#

1

2025-05-12 fcc24525fba4cbc27b0965bf18440efc38ad9150

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

@@ -38,6 +38,7 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.io.IOException;
import java.time.LocalDateTime;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
@@ -463,7 +464,7 @@
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading()
//                            && staProtocol.isInEnable()
                            && (workNo == 0 || (workNo>9000 && workNo<10000))
//                            && (workNo == 0 || (workNo>9000 && workNo<10000))
                            && staProtocol.isPakMkWalk()
                    ) {
                        if (inSta.isBarcodeSign()){
@@ -653,13 +654,17 @@
                continue;
            }

            CrnSlave crnSlave = new CrnSlave(crn);

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

            crn = crnSlave;

            // 库位移转
            this.locToLoc(crn, crnProtocol);
@@ -795,7 +800,7 @@
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setCommand((short) 1);
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
                if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                    throw new CoolException("堆垛机命令生成失败");
                } else {
@@ -807,10 +812,13 @@
                    }
                    try {
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("taskNo", taskWrk.getTaskNo());
                        headParam.put("status", taskWrk.getStatus());
                        headParam.put("ioType", taskWrk.getIoTypeWms());
                        headParam.put("barcode", taskWrk.getBarcode());
                        headParam.put("taskNo",taskWrk.getTaskNo());
                        headParam.put("taskStatus",taskWrk.getStatus());
                        headParam.put("ioType",taskWrk.getIoTypeWms());
                        headParam.put("barCode",taskWrk.getBarcode());
                        headParam.put("reportTime", LocalDateTime.now());
                        headParam.put("weight",taskWrk.getScWeight().doubleValue());

                        String response;
                        response = new HttpHandler.Builder()
                                // .setHeaders(headParam)
@@ -907,7 +915,7 @@
                        command.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                        command.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                        command.setCommand((short) 1);
                        if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command), false)) {
                        if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command))) {
                            log.error("堆垛机命令生成失败，堆垛机号={}，巷道={}，任务数据={}", slave.getId(), taskWrk.getCrnNo(), JSON.toJSON(command));
                            throw new CoolException("堆垛机命令生成失败");
                        } else {
@@ -927,10 +935,13 @@
                            }
                            try {
                                HashMap<String, Object> headParam = new HashMap<>();
                                headParam.put("taskNo", taskWrk.getTaskNo());
                                headParam.put("status", taskWrk.getStatus());
                                headParam.put("ioType", taskWrk.getIoTypeWms());
                                headParam.put("barcode", taskWrk.getBarcode());
                                headParam.put("taskNo",taskWrk.getTaskNo());
                                headParam.put("taskStatus",taskWrk.getStatus());
                                headParam.put("ioType",taskWrk.getIoTypeWms());
                                headParam.put("barCode",taskWrk.getBarcode());
                                headParam.put("reportTime", LocalDateTime.now());
                                headParam.put("weight",taskWrk.getScWeight().doubleValue());

                                String response;
                                response = new HttpHandler.Builder()
                                        // .setHeaders(headParam)
@@ -1017,7 +1028,7 @@
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setCommand((short) 1);
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) {
                if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
@@ -1031,10 +1042,13 @@
                    }
                    try {
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("taskNo", taskWrk.getTaskNo());
                        headParam.put("status", taskWrk.getStatus());
                        headParam.put("ioType", taskWrk.getIoTypeWms());
                        headParam.put("barcode", taskWrk.getBarcode());
                        headParam.put("taskNo",taskWrk.getTaskNo());
                        headParam.put("taskStatus",taskWrk.getStatus());
                        headParam.put("ioType",taskWrk.getIoTypeWms());
                        headParam.put("barCode",taskWrk.getBarcode());
                        headParam.put("reportTime", LocalDateTime.now());
                        headParam.put("weight",taskWrk.getScWeight().doubleValue());

                        String response;
                        response = new HttpHandler.Builder()
                                // .setHeaders(headParam)
@@ -1085,14 +1099,14 @@
            }

