输送线到AGV流程

zyx

2023-10-24 b885f63a2990ece741fc6db5c55aeeae673062b3

输送线到AGV流程

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

@@ -79,7 +79,7 @@
            return agvBasDevpService.selectById(devNo);
        }).collect(Collectors.toList());

        workService.createWaitPainWrkMastStart(agvBasDevpList, getUserId());
        workService.createWaitPainWrkMastStart(agvBasDevpList, getUserId(),false);
        
        return R.ok("生成工作档成功");
    }

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

@@ -26,6 +26,7 @@
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import java.util.EnumSet;
import java.util.Map;

/**
 * 上报事件类型（eventType）：
@@ -97,7 +98,12 @@
        return R.ok();
    }

    @PostMapping("/conveyor/loadContainerFinish ")
    @AppAuth(memo = "取容器完成通知")
    public R loadContainerFinish(@RequestBody Map<String,Object> params){

        return R.ok();
    }
}

enum AgvTask{

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

@@ -29,7 +29,7 @@

        List<AgvBasDevp> agvBasDevpList = JSONArray.parseArray(param, AgvBasDevp.class);

        workService.createWaitPainWrkMastStart(agvBasDevpList, getUserId());
        workService.createWaitPainWrkMastStart(agvBasDevpList, getUserId(),false);
        //return R.ok("任务号：" + startupDto.getWorkNo() + ";目标库位：" + startupDto.getLocNo());
        return R.ok("生成入库工作档成功");
    }

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

@@ -167,7 +167,7 @@
        }
        int startWrkCode = agvWrkMastService.startWrk(agvWrkMastList,"putaway");

        int code = agvWrkMastService.containerMove(agvWrkMastList);
        int code = agvWrkMastService.containerMoveIn(agvWrkMastList);

        if(code == 0){
            agvWrkMastList.forEach(agvWrkMast -> {

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

@@ -425,10 +425,21 @@
    /*
    平库移库
     */
    @RequestMapping("/node/move/start")
    public R nodeMoveStart(@RequestParam String sourceLocNo, @RequestParam String targetLocNo){


        return R.ok();
    }


    /*
    
    平库库区拣料信息
     */
    @RequestMapping("/node/order/pakout")
    public R nodeOrderPakout(@RequestParam String locType){


        return R.ok();
    }
}

 src/main/java/com/zy/asrs/mapper/AgvWrkMastMapper.java

@@ -15,11 +15,12 @@
            "source_loc_no," +
            "loc_no," +
            "barcode," +
            "mk," +
            "appe_user," +
            "appe_time," +
            "modi_user," +
            "modi_time) " +
            "VALUES(#{wrkSts},#{ioType},#{ioTime},#{ioPri},#{sourceLocNo},#{locNo},#{barcode},#{appeUser},#{appeTime},#{modiUser},#{modiTime})")
            "VALUES(#{wrkSts},#{ioType},#{ioTime},#{ioPri},#{sourceLocNo},#{locNo},#{barcode},#{mk},#{appeUser},#{appeTime},#{modiUser},#{modiTime})")
    public int insertByIncrease(AgvWrkMast agvWrkMast);

}

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

@@ -15,7 +15,7 @@
    /*
     通知档手动生成任务
     */
    StartupDto createWaitPainWrkMastStart(List<AgvBasDevp> agvBasDevpList, Long userId);
    StartupDto createWaitPainWrkMastStart(List<AgvBasDevp> agvBasDevpList, Long userId, boolean isConveyor);

    /*
    生成出库任务

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

@@ -12,11 +12,13 @@

    public int startWrk(List<AgvWrkMast> agvWrkMastList, String taskType) throws IOException;

    public int containerMove(List<AgvWrkMast> agvWrkMastList) throws IOException;
    public int containerMoveIn(List<AgvWrkMast> agvWrkMastList) throws IOException;

    public int containerMoveOut(List<AgvWrkMast> agvWrkMastList) throws IOException;

    public boolean insertByIncrease(AgvWrkMast agvWrkMast);

    public boolean deleteByWrkNo(int wrkNo);

    public int containerArrived(AgvWrkMast agvWrkMast);
}

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

@@ -69,7 +69,7 @@
    入库
     */
    @Transactional
    public StartupDto createWaitPainWrkMastStart(List<AgvBasDevp> agvBasDevpList, Long userId) {
    public StartupDto createWaitPainWrkMastStart(List<AgvBasDevp> agvBasDevpList, Long userId, boolean isConveyor) {

