1

zhang

2 天以前 2ddf6fc24333df35bd1ac15848b917336d533d53

1

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/scheduler/AutoRunScheduler.java

@@ -85,7 +85,7 @@
                        this.autoRun(LocGroupConstant.LEFT_LOC_ROW_LIST, StaGroupConstant.LEFT_STA_ROW_LIST, AgvGroupConstant.SECOND_AGV_GROUP);
                        break;
                    case '5':
                        this.autoRun(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, StaGroupConstant.FAR_LEFT_STA_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
                        this.autoRun2(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, StaGroupConstant.FAR_LEFT_STA_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
                        break;
                    default:
                        break;
@@ -111,9 +111,9 @@
                        case '4':
                            this.autoOut(LocGroupConstant.LEFT_LOC_ROW_LIST, StaGroupConstant.LEFT_STA_ROW_LIST, AgvGroupConstant.SECOND_AGV_GROUP);
                            break;
                        case '5':
                            this.autoOut(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, StaGroupConstant.FAR_LEFT_STA_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
                            break;
//                        case '5':
//                            this.autoOut(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST, StaGroupConstant.FAR_LEFT_STA_ROW_LIST, AgvGroupConstant.FIRST_AGV_GROUP);
//                            break;
                        default:
                            break;
                    }
@@ -140,6 +140,19 @@
        this.runLocToLoc(locGroupList, agvGroupList, staTaskMemo);
    }

    private void autoRun2(List<Integer> locGroupList, List<String> staGroupList, List<String> agvGroupList) {
        int availableAgvCount = this.getAvailableAgvCount(agvGroupList);
        if (0 == availableAgvCount) {
            return;
        }

        List<String> staPreNos = getStaPrefixes(staGroupList);
        String staTaskMemo = "DEMO_STA_" + String.join("-", staPreNos);

        // 移库
        this.runLocToLoc(locGroupList, agvGroupList, staTaskMemo);
    }

    private void autoOut(List<Integer> locGroupList, List<String> staGroupList, List<String> agvGroupList) {
        int availableAgvCount = this.getAvailableAgvCount(agvGroupList);
        if (0 == availableAgvCount) {

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/MainService.java

@@ -137,6 +137,7 @@
            throw new BusinessException("Internal Server Error!");
        }
        Boolean locStaStatusCheck = configService.getVal("LOC_STA_STATUS_CHECK", Boolean.class, true);
        Integer locStaTaskNum = configService.getVal("LOC_STA_TASK_NUM", Integer.class, 2);


        // 保存任务
@@ -190,6 +191,11 @@
                        if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) {
                            throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status");
                        }
                    } else {
                        List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getDestSta, destSta.getId()).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()));
                        if (!Cools.isEmpty(list) && list.size() >= locStaTaskNum) {
                            throw new BusinessException("destSta：" + task.getDestSta$() + " task more");
                        }
                    }
                    destSta.setStaSts(StaStsType.READY_RELEASE.val());
                    destSta.setUpdateTime(now);
@@ -237,6 +243,11 @@
                    if (destSta.getStaTypeIsCheck() != 1) {
                        if (locStaStatusCheck && !destSta.getStaSts().equals(StaStsType.IDLE.val())) {
                            throw new BusinessException("destSta：" + task.getDestSta$() + " is not in IDLE status");
                        }
                    } else {
                        List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getDestSta, destSta.getId()).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()));
                        if (!Cools.isEmpty(list) && list.size() >= locStaTaskNum) {
                            throw new BusinessException("destSta：" + task.getDestSta$() + " task more");
                        }
                    }
                    destSta.setStaSts(StaStsType.READY_RELEASE.val());
@@ -1633,6 +1644,9 @@
                    log.error("Task [{}] 更新失败 ！！！", task.getSeqNum());
                } else {
                    report(task, null, TaskReportStsType.END);
                    if (task.getSeqNum() != null && task.getSeqNum().contains("SSX-CK")) {
                        report(task, "1001", TaskReportStsType.COMPLETED);
                    }
                }
            }
        }
@@ -1676,7 +1690,7 @@
        }
        List<TaskReport> list = taskReportService.list(new LambdaQueryWrapper<TaskReport>().eq(TaskReport::getSeqNum, task.getSeqNum()).eq(TaskReport::getBusNo, task.getBusId$()).eq(TaskReport::getTaskSts, taskReportStsType.status));
        if (!Cools.isEmpty(list)) {
            log.info("TaskReport [{}] 已重复，不再插入 ==========>> ", JSON.toJSONString(task));
            log.info("TaskReport [{},{}] 已重复，不再插入 ==========>> ", taskReportStsType, JSON.toJSONString(task));
            return;
        }
        TaskReport taskReport = new TaskReport();
@@ -1691,6 +1705,7 @@
        taskReport.setEventType(taskReportStsType.name);
        taskReport.setSeqNum(task.getSeqNum());
        taskReport.setZpallet(task.getZpallet());

        if (!taskReportService.save(taskReport)) {
            log.info("TaskReport [{}] 插入失败 ==========>> ", JSON.toJSONString(taskReport));
        } else {

