Merge branch 'phyzasrs' of http://47.97.1.152:5880/r/zy-asrs into phyzasrs

zyx

2024-05-17 97e045fb1271016af2777580b980f974977909f3

Merge branch 'phyzasrs' of http://47.97.1.152:5880/r/zy-asrs into phyzasrs

 src/main/java/com/zy/asrs/controller/AgvBasDevpController.java

@@ -34,6 +34,8 @@
    AgvWaitPakinService agvWaitPakinService;
    @Autowired
    AgvWorkService agvWorkService;
    @Autowired
    AgvLocDetlService agvLocDetlService;

    @RequestMapping(value = "/basDevp/list/auth")
    @ManagerAuth
@@ -177,6 +179,15 @@
                AgvWrkMast agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>()
                        .eq("loc_no", agvBasDevp.getDevNo())
                        .or().eq("source_loc_no",agvBasDevp.getDevNo()));
                if (Cools.isEmpty(agvWrkMast)) {
                    Page<AgvLocDetl> agvLocDetlPage = agvLocDetlService.selectPage(new Page<>(curr, limit), new EntityWrapper<AgvLocDetl>()
                            .eq("supp_code", agvBasDevp.getBarcode()));
                    if (agvLocDetlPage.getRecords().size() > 0) {
                        return R.ok(agvLocDetlPage);
                    } else {
                        return R.error("当前货架码异常！");
                    }
                }

                Page<AgvWrkDetl> agvWrkDetlPage = agvWrkDetlService.selectPage(new Page<>(curr, limit), new EntityWrapper<AgvWrkDetl>()
                        .eq("wrk_no", agvWrkMast.getWrkNo()));

 src/main/java/com/zy/asrs/controller/AgvMobileController.java

@@ -368,15 +368,18 @@
        short floor =(short)Integer.parseInt(fl.substring(0, 1));
        List<HashMap<String,String>> dbList = (List<HashMap<String, String>>) params.get("dbList");
         params.get("dbList");
        Object moveType = params.get("moveType");
        if (moveType == "unAuto") {
            return R.error("手动功能暂时无法使用");
        Object mT = params.get("moveType");
        String moveType = "";
        if (mT.equals("unAuto")) {
            moveType = "2";
        } else {
            moveType = "1";
        }
        for (HashMap<String, String> map : dbList) {
            String locNo = map.get("locNo");
            Wrapper<AgvLocMast> wrapper = new EntityWrapper<AgvLocMast>().eq("loc_no", locNo);
            AgvLocMast agvLocMast = agvLocMastService.selectOne(wrapper);
            agvLocMast.setLocType("1");
            agvLocMast.setLocType(moveType);
            agvLocMast.setLocType3(floor);
            agvLocMastService.update(agvLocMast,wrapper);
            // 同步调拨单
@@ -401,6 +404,22 @@
        return R.ok();
    }

    @PostMapping("/hand/control/allocationOut")
    @Transactional
    @ManagerAuth(memo = "调拨离场")
    public R allocationOut(@RequestBody AgvMobileStartPakin param){
        agvMobileService.allocationOut(param, getUserId());
        return R.ok();
    }

    @PostMapping("/hand/control/allocationIn")
    @Transactional
    @ManagerAuth(memo = "调拨进场")
    public R allocationIn(@RequestBody AgvMobileStartPakin param){
        agvMobileService.allocationIn(param, getUserId());
        return R.ok();
    }

    public static void main(String[] args) {
        List<AgvLocDetl> agvLocDetls1 = new ArrayList<>();
        List<AgvLocDetl> agvLocDetls2 = new ArrayList<>();

 src/main/java/com/zy/asrs/service/AgvMobileService.java

@@ -1,10 +1,7 @@
package com.zy.asrs.service;

import com.zy.asrs.entity.AgvBasDevp;
import com.zy.asrs.entity.param.CombParam;
import com.zy.asrs.entity.param.LocMoveParam;
import com.zy.asrs.entity.param.MobileAdjustParam;
import com.zy.asrs.entity.param.PickParam;
import com.zy.asrs.entity.param.*;

import java.util.List;

@@ -41,4 +38,14 @@
     */
    String handControlLocMove(LocMoveParam param, Long userId);

    /**
     * 调拨离场
     */
    String allocationOut(AgvMobileStartPakin param, Long userId);

    /**
     * 调拨离场
     */
    String allocationIn(AgvMobileStartPakin param, Long userId);

