*

lsh

2025-11-05 f7549d786a572e344e8cd3e94a0827a8c219760b

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

@@ -4,13 +4,16 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.R;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.controller.CrnController;
import com.zy.asrs.controller.TaskWrkController;
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.CarryParam;
import com.zy.asrs.entity.param.TaskCreateParam;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
@@ -70,6 +73,8 @@
    private TaskWrkMapper taskWrkMapper;
    @Autowired
    private TaskWrkService taskWrkService;
    @Autowired
    private TaskWrkController taskWrkController;
    @Autowired
    private StaDescMapper staDescMapper;
    @Autowired
@@ -2805,20 +2810,6 @@
                continue;
            }

//            CrnSlave crn = new CrnSlave(crnSlave);
//            if (Cools.isEmpty(crnProtocol.getLaneNo()) || crnProtocol.getLaneNo()==0){
//                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机巷道号异常！");
//                continue;
//            }
//
//            if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
//                for (CrnSlave crnOther : slaveProperties.getCrn()) {
//                    if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
//                        crn.updateCrnInStn(crnOther);
//                    }
//                }
//            }

            // 只有当堆垛机空闲 并且 无任务时才继续执行
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
@@ -2897,7 +2888,7 @@
                    if (Cools.isEmpty(taskWrk1)){
                        continue;
                    }
                    if (taskWrk1.getWrkSts() == 2){
                    if (taskWrk1.getIoType() == 3 && taskWrk1.getWrkSts()<3){
                        taskWrk = taskWrk1;
                        break;
                    }
@@ -3185,10 +3176,23 @@
                            if (offer) {
                                log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
                                Date now = new Date();
                                taskWrk.setStatus(TaskStatusType.OVER3.id);
//                                taskWrk.setStatus(TaskStatusType.OVER3.id);
                                taskWrk.setStatus(TaskStatusType.OVER.id);//手动完成任务
                                taskWrk.setWrkSts(14);
                                taskWrk.setModiTime(now);
                                taskWrk.setCompleteTime(now);

                                LocMast locMast=locMastService.selectByLocNo(taskWrk.getStartPoint());
                                if(Cools.isEmpty(locMast)){
                                    R.error("没有找到该库位") ;
                                }
                                locMast.setLocSts("O");
                                locMast.setModiTime(now);
                                locMast.setModiTime(now);



                                locMastService.updateById(locMast);
                                taskWrkService.updateById(taskWrk);
                            } else {
                                log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(taskWrk));
@@ -3218,19 +3222,7 @@
                    continue;
                }

                CrnSlave crn = new CrnSlave(crnSlave);
                if (Cools.isEmpty(crnProtocol.getLaneNo()) || crnProtocol.getLaneNo()==0){
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机巷道号异常！");
                    continue;
                }

                if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
                    for (CrnSlave crnOther : slaveProperties.getCrn()) {
                        if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
                            crn.updateCrnInStn(crnOther);
                        }
                    }
                }
                CrnSlave crn = crnSlave;

                //  状态：等待确认 并且  任务完成位 = 1
                if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
@@ -3240,14 +3232,7 @@
                        log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，巷道号={}，工作号={}", crn.getId(), crnProtocol.getLaneNo(), crnProtocol.getTaskNo());
                        continue;
                    }
//                Thread.sleep(300);
                    //确认完成信号
//                    CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
//                    crnOperatorParam.setCrnNo(crn.getId());
                    Date now = new Date();

//                    crnController.crnTaskComplete(crnOperatorParam);
//                    MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))
                    crnThread.setResetFlag(true);

                    if (!Cools.isEmpty(taskWrk)) {
@@ -3293,44 +3278,6 @@
                        taskWrk.setCompleteTime(now);
                        taskWrkService.updateById(taskWrk);