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/service/ValidService.java

@@ -1,6 +1,7 @@
package com.zy.acs.manager.core.service;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.common.SnowflakeIdWorker;
import com.zy.acs.manager.common.domain.TaskDto;
@@ -9,10 +10,12 @@
import com.zy.acs.manager.manager.entity.Loc;
import com.zy.acs.manager.manager.entity.Sta;
import com.zy.acs.manager.manager.entity.Task;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.enums.TaskTypeType;
import com.zy.acs.manager.manager.service.CodeService;
import com.zy.acs.manager.manager.service.LocService;
import com.zy.acs.manager.manager.service.StaService;
import com.zy.acs.manager.manager.service.impl.TaskServiceImpl;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

@@ -36,6 +39,8 @@
    private MapService mapService;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private TaskServiceImpl taskService;

    public List<Task> validTaskDtoList(List<TaskDto> taskDtoList) {
        List<Task> taskList = new ArrayList<>();
@@ -49,6 +54,10 @@
            task.setSeqNum(taskDto.getSeqNum());
            task.setPriority(taskDto.getPriority());

            List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getSeqNum, taskDto.getSeqNum()).in(Task::getTaskSts, TaskStsType.INIT.val(), TaskStsType.WAITING.val(), TaskStsType.ASSIGN.val(), TaskStsType.PROGRESS.val()));
            if (!Cools.isEmpty(list)){
                throw new BusinessException("Task seqNum: " + taskDto.getSeqNum() + " is already exists!");
            }

            // ori --------------------------
            if (!Cools.isEmpty(taskDto.getOriLoc())) {

 zy-acs-manager/src/main/java/com/zy/acs/manager/core/third/ReportThirdScheduler.java

@@ -8,6 +8,7 @@
import com.zy.acs.manager.core.utils.HttpHandler;
import com.zy.acs.manager.manager.entity.TaskReport;
import com.zy.acs.manager.manager.entity.TaskReportLog;
import com.zy.acs.manager.manager.enums.TaskReportStsType;
import com.zy.acs.manager.manager.service.TaskReportLogService;
import com.zy.acs.manager.manager.service.TaskReportService;
import com.zy.acs.manager.system.service.ConfigService;
@@ -44,19 +45,43 @@
        if (report) {
            String wmsUrl = configService.getVal("WMS_URL", String.class);
            String wmsPath = configService.getVal("WMS_PATH", String.class);