        Date now = new Date();

@@ -88,7 +88,9 @@
            AgvLocMast agvLocMast = agvCommonService.getLocNo(agvWaitPakinList, agvBasDevp.getFloor());
            //生成工作档
            //AgvWrkMast wrkMast = createWrkMast(agvBasDevp, agvLocMast, now, userId);
            AgvWrkMast wrkMast = createWrkMast(1,201L,agvBasDevp.getDevNo(),agvLocMast.getLocNo(),agvBasDevp.getBarcode(),now,userId);
            AgvWrkMast wrkMast = createWrkMast(1,201L,agvBasDevp.getDevNo(),agvLocMast.getLocNo(),agvBasDevp.getBarcode(),now,userId, isConveyor);
            //标记是否为输送线入库
            wrkMast.setMk(isConveyor ? "Y" : "N");
            //生成工作档明细
            //createWrkDetlReWrite(agvWaitPakinList,wrkMast,userId);
            agvWaitPakinList.forEach(wp -> {
@@ -134,7 +136,7 @@
            //判断是否全板出库
            int ioType = isPakOut(sourceLocNo,anfme) ?  101 : 103;
            //生成工作档
            AgvWrkMast wrkMast = createWrkMast(ioType,wrkSts,sourceLocNo,targetLocNo,barcode,now,userId);
            AgvWrkMast wrkMast = createWrkMast(ioType,wrkSts,sourceLocNo,targetLocNo,barcode,now,userId,false);
            //生成工作档明细
            createWrkDetlReWrite(mantr,wrkMast.getWrkNo(),orderNo,batch,anfme,barcode,now,userId,csocode,isoseq);
            //修改订单信息
@@ -212,7 +214,7 @@
            Date now = new Date();

            //生成工作党
            AgvWrkMast wrkMast = createWrkMast(107, 21L, locDetl.getLocNo(), agvBasDevp.getDevNo(), agvLocDetl.getSuppCode(), now, userId);
            AgvWrkMast wrkMast = createWrkMast(107, 21L, locDetl.getLocNo(), agvBasDevp.getDevNo(), agvLocDetl.getSuppCode(), now, userId,false);
            //生成工作明细档
            createWrkDetlReWrite(locDetl.getMatnr(),wrkMast.getWrkNo(),null,locDetl.getBatch(),locDetl.getCount(),wrkMast.getBarcode(),now,userId,agvLocDetl.getThreeCode(),agvLocDetl.getDeadTime());
            //修改库位信息
@@ -242,7 +244,7 @@

        Date now = new Date();
        //生成移库工作档
        AgvWrkMast wrkMast = createWrkMast(11, 21L, sourceLocNo, targetLocNo, sourceLocDetl.getSuppCode(), now, userId);
        AgvWrkMast wrkMast = createWrkMast(11, 21L, sourceLocNo, targetLocNo, sourceLocDetl.getSuppCode(), now, userId,false);
        //生成工作党明细
        createWrkDetlReWrite(sourceLocDetl.getMatnr(),wrkMast.getWrkNo(),null,sourceLocDetl.getBatch(),sourceLocDetl.getAnfme(),sourceLocDetl.getZpallet(),now,userId,sourceLocDetl.getThreeCode(),sourceLocDetl.getDeadTime());
        //修改目标库位状态
@@ -265,7 +267,7 @@
        // 检索库位
        AgvLocMast locMast = agvCommonService.getLocNo(null, agvBasDevp.getFloor());
        // 生成工作档 10.空板入库
        createWrkMast(10,201L,agvBasDevp.getDevNo(),locMast.getLocNo(),null,now,userId);
        createWrkMast(10,201L,agvBasDevp.getDevNo(),locMast.getLocNo(),null,now,userId,false);
        //更新源站点状态
        updateAgvBasDevp(agvBasDevp,"R");
        //更新目标库位状态
@@ -296,7 +298,7 @@
                    .eq("station_code", param.getStationCode())
                    .eq("loc_sts", "O"));
            //生成工作档
            createWrkMast(110,21L,locNo,agvBasDevp.getDevNo(),null,now,userId);
            createWrkMast(110,21L,locNo,agvBasDevp.getDevNo(),null,now,userId,false);
            //修改源库位状态
            updateAgvLocMast(agvLocMast,"R");
            //修改目标工作位状态
@@ -592,7 +594,7 @@
    /*
    生成工作档
     */
    private AgvWrkMast createWrkMast(int ioType, long wrkSts, String sourceLocNo, String locNo, String barcode,  Date now, Long userId){
    private AgvWrkMast createWrkMast(int ioType, long wrkSts, String sourceLocNo, String locNo, String barcode,  Date now, Long userId, boolean isConveyor){
        AgvWrkMast wrkMast = new AgvWrkMast();
        //生成工作号
//        int workNo = agvCommonService.getWorkNo(WorkNoType.getWorkNoType(ioType));
@@ -610,6 +612,8 @@
        wrkMast.setLocNo(locNo);
        //容器编码
        wrkMast.setBarcode(barcode);
        //标记是否为输送线入库
        wrkMast.setMk(isConveyor ? "Y" : "N");
        // 满板：Y
        //wrkMast.setFullPlt("Y");
        // 拣料