            //  状态：等待确认 并且  任务完成位 = 1
            if (!Cools.isEmpty(crnProtocol.getTaskFinish()) && crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                //获取入库待确认工作档
                TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crnProtocol.getLaneNo(), crnProtocol.getTaskNo().intValue());
                if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
                    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);
//                Thread.sleep(300);
                //确认完成信号
                CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
                crnOperatorParam.setCrnNo(crn.getId());
@@ -1145,10 +1159,13 @@

                    try {
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("taskNo", taskWrk.getTaskNo());
                        headParam.put("status", taskWrk.getStatus());
                        headParam.put("ioType", taskWrk.getIoTypeWms());
                        headParam.put("barcode", taskWrk.getBarcode());
                        headParam.put("taskNo",taskWrk.getTaskNo());
                        headParam.put("taskStatus",taskWrk.getStatus());
                        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);

@@ -1372,6 +1389,58 @@
        }
        return true;
    }
    public boolean rgvOtherIDLEOther(RgvSlave slave) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());

        if (rgvProtocol == null || rgvTaskProtocol == null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getId());
        RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getId());

        if (rgvProtocolOther == null) {
            return true;
        }
        if (rgvProtocolOther.statusEnable) {
            if (rgvProtocolOther.getModeType().equals(RgvModeType.AUTO)
                    && rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)
                    && rgvProtocolOther.getLoaded()==0) {
                return false;
            }
        }
        return true;
    }
    public boolean rgvOtherIDLE(RgvSlave slave) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());

        if (rgvProtocol == null || rgvTaskProtocol == null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getOtherId());
        RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getOtherId());

        if (rgvProtocolOther == null) {
            return true;
        }
        if (rgvProtocolOther.statusEnable) {
            if (rgvProtocolOther.getModeType().equals(RgvModeType.AUTO)
                    && rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)
                    && rgvProtocolOther.getLoaded()==0) {
                return false;
            }
        }
        return true;
    }

    public TaskWrk deviceDetection(RgvSlave.RgvStn inSta) {

@@ -1455,7 +1524,7 @@
                                if (rgvStn.getStaNo().equals(staNoNow)) {
                                    TaskWrk taskWrk = deviceDetection(rgvStn);
                                    if (taskWrk != null) {
                                        BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
                                        BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                        if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                            sign = taskGenerate(rgvSlave, rgvStn, 0);
                                        }
@@ -1482,13 +1551,21 @@
                            }
                        }

                        if (!sign){
                            if (rgvOtherIDLEOther(rgvSlave)){
                                if (!rgvOtherIDLE(rgvSlave)){
                                    sign=true;
                                }
                            }
                        }

                        if (!sign) {
                            for (Integer staNoNow : rangeList) {
                                for (RgvSlave.RgvStn rgvStn : rgvSlave.getRgvInSta()) {
                                    if (rgvStn.getStaNo().equals(staNoNow)) {
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk != null) {
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
                                            }
@@ -1522,7 +1599,7 @@
                                    if (rgvStn.getStaNo().equals(staNoNow)) {
                                        TaskWrk taskWrk = deviceDetection(rgvStn);
                                        if (taskWrk != null) {
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                            if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                                sign = taskGenerate(rgvSlave, rgvStn, 0);
                                            }
@@ -1612,10 +1689,6 @@
                if (targetPointConvert == null) {
                    return false;
                }
                RgvSlave.RgvStn rgvStnEnd = getRgvStnNow(rgvSlave, targetPointConvert);
                if (rgvStnEnd == null) {
                    return false;
                }

                BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
                BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
@@ -1625,7 +1698,7 @@
                issuedTake.setTaskNoDirection(issuedTake.gettaskNoDirection$(issuedTake.getTaskNo(), issuedTake.getTaskStatus()));
                issuedTake.setTargetPosition(basDevpPositionSou.getPlcPosition());
                issuedTake.setIsRunning(1);
                issuedTake.setDirection(rgvStn.isDirection());
                issuedTake.setDirection(basDevpPositionSou.getRgvSign()==1);


                issuedPut.setTaskNo(Long.valueOf(taskWrk.getTaskNo()));
@@ -1633,7 +1706,7 @@
                issuedPut.setTaskNoDirection(issuedPut.gettaskNoDirection$(issuedPut.getTaskNo(), issuedPut.getTaskStatus()));
                issuedPut.setTargetPosition(basDevpPositionEnd.getPlcPosition());
                issuedPut.setIsRunning(1);
                issuedPut.setDirection(rgvStnEnd.isDirection());
                issuedPut.setDirection(basDevpPositionEnd.getRgvSign()==1);
            } catch (Exception e) {
                log.error("任务生成失败issued1===》异常信息：{}", e.getMessage());
                return false;