            String wcsUrl = configService.getVal("WCS_URL", String.class);
            String wcsPath = configService.getVal("WCS_TASK_REPORT", String.class);
            List<TaskReport> list = taskReportService.list(new LambdaQueryWrapper<TaskReport>().eq(TaskReport::getCompleted, 0).le(TaskReport::getReportTimes, 3));
            for (TaskReport taskReport : list) {
                TaskEvent taskEvent = new TaskEvent(taskReport.getSeqNum(), taskReport.getEventType(), taskReport.getAgvId() + "");
                log.info("开始上报：{}", taskEvent);
                if (report(taskEvent, wmsUrl, wmsPath)) {
                    taskReport.setReportTimes((Cools.isEmpty(taskReport.getReportTimes()) ? 0 : taskReport.getReportTimes()) + 1);
                    taskReport.setUpdateTime(new Date());
                    taskReport.setCompleted(1);
                if (taskReport.getEventType().equalsIgnoreCase(TaskReportStsType.COMPLETED.name)) {
                    String response = null;
                    try {
                        response = new HttpHandler.Builder()
                                .setUri(wcsUrl)
                                .setPath(wcsPath)
                                .setJson(JSON.toJSONString(taskReport))
                                .build()
                                .doPost();
                        log.info("返回参数：{}", response);
                        taskReport.setReportTimes((Cools.isEmpty(taskReport.getReportTimes()) ? 0 : taskReport.getReportTimes()) + 1);
                        taskReport.setUpdateTime(new Date());
                        taskReport.setCompleted(1);
                    } catch (IOException e) {
                        taskReport.setReportTimes((Cools.isEmpty(taskReport.getReportTimes()) ? 0 : taskReport.getReportTimes()) + 1);
                        taskReport.setUpdateTime(new Date());
                        e.printStackTrace();
                    }
                    taskReportService.updateById(taskReport);
                } else {
                    taskReport.setReportTimes((Cools.isEmpty(taskReport.getReportTimes()) ? 0 : taskReport.getReportTimes()) + 1);
                    taskReport.setUpdateTime(new Date());
                    TaskEvent taskEvent = new TaskEvent(taskReport.getSeqNum(), taskReport.getEventType(), taskReport.getAgvId() + "");
                    log.info("开始上报：{}", taskEvent);
                    if (report(taskEvent, wmsUrl, wmsPath)) {
                        taskReport.setReportTimes((Cools.isEmpty(taskReport.getReportTimes()) ? 0 : taskReport.getReportTimes()) + 1);
                        taskReport.setUpdateTime(new Date());
                        taskReport.setCompleted(1);
                    } else {
                        taskReport.setReportTimes((Cools.isEmpty(taskReport.getReportTimes()) ? 0 : taskReport.getReportTimes()) + 1);
                        taskReport.setUpdateTime(new Date());
                    }
                    taskReportService.updateById(taskReport);
                }
                taskReportService.updateById(taskReport);
            }
        }
    }
@@ -93,13 +118,12 @@
            response = new HttpHandler.Builder()
                    .setUri(wmsUrl)
                    .setPath(wmsPath)

                    .setJson(JSON.toJSONString(taskReport))
                    .build()
                    .doPost();
            log.info("返回参数：{}", response);
            JSONObject jsonObject = JSON.parseObject(response);
            if (jsonObject != null && jsonObject.getInteger("code").equals(200)) {
            if (jsonObject != null && jsonObject.get("code") != null && jsonObject.getInteger("code").equals(200)) {
                return true;
            }
        } catch (IOException e) {

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/controller/OpenController.java

@@ -56,20 +56,17 @@
    //@PreAuthorize("hasAuthority('open:bus:submit')")
    @PostMapping("/bus/submit")
    @OperationLog("generate task from open api")
    public R save(@RequestBody OpenBusSubmitParam param) {
        if (!configService.getVal("TaskAssignMode", Boolean.class)) {
            for (TaskDto taskDto : param.getTaskList()) {
                if (Cools.isEmpty(taskDto.getSeqNum())) {
                    return R.error("缺失任务号");
                }
                if(Cools.isEmpty(taskDto.getPriority())){
                    taskDto.setPriority(1);
                }
    public synchronized R save(@RequestBody OpenBusSubmitParam param) {
        for (TaskDto taskDto : param.getTaskList()) {
            if (Cools.isEmpty(taskDto.getSeqNum())) {
                return R.error("缺失任务号");
            }
            mainService.generateBusAndTask(param, null);
            return R.ok("generate tasks success");
            if (Cools.isEmpty(taskDto.getPriority())) {
                taskDto.setPriority(1);
            }
        }
        return R.error("generate tasks error");
        mainService.generateBusAndTask(param, null);
        return R.ok("generate tasks success");
    }