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

@@ -4,6 +4,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.AgvWrkMast;
import com.zy.asrs.entity.param.AgvTaskCreateParam;
@@ -43,6 +44,9 @@
    @Value("${agv.containerMoveOutPath}")
    private String containerMoveOutPath;

    @Value("${agv.containerArrivedPath}")
    private String containerArrivedPath;

    @Autowired
    AgvWrkMastMapper agvWrkMastMapper;
    @Autowired
@@ -73,11 +77,6 @@
        AgvTaskCreateParam agvTaskCreateParam = new AgvTaskCreateParam();
        agvTaskCreateParam.setTaskType(taskType);

//        //调用容器入场时所需要参数
//        Map<String,List<Map<String,String>>> containerMoveParam = new HashMap<>();
//        List<Map<String,String>> positionCodeMapList = new ArrayList<>();
//        containerMoveParam.put("containerMoveIns",positionCodeMapList);

        getRequestParam(agvTaskCreateParam,agvWrkMastList);

        return doHttpRequest(agvTaskCreateParam,"搬运任务下发",url, taskCreatePath,null,"127.0.0.1");
@@ -86,13 +85,17 @@
    }

    //容器入场
    public int containerMove(List<AgvWrkMast> agvWrkMastList) throws IOException {
    public int containerMoveIn(List<AgvWrkMast> agvWrkMastList) throws IOException {
        //调用容器入场时所需要参数
        Map<String,List<Map<String,String>>> containerMoveParam = new HashMap<>();
        List<Map<String,String>> positionCodeMapList = new ArrayList<>();
        containerMoveParam.put("containerMoveIns",positionCodeMapList);

        getContainerMoveParam(agvWrkMastList,positionCodeMapList);

        if(Cools.isEmpty(positionCodeMapList)){
            return 0;
        }
        return doHttpRequest(containerMoveParam,"容器入场任务下发",url, containerMoveInPath,null,"127.0.0.1");

    }
@@ -121,9 +124,23 @@
        return this.delete(new EntityWrapper<AgvWrkMast>().eq("wrk_no", wrkNo));
    }

    //容器到达通知
    public int containerArrived(AgvWrkMast agvWrkMast) {

        Map<String,String> containerArrivedParam = new HashMap<>();
        containerArrivedParam.put("slotCode",agvWrkMast.getSourceLocNo());
        containerArrivedParam.put("containerCode",agvWrkMast.getBarcode());

        return doHttpRequest(containerArrivedParam,"容器达到通知",url, containerArrivedPath,null,"127.0.0.1");
    }

    private void getContainerMoveParam(List<AgvWrkMast> agvWrkMastList,List<Map<String,String>> positionCodeMapList){
        //往容器入场参数中放入源站点位置
        for(AgvWrkMast agvWrkMast : agvWrkMastList){
            //判断是否为输送线入库，是则不需要容器进场请求
            if("Y".equals(agvWrkMast.getMk())){
                continue;
            }
            Map<String,String> positionCodeMap = new HashMap<>();
            positionCodeMap.put("positionCode",agvWrkMast.getSourceLocNo());
            positionCodeMapList.add(positionCodeMap);

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

@@ -19,10 +19,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.ArrayList;
import java.util.HashSet;
import java.util.List;
import java.util.Set;
import java.util.*;