//                    try {
//                        HashMap<String, Object> headParam = new HashMap<>();
//                        headParam.put("taskNo",taskWrk.getTaskNo());
//                        headParam.put("taskStatus",taskWrk.getStatusWms());
//                        headParam.put("ioType",taskWrk.getIoTypeWms());
//                        headParam.put("barCode",taskWrk.getBarcode());
//                        headParam.put("reportTime", LocalDateTime.now());
//                        headParam.put("weight",taskWrk.getScWeight().doubleValue());
//
//                        String response;
//                        log.error("wcs完结任务上报wms==》", headParam);
//
//                        response = new HttpHandler.Builder()
//                                // .setHeaders(headParam)
//                                .setUri(wmsUrl)
//                                .setPath(taskStatusFeedbackPath)
//                                .setJson(JSON.toJSONString(headParam))
//                                .build()
//                                .doPost();
//                        log.error("wcs完结任务上报wms==》", response);
//
////                        JSONObject jsonObject = JSON.parseObject(response);
////                        log.error("wcs完结任务上报wms==》", jsonObject);
//
//                        apiLogService.save("wcs派发入库任务上报wms"
//                                , wmsUrl + taskStatusFeedbackPath
//                                , null
//                                , "127.0.0.1"
//                                , JSON.toJSONString(headParam)
//                                , response
//                                , true
//                        );
//                    } catch (Exception e) {
//                        log.error("wcs完结任务上报wms失败", taskWrk);
//                        log.error("wcs完结任务上报wms失败,报错信息：", e);
////                        throw new CoolException("wcs派发入库任务上报wms失败");
//                    }
                    }

                }
@@ -3339,5 +3286,60 @@
            }
        }
    }
    public void locMastTaskDemo(){
        try{
            for (CrnSlave crnSlave : slaveProperties.getCrn()) {
                try{
                    // 获取堆垛机信息
                    CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
                    CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                    if (crnProtocol == null) {
                        continue;
                    }
                    if (Cools.isEmpty(crnProtocol.getLocMastDemoList())) {
                        continue;
                    }
                    BasCrnp basCrnp = basCrnpService.selectById(crnSlave.getId());
                    if (basCrnp == null) {
                        log.error("{}号堆垛机尚未在数据库进行维护！", crnSlave.getId());
                        continue;
                    }
                    if (Cools.isEmpty(basCrnp.getHpMk()) || !basCrnp.getHpMk().equals("Y")){
                        continue;
                    }
                    for (String locNo : crnProtocol.getLocMastDemoList()){
                        LocMast locMast = locMastService.selectByLocNo(locNo);
                        if (locMast.getLocSts().equals("F")){
                            CarryParam carryParam = new CarryParam();
                            carryParam.setTaskNo(locNo);
                            carryParam.setBarcode(locNo);
                            carryParam.setIoType(1);//任务类型=》1：出库、2：移库、3：入库   ====转换为====>  1：入库，2：出库，3：移库
                            carryParam.setTaskPriority(1);
                            carryParam.setTargetPoint("1012");
                            carryParam.setStartPoint(BarcodeUtils.formatCode(locNo));
                            carryParam.setMeno("Demo");
                            taskWrkController.addTaskPoint(carryParam);
                            Thread.sleep(50);
                        } else if (locMast.getLocSts().equals("O")){
                            CarryParam carryParam = new CarryParam();
                            carryParam.setTaskNo(locNo);
                            carryParam.setBarcode(locNo);
                            carryParam.setIoType(3);//任务类型=》1：出库、2：移库、3：入库   ====转换为====>  1：入库，2：出库，3：移库
                            carryParam.setTaskPriority(1);
                            carryParam.setStartPoint("1012");
                            carryParam.setTargetPoint(BarcodeUtils.formatCode(locNo));
                            carryParam.setMeno("Demo");
                            taskWrkController.addTaskPoint(carryParam);
                            Thread.sleep(50);
                        }
                    }

                } catch (Exception e){

                }
            }
        } catch (Exception e){

        }
    }
}