts).eq("barcode", barcode));
                        if (wrkMast != null) {
                        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
                        if (wrkMast != null && wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
                            News.error("工作档已存在,工作号={}", wrkMast.getWrkNo());
                            //判断时提升机侧，还是无提升机测
                            staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
@@ -194,25 +198,25 @@
                            wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
                            wrkMast.setModiTime(new Date());
                            wrkMastService.updateById(wrkMast);
                        } else if (wrkMast != null && wrkMast.getWrkSts() != WrkStsType.NEW_INBOUND.sts) {
                            continue;
                        }
                        try {
                        /*String wmsUrl = "127.0.0.1:8080/fyxcwms";
                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setSourceStaNo(inSta.getStaNo());
                        param.setLocType1(staProtocol.getLocType1().shortValue());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        Integer code = jsonObject.getInteger("code");
                        if (code.equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            SearchLocParam param = new SearchLocParam();
                            param.setBarcode(barcode);
                            param.setIoType(1);
                            param.setSourceStaNo(inSta.getStaNo());
                            param.setLocType1((short) 1);
                            String response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin/loc/v1")
                                    .setJson(JSON.toJSONString(param))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject = JSON.parseObject(response);
                            Integer code = jsonObject.getInteger("code");
                            if (code.equals(200)) {
                                //StartupDto dto = jsonObject.getObject("data", StartupDto.class);
//                                String wmsLocNo = dto.getLocNo();
//                                int row = Integer.parseInt(wmsLocNo.substring(0, 2));
//                                int bay = Integer.parseInt(wmsLocNo.substring(2, 5));
@@ -243,24 +247,72 @@
//                                }catch (Exception e){
//
//                                }
                        } else {
                            String msg = jsonObject.getString("msg");
                            HashMap<String, String> hashMap = new HashMap<>();
                            hashMap.put("msg", msg);
                            hashMap.put("sta", inSta.getStaNo().toString());
                            new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/led/getError")
                                    .setJson(JSON.toJSONString(hashMap))
                                    .build()
                                    .doPost();
                            News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
                        }*/
                            } else {
                                String msg = jsonObject.getString("msg");
                                HashMap<String, String> hashMap = new HashMap<>();
                                hashMap.put("msg", msg);
                                hashMap.put("sta", inSta.getStaNo().toString());
                                new HttpHandler.Builder()
                                        .setUri(wmsUrl)
                                        .setPath("/rpc/led/getError")
                                        .setJson(JSON.toJSONString(hashMap))
                                        .build()
                                        .doPost();
                                News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
                            }
                        } catch (Exception e) {
                            e.printStackTrace();
                            log.error("调用wms报错1，{}", e.getMessage());
                        }
                    }
                } else if (inSta.getStaNo() == 1012 || inSta.getStaNo() == 1022) {
                    // 获取入库站信息
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    Short workNo = staProtocol.getWorkNo();
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
                        String barcode = staProtocol.getBarcode();
                        // 判断重复工作档
                        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
                        if (wrkMast == null) {
                            try {
                                SearchLocParam param = new SearchLocParam();
                                param.setBarcode(barcode);
                                param.setIoType(1);
                                param.setSourceStaNo(inSta.getStaNo());
                                param.setLocType1((short) 1);
                                String response = new HttpHandler.Builder()
                                        .setUri(wmsUrl)
                                        .setPath("/rpc/pakin/loc/v1")
                                        .setJson(JSON.toJSONString(param))
                                        .build()
                                        .doPost();
                                JSONObject jsonObject = JSON.parseObject(response);
                                Integer code = jsonObject.getInteger("code");
                                if (code.equals(200)) {

                                } else {
                                    String msg = jsonObject.getString("msg");
                                    HashMap<String, String> hashMap = new HashMap<>();
                                    hashMap.put("msg", msg);
                                    hashMap.put("sta", inSta.getStaNo().toString());
                                    new HttpHandler.Builder()
                                            .setUri(wmsUrl)
                                            .setPath("/rpc/led/getError")
                                            .setJson(JSON.toJSONString(hashMap))
                                            .build()
                                            .doPost();
                                    News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
                                }
                            } catch (Exception e) {
                                log.error("调用wms报错2，{}", e.getMessage());
                            }
                        }
                    }
                }
            }
        } catch (Exception e) {
@@ -339,7 +391,7 @@
                News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
                continue;
            }
            if (!staProtocol.isOutEnable()) {
            if (!isOutEnable(devpThread, wrkMast.getStaNo())) {
                News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
                continue;
            }
@@ -352,7 +404,13 @@
                News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
                continue;
            } else {
                News.info("{}任务，无提升机处调度小车成功", wrkMast.getWrkNo());
                WrkMast wrkMast1 = wrkMastService.selectByMainWrkNo(wrkMast.getWrkNo());
                if (wrkMast1 == null) {
                    News.info("{}任务，调度小车失败,终于发现了", wrkMast.getWrkNo());
                    continue;
                } else {
                    News.info("{}任务，无提升机处调度小车成功", wrkMast.getWrkNo());
                }
            }

            wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);
@@ -399,22 +457,23 @@
                        }