}

 src/main/java/com/zy/asrs/service/AgvWrkMastService.java

@@ -28,4 +28,6 @@

    public int callCancelTask(int wrkNo);

    public int startAllcationIn(AgvWrkMast agvWrkMast) throws IOException;

}

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

@@ -7,10 +7,7 @@
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.CombParam;
import com.zy.asrs.entity.param.LocMoveParam;
import com.zy.asrs.entity.param.MobileAdjustParam;
import com.zy.asrs.entity.param.PickParam;
import com.zy.asrs.entity.param.*;
import com.zy.asrs.service.*;
import com.zy.common.model.DetlDto;
import com.zy.common.service.AgvCommonService;
@@ -55,6 +52,10 @@
    private AgvLocMastService agvLocMastService;
    @Autowired
    private AgvCommonService agvCommonService;
    @Autowired
    private AgvWrkMastLogService agvWrkMastLogService;
    @Autowired
    private AgvWrkDetlLogService agvWrkDetlLogService;


    /*
@@ -449,6 +450,89 @@
    }

    /*
       调拨离场
    */
    @Override
    @Transactional
    public String allocationOut(AgvMobileStartPakin param, Long userId) {
        Date now = new Date();
        AgvWrkMast agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("loc_no", param.getDevNo()));
        if (Cools.isEmpty(agvWrkMast)) {
            throw new CoolException("工作档中没有此站点任务");
        }
        //生成AGV工作历史档 + 生成AGV工作明细历史档
        agvWrkMastLogService.save(agvWrkMast);
        agvWrkDetlLogService.save(agvWrkMast.getWrkNo());

        //生成工作档
        AgvWrkMast mast = new AgvWrkMast();
        //工作状态
        mast.setWrkSts(210L);
        //入出库类型
        mast.setIoType(111);
        mast.setIoTime(now);
        //优先级
        mast.setIoPri(300.0);
        //源站点
        mast.setSourceLocNo("");
        //目标站点
        mast.setLocNo("");
        //容器编码
        mast.setBarcode(agvWrkMast.getBarcode());
        //容器类型
        mast.setWhsType(30);
        // 目标楼层
        mast.setPauseMk(agvWrkMast.getPauseMk());
        mast.setAppeUser(userId);
        mast.setAppeTime(now);
        mast.setModiUser(userId);
        mast.setModiTime(now);
        if (!agvWrkMastService.insertByIncrease(mast)) {
            throw new CoolException("保存工作档失败");
        }
        // 更新工作明细
        List<AgvWrkDetl> agvWrkDetls = agvWrkDetlService.selectList(new EntityWrapper<AgvWrkDetl>().eq("wrk_no", agvWrkMast.getWrkNo()));
        for (AgvWrkDetl agvWrkDetl : agvWrkDetls) {
            agvWrkDetl.setWrkNo(mast.getWrkNo());
            if (!agvWrkDetlService.update(agvWrkDetl,new EntityWrapper<AgvWrkDetl>().eq("supp_code", agvWrkMast.getBarcode()))) {
                throw new CoolException("更新工作明细失败");
            }
        }
        // 更新站点状态
        agvLocMastService.updateLocStsByLocNo(agvWrkMast.getSourceLocNo(),"O","",null);
        // 更新源库位状态
        agvBasDevpService.updateLocStsAndBarcodeByDevNo(agvWrkMast.getLocNo(),"O","",agvWrkMast.getWhsType().shortValue());
        //删除AGV工作档
        agvWrkMastService.deleteById(agvWrkMast);
        return "ok";
    }
    /*
       调拨进场
    */
    @Override
    @Transactional
    public String allocationIn(AgvMobileStartPakin param, Long userId) {
        Date now = new Date();
        AgvWrkMast agvWrkMast = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("barcode", param.getBarcode()));
        if (Cools.isEmpty(agvWrkMast)) {
            throw new CoolException("工作档中没有此货架任务");
        }
        //工作状态
        agvWrkMast.setWrkSts(211L);
        //入出库类型
        agvWrkMast.setIoType(112);
        agvWrkMast.setSourceLocNo(param.getDevNo());
        agvWrkMast.setModiUser(userId);
        agvWrkMast.setModiTime(now);
        if (!agvWrkMastService.update(agvWrkMast,new EntityWrapper<AgvWrkMast>().eq("wrk_no",agvWrkMast.getWrkNo()))) {
            throw new CoolException("更新工作档失败");
        }
        // 更新源库位状态
        agvBasDevpService.updateLocStsAndBarcodeByDevNo(param.getDevNo(),"F",agvWrkMast.getBarcode(),agvWrkMast.getWhsType().shortValue());
        //删除AGV工作档
        return "ok";
    }
    /*
   更新目标库位信息
    */
    private void updateAgvLocMast(AgvLocMast locMast, String locSts){

