zy-wcs.git - Gitblit

			@@ -4,21 +4,18 @@
			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.fasterxml.jackson.databind.ObjectMapper;
			import com.zy.asrs.domain.enums.TaskStatusType;
			import com.zy.asrs.entity.*;
			import com.zy.asrs.entity.param.TaskOverToWms;
			import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
			import com.zy.asrs.entity.param.taskCreateParam;
			import com.zy.asrs.mapper.*;
			import com.zy.asrs.mapper.BasCrnErrorMapper;
			import com.zy.asrs.mapper.StaDescMapper;
			import com.zy.asrs.mapper.TaskWrkMapper;
			import com.zy.asrs.mapper.WrkMastMapper;
			import com.zy.asrs.service.*;
			import com.zy.asrs.utils.CommandUtils;
			import com.zy.asrs.utils.PostMesDataUtils;
			import com.zy.asrs.utils.Utils;
			import com.zy.common.service.CommonService;
			import com.zy.common.utils.HttpHandler;
			import com.zy.core.CrnThread;
			import com.zy.core.DevpThread;
			@@ -34,7 +31,6 @@
			import com.zy.core.model.protocol.StaProtocol;
			import com.zy.core.properties.SlaveProperties;
			import com.zy.core.thread.BarcodeThread;
			import com.zy.core.thread.LedThread;
			import com.zy.core.thread.SiemensDevpThread;
			import com.zy.system.entity.Config;
			import com.zy.system.service.ConfigService;
			@@ -91,6 +87,13 @@

			@Autowired
			private ApiLogService apiLogService;
			//
			// // 入库站点号对应的堆垛机
			// private static final Map<Integer,Integer> staNoToCrnMap = new HashMap<Integer,Integer>(){{
			// put(103,1); put(205,1); put(107,2); put(211,2);
			// put(111,3); put(217,3); put(115,4); put(223,4);
			// put(119,5); put(229,5); put(123,6); put(235,6);
			// }};

			@Value("${wms.url}")
			private String wmsUrl;
			@@ -211,6 +214,9 @@
			if (taskWrk.getStatus() != 2){
			continue;
			}
			if (!staProtocol.isPakMk()){
			continue;
			}
			//获取堆垛机站点
			StaDesc staDesc = new StaDesc();
			if (devp.getId() <= 1){
			@@ -220,9 +226,11 @@
			staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
			.eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 400).ge("stn_no", 250));
			}

			staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
			staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
			MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			Thread.sleep(500);
			}else {
			//TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
			@@ -277,6 +285,15 @@
			if (!taskWrkService.updateById(taskWrk)){
			log.error("保存wms库位号失败");
			}
			// try {
			// // 更新库位为入库预约
			// LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
			// locMast.setLocSts("S");
			// locMastService.updateById(locMast);
			// log.info("-----入库更新库位状态为：S成功----------"+ locMast.getLocNo());
			// } catch (Exception e){
			// log.error("-----入库更新库位状态为：S异常----------"+ e);
			// }

			}else {
			log.error("wms通讯失败,"+jsonObject.get("msg"));
			@@ -291,12 +308,17 @@
			}
			}
			}
			//
			// private boolean getCrnByStaNo(Integer staNo) {
			// int crn = staNoToCrnMap.get(staNo);
			// BasCrnp crnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", crn));
			// return crnp.getCrnSts() == 0;
			// }


			/**
			* 堆垛机站出库到出库站
			*/
			@Async
			public void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			@@ -332,23 +354,28 @@
			&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
			// 命令下发区 --------------------------------------------------------------------------

			//取出输送线命令
			List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
			if (commandInfos.isEmpty()) {
			continue;//命令空
			}
			try {
			//取出输送线命令
			List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
			if (commandInfos.isEmpty()) {
			continue;//命令空
			}

			// CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
			// CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
			Integer commandStep = taskWrk.getCommandStep();
			CommandInfo commandInfo = commandInfos.get(commandStep);
			CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
			//StaProtocol staProtocol1 = JSON.parseObject(commandInfo.getCommand(), StaProtocol.class);
			StaProtocol staProtocol1 = JSON.parseObject(commandPackage.getCommand().toString(), StaProtocol.class);
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) {
			log.error("输送线命令下方失败！！！ [工作号:{}]", taskWrk.getWrkNo());
			continue;//命令下发失败
			Integer commandStep = taskWrk.getCommandStep();
			CommandInfo commandInfo = commandInfos.get(commandStep);
			CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
			//StaProtocol staProtocol1 = JSON.parseObject(commandInfo.getCommand(), StaProtocol.class);
			StaProtocol staProtocol1 = JSON.parseObject(commandPackage.getCommand().toString(), StaProtocol.class);
			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol1))) {
			log.error("输送线命令下方失败！！！ [工作号:{}]", taskWrk.getWrkNo());
			continue;//命令下发失败
			}
			}catch (Exception e){
			throw new CoolException("取出输送线命令失败");
			}

			// 复位堆垛机
			crnThread.setResetFlag(true);