@@ -141,45 +138,41 @@
    @PostMapping("/loc/one")
    @OperationLog("one loc")
    public R emptyLoc(@RequestBody Map<String, Object> map) {
        if (!configService.getVal("TaskAssignMode", Boolean.class)) {
            if (configService.getVal("InAndOutMode", Boolean.class, false)) {
                String staNo = map.get("staNo").toString();
                Integer startRow = null;
                Integer endRow = null;
                if (staNo.equals("101-2") || staNo.equals("101-3") || staNo.equals("102-2") || staNo.equals("102-3")) {
                    startRow = Collections.min(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST);
                    endRow = Collections.max(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST);
                } else if (staNo.equals("103-2") || staNo.equals("103-3") || staNo.equals("104-2") || staNo.equals("104-3")) {
                    startRow = Collections.min(LocGroupConstant.RIGHT_LOC_ROW_LIST);
                    endRow = Collections.max(LocGroupConstant.RIGHT_LOC_ROW_LIST);
                } else if (staNo.equals("105-2") || staNo.equals("105-3") || staNo.equals("106-2") || staNo.equals("106-3")) {
                    startRow = Collections.min(LocGroupConstant.MIDDLE_LOC_ROW_LIST);
                    endRow = Collections.max(LocGroupConstant.MIDDLE_LOC_ROW_LIST);
                } else if (staNo.equals("107-2") || staNo.equals("107-3") || staNo.equals("108-2") || staNo.equals("108-3")) {
                    startRow = Collections.min(LocGroupConstant.LEFT_LOC_ROW_LIST);
                    endRow = Collections.max(LocGroupConstant.LEFT_LOC_ROW_LIST);
                } else if (staNo.equals("1007") || staNo.equals("1001")) {
                    startRow = Collections.min(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST);
                    endRow = Collections.max(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST);
                } else {
                    return R.error("staNo is not support");
                }
                LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, Long.parseLong(map.get("sts").toString()));
                if (null != startRow) {
                    idleWrapper.ge(Loc::getRow, startRow);
                }
                if (null != endRow) {
                    idleWrapper.le(Loc::getRow, endRow);
                }
                List<Loc> idleList = locService.list(idleWrapper);
                if (Cools.isEmpty(idleList)) {
                    return R.error("没空库位");
                }
                Collections.shuffle(idleList);
                return R.ok().add(idleList.get(0));
            }

        String staNo = map.get("staNo").toString();
        Integer startRow = null;
        Integer endRow = null;
        if (staNo.equals("101-2") || staNo.equals("101-3") || staNo.equals("102-2") || staNo.equals("102-3")) {
            startRow = Collections.min(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST);
            endRow = Collections.max(LocGroupConstant.FAR_RIGHT_LOC_ROW_LIST);
        } else if (staNo.equals("103-2") || staNo.equals("103-3") || staNo.equals("104-2") || staNo.equals("104-3")) {
            startRow = Collections.min(LocGroupConstant.RIGHT_LOC_ROW_LIST);
            endRow = Collections.max(LocGroupConstant.RIGHT_LOC_ROW_LIST);
        } else if (staNo.equals("105-2") || staNo.equals("105-3") || staNo.equals("106-2") || staNo.equals("106-3")) {
            startRow = Collections.min(LocGroupConstant.MIDDLE_LOC_ROW_LIST);
            endRow = Collections.max(LocGroupConstant.MIDDLE_LOC_ROW_LIST);
        } else if (staNo.equals("107-2") || staNo.equals("107-3") || staNo.equals("108-2") || staNo.equals("108-3")) {
            startRow = Collections.min(LocGroupConstant.LEFT_LOC_ROW_LIST);
            endRow = Collections.max(LocGroupConstant.LEFT_LOC_ROW_LIST);
        } else if (staNo.equals("1007") || staNo.equals("1001")) {
            startRow = Collections.min(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST);
            endRow = Collections.max(LocGroupConstant.FAR_LEFT_LOC_ROW_LIST);
        } else {
            return R.error("staNo is not support");
        }
        return R.error("未开启该模式");
        LambdaQueryWrapper<Loc> idleWrapper = new LambdaQueryWrapper<Loc>().eq(Loc::getLocSts, Long.parseLong(map.get("sts").toString()));
        if (null != startRow) {
            idleWrapper.ge(Loc::getRow, startRow);
        }
        if (null != endRow) {
            idleWrapper.le(Loc::getRow, endRow);
        }
        List<Loc> idleList = locService.list(idleWrapper);
        if (Cools.isEmpty(idleList)) {
            return R.error("没空库位");
        }
        Collections.shuffle(idleList);
        return R.ok().add(idleList.get(0));
    }

}

 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/enums/TaskReportStsType.java

@@ -17,6 +17,7 @@
    START(1,"START"),
    OTBIN(5,"OTBIN"),
    END(10, "END"),
    COMPLETED(15, "COMPLETED"),
    ;

    public int status;

 zy-acs-manager/src/main/resources/application.yml

@@ -8,7 +8,7 @@
    static-path-pattern: /**
  datasource:
    driver-class-name: com.mysql.jdbc.Driver
    url: jdbc:mysql://127.0.0.1:3306/jbly?useUnicode=true&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
    url: jdbc:mysql://10.10.10.200:3306/jbly?useUnicode=true&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
    username: root
    password: xltys1995
    type: com.alibaba.druid.pool.DruidDataSource
@@ -43,7 +43,7 @@
    enabled: false

redis:
  host: 127.0.0.1
  host: 10.10.10.200
  password: xltys1995
  port: 6379
  max: 30