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

@@ -609,13 +609,18 @@
            agvLocMastService.updateLocStsByLocNo(locNo,"F",wrkMast.getBarcode(),(short)getContainerTypeByloc(locNo));
            agvLocMastService.updateLocStsByLocNo(targetLocNo,"O","",null);
            // 自动调拨出库取消
        } else if(wrkMast.getIoType() == 108 ) {
        } else if(wrkMast.getIoType() == 108 || wrkMast.getIoType() == 111) {
            // 源库位
            String locNo = wrkMast.getSourceLocNo();
            // 目标库位
            String targetLocNo = wrkMast.getLocNo();
            agvLocMastService.updateLocStsByLocNo(locNo,"F",wrkMast.getBarcode(),(short)getContainerTypeByloc(locNo),"",(short)0);
            agvLocMastService.updateLocStsByLocNo(targetLocNo,"O","",null);
            if (wrkMast.getIoType() == 108) {
                agvLocMastService.updateLocStsByLocNo(targetLocNo,"O","",null);
            } else {
                agvBasDevpService.updateLocStsAndBarcodeByDevNo(targetLocNo,"O","",wrkMast.getWhsType().shortValue());
            }

            List<AgvLocDetl> agvLocDetls = agvLocDetlService.selectList(new EntityWrapper<AgvLocDetl>().eq("loc_no", locNo));
            // 更新订单
            for (AgvLocDetl agvLocDetl : agvLocDetls) {

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

@@ -7,11 +7,14 @@
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.AgvBasDevp;
import com.zy.asrs.entity.AgvLocMast;
import com.zy.asrs.entity.AgvWrkMast;
import com.zy.asrs.entity.param.AgvTaskCreateParam;
import com.zy.asrs.entity.param.AgvTaskParam;
import com.zy.asrs.mapper.AgvWrkMastMapper;
import com.zy.asrs.service.*;
import com.zy.common.service.AgvCommonService;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -53,6 +56,10 @@
    ApiLogService apiLogService;
    @Autowired
    AgvBasDevpService agvBasDevpService;
    @Autowired
    private AgvCommonService agvCommonService;
    @Autowired
    private AgvWrkMastService agvWrkMastService;

    public void updateWrkStsByWrkNo(int wrkNo, long wrkSts) {
        AgvWrkMast agvWrkMast = this.selectById(wrkNo);
@@ -82,6 +89,17 @@
        //return containerMoveParam;
    }

    public int startAllcationIn(AgvWrkMast agvWrkMast) throws IOException {
        AgvBasDevp basDevp = agvBasDevpService.selectByDevNo(agvWrkMast.getSourceLocNo());
        //检索库位，选择合适的库位
        AgvLocMast locMast = agvCommonService.getLocNo(basDevp.getLocType1(),basDevp.getFloor());
        agvWrkMast.setLocNo(locMast.getLocNo());
        agvWrkMast.setWrkSts(201L);
        agvWrkMastService.updateById(agvWrkMast);
        return 0;

    }

    //容器入场
    public int containerMoveIn(List<AgvWrkMast> agvWrkMastList) throws IOException {
        //调用容器入场时所需要参数

 src/main/java/com/zy/asrs/task/AgvWrkMastScheduler.java

@@ -54,7 +54,8 @@
                .or().eq("io_type",11)
                .or().eq("io_type",12)
                .or().eq("io_type",108)
                .or().eq("io_type",109));
                .or().eq("io_type",109)
                .or().eq("io_type",112));
        if(!Cools.isEmpty(agvWrkMastList)){
            agvWrkMastList.stream().forEach(agvWrkMast -> {
                agvWrkMastHandler.completedPutWayWrk(agvWrkMast);
@@ -111,7 +112,8 @@
                .or().eq("io_type", 11)
                .or().eq("io_type", 12)
                .or().eq("io_type", 109)
                .or().eq("io_type", 108)).getRecords();
                .or().eq("io_type", 108)
                .or().eq("io_type", 112)).getRecords();

        if(!Cools.isEmpty(agvWrkMastList)){
            agvWrkMastList.forEach(agvWrkMast -> {
@@ -125,6 +127,28 @@
    }