			@@ -472,11 +499,10 @@
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			TaskWrk taskWrk2 = taskWrkService.selectByWrkNo(taskWrk.getWrkNo());

			if (taskWrk2.getWrkSts() != 3){
			continue;
			}
			log.error("进入修改工作档流程完成,taskWrk=", taskWrk.getWrkNo());
			log.error("进入修改工作档流程完成,taskWrk="+ taskWrk.getWrkNo());


			//取出命令
			@@ -492,15 +518,20 @@
			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 {
			//开始运行
			String response = CrnStartRunning(taskWrk);
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			try {
			//开始运行
			String response = CrnStartRunning(taskWrk);
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {

			}else {
			log.error("入库开始运行通讯失败,"+jsonObject.get("msg"));
			}else {
			log.error("入库开始运行wms报错,"+jsonObject.get("msg"));

			}
			}catch (Exception e) {
			log.error("入库开始运行wms报错");
			}

			}

			// // 命令下发区 --------------------------------------------------------------------------
			@@ -589,6 +620,21 @@

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
			// 获取浅库位，状态为S直接出，状态为R，则找到这个库位的工作档，提升优先级先出
			String shallowLoc = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
			LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", shallowLoc));
			if (locMast.getLocSts().equals("Z")) {
			List<TaskWrk> wrkMastList = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>().eq("start_point", locMast.getLocNo()));
			if (!wrkMastList.isEmpty()) {
			TaskWrk wrkMast = wrkMastList.get(0);
			wrkMast.setIoPri(99);
			taskWrkMapper.updateById(wrkMast);
			log.warn("{}对应浅库位有货，提升{}库位优先级",taskWrk.getStartPoint(),wrkMast.getStartPoint());
			continue;
			} else {
			log.error("{}对应浅库位有货，但没有移库任务",taskWrk.getStartPoint());
			}
			}

			taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());

			@@ -649,16 +695,23 @@
			taskWrk.setModiTime(now);
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}
			//开始运行
			String response = CrnStartRunning(taskWrk);
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {

			}else {
			log.error("出库开始运行通讯失败,"+jsonObject.get("msg"));

			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中！！，工作号={}", taskWrk.getWrkNo());
			}
			try {
			//开始运行
			String response = CrnStartRunning(taskWrk);
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {

			}else {
			log.error("出库开始运行wms失败,"+jsonObject.get("msg"));

			}
			}catch (Exception e){
			log.error("出库开始运行wms失败,");
			}

			}

			}
			@@ -678,7 +731,6 @@
			.eq("wrk_sts",11)
			.eq("io_type",3));
			for (TaskWrk taskWrk : taskWrks){

			// 双深库位且浅库位有货，则需先对浅库位进行库位移转
			if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
			String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
			@@ -688,7 +740,7 @@
			}
			}
			// 堆垛机控制过滤
			if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			if (!crnProtocol.getModeType().equals(CrnModeType.AUTO) \|\| !crnProtocol.getStatusType().equals(CrnStatusType.IDLE) \|\| crnProtocol.getTaskNo() != 0) {
			continue;
			}

			@@ -770,16 +822,23 @@
			taskWrk.setModiTime(now);
			if (taskWrkMapper.updateById(taskWrk) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中失败！！，工作号={}", taskWrk.getWrkNo());
			}else{
			log.info("移库任务下发任务成功，修改工作档状态 11.生成出库ID => 12.吊车出库中，工作号={}", taskWrk.getWrkNo());
			}
			//开始运行
			String response = CrnStartRunning(taskWrk);
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {
			try{
			String response = CrnStartRunning(taskWrk);
			JSONObject jsonObject = JSON.parseObject(response);
			if (jsonObject.getInteger("code").equals(200)) {

			}else {
			log.error("移库任务开始运行通讯失败,"+jsonObject.get("msg"));
			continue;
			}else {
			log.error("移库任务开始运行wms返回失败,"+jsonObject.get("msg"));
			continue;
			}
			}catch (Exception e){
			log.error("移库任务开始运行请求wms报错,"+e.getMessage());
			}

			break;
			}
			return;
			@@ -791,7 +850,7 @@
			/**
			* 执行对工作档的完成操作
			*/
			@Async

			public void storeFinished() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			// 获取堆垛机信息
			@@ -803,11 +862,12 @@
			if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
			//获取入库待确认工作档
			TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());

			if (Cools.isEmpty(taskWrk)) {
			// 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={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
			continue;
			}

			log.info("收到申请完成请求：" + taskWrk);
			//获取指令ID
			// Integer commandId = crnProtocol.getCommandId();
			// CommandInfo commandInfo = new CommandInfo();
			@@ -894,7 +954,7 @@
			/**
			* 堆垛机异常信息记录
			*/
			@Async

			public void recCrnErr(){
			Date now = new Date();
			for (CrnSlave crn : slaveProperties.getCrn()) {
			@@ -1024,8 +1084,8 @@
			for (TaskWrk taskWrk : taskWrkService.selectReceive()) {
			try {
			taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
			} catch (CoolException e) {
			// log.info(e.getMessage());
			} catch (Exception e) {
			// log.error("自动派发任务异常："+e.getMessage()+"{" + taskWrk.toString());
			}
			}
			}