                        String sourceLocNo = "1200305";
                        String locNo = "1100105";
                        String locNo = "1300105";
                        if (wrkMast.getStaNo() == 1013) {
                            sourceLocNo = "1200301";
                            locNo = "1100101";
                            locNo = "1300101";
                            if (loc.contains(locNo)) {
                                locNo = "1000101";
                                locNo = "1100101";
                            }
                        } else {
                            if (loc.contains(locNo)) {
                                locNo = "1000105";
                                locNo = "1100105";
                            }
                        }

                        boolean dispatchShuttle = shuttleDispatchUtils.shuttleMoveGenerate(wrkMast.getWrkNo(), sourceLocNo, locNo, wrkMast.getShuttleNo(), null, false);
                        if (!dispatchShuttle) {
                            News.taskInfo(wrkMast.getWrkNo(), "{}小车，挪车调度至取货点失败", wrkMast.getShuttleNo());
                            continue;
                        }

                        staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
@@ -824,6 +883,8 @@
            short staNo = 1012;
            if (wrkMast.getSourceStaNo() == 1022) {
                staNo = 1023;
            } else if (wrkMast.getSourceStaNo() == 1031 || wrkMast.getSourceStaNo() == 1032) {
                staNo = 1032;
            }

            staProtocol = staProtocol.clone();
@@ -915,7 +976,16 @@
                    News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
                    return false;
                }
            } else {
            } else if (sourceStaNo == 1012) {
                if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
                    News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
                    return false;
                }
                if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
                    News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
                    return false;
                }
            } else if (sourceStaNo == 1032 || sourceStaNo == 1031) {
                if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
                    News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
                    return false;
@@ -929,6 +999,8 @@
            String locNo = "0200305";
            if (wrkMast.getSourceStaNo() == 1012) {
                locNo = "0200301";
            } else if (wrkMast.getSourceStaNo() == 1032 || wrkMast.getSourceStaNo() == 1031) {
                locNo = "0200308";
            }
            boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_LIFT");
            if (!dispatchShuttle) {
@@ -936,9 +1008,13 @@
                return false;
            }

            int lev = 105;
            if (wrkMast.getSourceStaNo() == 1012) {
                lev = 101;
            int lev = 101;
            if (wrkMast.getSourceStaNo() == 1021) {
                //TODO
                // lev = 105;
                lev = 1021;
            } else if (wrkMast.getSourceStaNo() == 1032 || wrkMast.getSourceStaNo() == 1031) {
                lev = 1031;
            }
            //获取提升机命令
            List<LiftCommand> liftCommands = liftThread.getPalletInCommand(wrkMast.getWrkNo(), sourceStaNo, lev);
@@ -1063,7 +1139,7 @@
                return false;
            }

            if (!staProtocol.isOutEnable()) {
            if (!isOutEnable(devpThread, wrkMast.getStaNo())) {
                News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
                return false;
            }
@@ -1071,6 +1147,8 @@
            String locNo = "0200305";
            if (wrkMast.getStaNo() == 1011) {
                locNo = "0200301";
            } else if (wrkMast.getStaNo() == 1032) {
                locNo = "0200308";
            }
            boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_LIFT");
            if (!dispatchShuttle) {
@@ -2088,14 +2166,42 @@
    }

    private void shuttleMoveExecuteTransportNoLift(WrkMast wrkMast) {
        if (12 == Utils.getRow(wrkMast.getSourceLocNo()) && 3 == Utils.getBay(wrkMast.getSourceLocNo())) {
        WrkMast mainWrk = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
        if (mainWrk != null && mainWrk.getIoType() == 1) {
            //入库
            noLiftInService.shuttleMoveExecute(wrkMast);
        } else {
            noLiftInService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo());
        } else if (mainWrk != null && mainWrk.getIoType() == 101) {
            //出库
            noLiftOutService.shuttleMoveExecute(wrkMast);
        }
    }


    /**
     * 入出库模式切换函数
     */
    public synchronized void ioConvert() {
        try {
            // 根据输送线plc遍历
            FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            WrkMast pakout = wrkMastService.selectWorkingPakout(1032);
            if (pakout != null) {
                if (devpThread.ioModeOf2_5 != IoModeType.PAKOUT_MODE) {
                    // 出库切换中
                    WrkMast pakin = wrkMastService.selectWorkingPakin(1032);
                    if (pakin == null && !devpThread.getStation().get(1031).isLoading()
                            && !devpThread.getStation().get(1032).isLoading()) {
                        // 出库模式
                        devpThread.ioModeOf2_5 = IoModeType.PAKOUT_MODE;
                    }
                }
            } else {
                // 入库模式
                devpThread.ioModeOf2_5 = IoModeType.PAKIN_MODE;
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

}