    /*
    putaway：上架
    定时处理AGV工作档中工作状态为201.生成入库任务ID 且(出库类型为 53.拣料再入库 || 1.入库 || 10.空板入库栽 || 57.盘点再入库)的数据
     */
    @Scheduled(cron = "0/3 * * * * ? ")
    public void startAllcationIn(){
        List<AgvWrkMast> agvWrkMastList = agvWrkMastService.selectPage(new Page<>(1, 50)
                ,new EntityWrapper<AgvWrkMast>()
                        .eq("wrk_sts", 211)
                        .andNew().eq("io_type", 112)).getRecords();

        if(!Cools.isEmpty(agvWrkMastList)){
            agvWrkMastList.forEach(agvWrkMast -> {
                try {
                    agvWrkMastHandler.startAllcationIn(agvWrkMast);
                } catch (IOException e) {
                    log.error(e.getMessage());
                }
            });
        }
    }

    /*
    carry：搬运，统指出库、移库、点到点搬运等
    定时处理AGV工作档中工作状态为21.生成出库任务 且(出库类型为 101.出库 || 103.拣料出库 || 11.库格移栽 || 110.空板出库 || 107.盘点出库)的数据
     */

 src/main/java/com/zy/asrs/task/AutoMoveScheduler.java

@@ -22,7 +22,7 @@
    @Autowired
    private AutoMoveHandler autoMoveHandler;


    // 调拨出库
    @Scheduled(cron = "0/2 * * * * ? ")
    private void execute(){
        List<AgvLocMast> agvLocMasts = agvLocMastService.selectList(
@@ -40,6 +40,7 @@

    }

    // 空板自动回库
    @Scheduled(cron = "0/2 * * * * ? ")
    private void autoEmptyBack(){
        // 查询 不为1楼的空货架

 src/main/java/com/zy/asrs/task/handler/AgvWrkMastHandler.java

@@ -236,6 +236,19 @@

    }

    @Transactional
    @Synchronized
    public ReturnT<String> startAllcationIn(AgvWrkMast agvWrkMast) throws IOException {
        
        //下发任务
        int startWrkCode = agvWrkMastService.startAllcationIn(agvWrkMast);
        if(startWrkCode != 0){
            throw new CoolException("任务下发失败");
        }
        return SUCCESS;

    }

//    @Transactional
//    public ReturnT<String> startCarryWrk(AgvWrkMast agvWrkMast) throws IOException {
//        //log.info(agvWrkMastList.toString());

 src/main/java/com/zy/asrs/task/handler/AutoMoveHandler.java

@@ -5,10 +5,7 @@
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.AgvLocDetlService;
import com.zy.asrs.service.AgvLocMastService;
import com.zy.asrs.service.AgvWrkDetlService;
import com.zy.asrs.service.AgvWrkMastService;
import com.zy.asrs.service.*;
import com.zy.asrs.task.AbstractHandler;
import com.zy.asrs.task.core.ReturnT;
import com.zy.common.service.AgvCommonService;
@@ -35,6 +32,8 @@
    private AgvLocDetlService agvLocDetlService;
    @Autowired
    private AgvWrkDetlService agvWrkDetlService;
    @Autowired
    AgvBasDevpService agvBasDevpService;

    public ReturnT<String> start(AgvLocMast agvLocMast) {
        // locType 1. 自动， 2. 手动
@@ -107,6 +106,65 @@
    }

    private ReturnT<String> doHandMove(AgvLocMast agvLocMast) {
        Date now = new Date();
        //查询工作档
        AgvWrkMast agvWrkMast = agvWrkMastService.selectByContainerCode(agvLocMast.getBarcode());
        if(!Cools.isEmpty(agvWrkMast)){
            throw new CoolException("当前"+agvLocMast.getBarcode()+"货架码已在工作档中");
        }
//        //检索库位，选择合适的库位
//        AgvLocMast LocMast = agvCommonService.getLocNo(3,agvLocMast.getLocType3());
        // 检索agv接驳位
        AgvBasDevp devpNo = agvCommonService.getDevpNo(3, 1);
        //生成工作档
        AgvWrkMast mast = new AgvWrkMast();
        //工作状态
        mast.setWrkSts(21L);
        //入出库类型
        mast.setIoType(111);
        mast.setIoTime(now);
        //优先级
        mast.setIoPri(300.0);
        //源站点
        mast.setSourceLocNo(agvLocMast.getLocNo());
        //目标站点
        mast.setLocNo(devpNo.getDevNo());
        //容器编码
        mast.setBarcode(agvLocMast.getBarcode());
        //容器类型
        mast.setWhsType(30);
        // 目标楼层
        mast.setPauseMk(agvLocMast.getLocType3().toString());

        mast.setAppeUser(9527L);
        mast.setAppeTime(now);
        mast.setModiUser(9527L);
        mast.setModiTime(now);
        if (!agvWrkMastService.insertByIncrease(mast)) {
            throw new CoolException("保存工作档失败");
        }

        AgvWrkMast mast1 = agvWrkMastService.selectOne(new EntityWrapper<AgvWrkMast>().eq("loc_no", devpNo.getDevNo()).eq("source_loc_no",agvLocMast.getLocNo()));
        //生成工作档明细
        List<AgvLocDetl> agvLocDetls = agvLocDetlService.selectList(new EntityWrapper<AgvLocDetl>().eq("loc_no", agvLocMast.getLocNo()));
        agvLocDetls.forEach(agvLocDetl -> {
            AgvWrkDetl wrkDetl = new AgvWrkDetl();
            wrkDetl.setWrkNo(mast1.getWrkNo());
            wrkDetl.sync(agvLocDetl);
            wrkDetl.setSpecs("1-" + agvLocMast.getLocType3());
            wrkDetl.setSuppCode(agvLocDetl.getSuppCode());
            wrkDetl.setIoTime(now);
            wrkDetl.setAppeUser(9527L);
            wrkDetl.setAppeTime(now);
            wrkDetl.setModiUser(9527L);
            wrkDetl.setModiTime(now);
            if (!agvWrkDetlService.insert(wrkDetl)) {
                throw new CoolException("保存工作明细失败");
            }
        });
        //更新目标库位状态
        updateAgvLocMast(agvLocMast,"R");
        updateAgvBasDevp(devpNo,"S",null,agvLocMast.getBarcode());
        return SUCCESS;
    }

@@ -117,6 +175,22 @@
        locMast.setLocSts(locSts);
        agvLocMastService.updateById(locMast);
    }
    /*
    更新源站点信息
     */
    private void updateAgvBasDevp(AgvBasDevp agvBasDevp, String locSts){
        if(!Cools.isEmpty(agvBasDevp)){
            agvBasDevp.setLocSts(locSts);
            agvBasDevpService.updateById(agvBasDevp);
        }
    }
    private void updateAgvBasDevp(AgvBasDevp agvBasDevp, String locSts, Short continerType, String containerCode){
        if(!Cools.isEmpty(agvBasDevp)){
            agvBasDevp.setLocSts(locSts);
            agvBasDevp.setBarcode(containerCode);
            agvBasDevpService.updateById(agvBasDevp);
        }
    }

    public ReturnT<String> autoEmptyBack(AgvLocMast agvLocMast) {
        Date now = new Date();

 src/main/java/com/zy/common/service/AgvCommonService.java

@@ -31,6 +31,8 @@
    private MatService matService;
    @Autowired
    private LocRuleService locRuleService;
    @Autowired
    AgvBasDevpService agvBasDevpService;

    public int getWorkNo(Integer wrkMk) {
        AgvWrkLastno wrkLastno = agvWrkLastnoService.selectById(wrkMk);
@@ -233,6 +235,31 @@
                .eq("floor",floor)
                .eq("loc_type1",type));
    }
    /**
     * 检索库位号
     * @return locNo 检索到的库位号
     */
    public AgvBasDevp getDevpNo(int type, int floor) {
        // 目标库位
        AgvBasDevp basDevp = null;

        // 开始查找库位 ==============================>>
        basDevp = getDevpNoRule(type,floor);
        if (basDevp != null) {
            return basDevp;
        }

        //找不到库位，抛出异常
        throw new CoolException("该楼层没有空库位");
    }

    //随机取一个货位
    private AgvBasDevp getDevpNoRule(int type,int floor){
        return agvBasDevpService.selectOne(new EntityWrapper<AgvBasDevp>()
                .eq("loc_sts","O")
                .eq("floor",floor)
                .eq("loc_type1",type)
                .like("dev_no","DB"));
    }

}