@Service("locDetlService")
public class LocDetlServiceImpl extends ServiceImpl<LocDetlMapper, LocDetl> implements LocDetlService {
@@ -110,25 +107,19 @@
        wapperSetCondition(wrapper,"batch",batch);
        wapperSetCondition(wrapper,"three_code",csocode);
        wapperSetCondition(wrapper,"dead_time",isoseq);
//        if(Cools.isEmpty(batch)){
//            wrapper.isNull("batch");
//        }else {
//            wrapper.eq("batch",batch);
//        }

        List<LocDetl> locDetlList = this.selectList(wrapper);
        for (LocDetl locDetl : locDetlList) {
            //判断当前库位货物是否F在库
            LocMast locMast = locMastService.selectById(locDetl.getLocNo());
            if(!"F".equals(locMast.getLocSts())){
                continue;
            }

        Set<LocDetl> resort = resort(locDetlList);

        for (LocDetl locDetl : resort) {

            if (issued > 0) {
                double anfme = locDetl.getAnfme();
                int ioType = anfme > issued ? 103 : 101;
                anfme = anfme > issued ? issued : anfme;
                LocDto locDto = new LocDto(locDetl.getLocNo(), locDetl.getMatnr(), locDetl.getMaktx(), locDetl.getBatch(), orderNo, anfme);
                //List<Integer> staNos = staDescService.queryOutStaNosByLocNo(locDetl.getLocNo(), ioType);

                List<Integer> outSite = basDevpService.getAvailableOutSite(101);

                locDto.setStaNos(outSite);
@@ -149,14 +140,10 @@
        wapperSetCondition(wrapper,"batch",batch);
        wapperSetCondition(wrapper,"three_code",csocode);
        wapperSetCondition(wrapper,"dead_time",isoseq);
//        if(Cools.isEmpty(batch)){
//            wrapper.isNull("batch");
//        }else {
//            wrapper.eq("batch",batch);
//        }

        List<LocDetl> locDetlList = this.selectList(wrapper);
        for (LocDetl locDetl : locDetlList) {
        Set<LocDetl> resort = resort(locDetlList);
        for (LocDetl locDetl : resort) {
            //判断当前库位货物是否F在库
            LocMast locMast = locMastService.selectById(locDetl.getLocNo());
            if(!"F".equals(locMast.getLocSts())){
@@ -258,4 +245,64 @@
            wrapper.eq(column,condition);
        }
    }

    //根据深浅库位进行重新排序
    private Set<LocDetl> resort(List<LocDetl> locDetls){
        Set<LocDetl> locDetlsResort = new LinkedHashSet<>();

        for(LocDetl locDetl : locDetls){
            LocMast locMast = locMastService.selectById(locDetl.getLocNo());
            if(!"F".equals(locMast.getLocSts())){
                continue;
            }

            List<String> groupOuterLoc = Utils.getGroupOuterLoc(locDetl.getLocNo());

            if(Cools.isEmpty(groupOuterLoc)){
                locDetlsResort.add(locDetl);
            }else {
                groupOuterLoc.add(locDetl.getLocNo());
                //如果是深库位，则先找外侧的库位
                for (String locNo : groupOuterLoc){
                    LocMast locMastOuter = locMastService.selectById(locNo);
                    //外侧如果是拣料，则内测不允许出
                    if("P".equals(locMastOuter.getLocSts()) || "Q".equals(locMastOuter.getLocSts()) || "S".equals(locMastOuter.getLocSts())){
                        break;
                    }

                    if(!"F".equals(locMastOuter.getLocSts())){
                        continue;
                    }
                    locDetlsResort.addAll(this.selectByLocNo(locNo));

                }
            }
        }
        return locDetlsResort;
    }

    public static void main(String[] args) {

        List<LocDetl> locDetls = new ArrayList<>();
        LocDetl locDetl2 = new LocDetl();
        locDetl2.setLocNo("aaa1");
        LocDetl locDetl3 = new LocDetl();
        locDetl3.setLocNo("aaa2");
        locDetls.add(locDetl2);
        locDetls.add(locDetl3);
        System.out.println(locDetls.size());

        Set<LocDetl> set = new LinkedHashSet<>();
        LocDetl locDetl = new LocDetl();
        LocDetl locDetl1 = new LocDetl();
        locDetl.setLocNo("aaa");
        locDetl1.setLocNo("aaa");

        set.add(locDetl);
        set.add(locDetl1);
        set.addAll(locDetls);

        System.out.println(set);
        System.out.println(set.size());
    }
}

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

@@ -3,6 +3,7 @@
import com.alibaba.fastjson.JSONArray;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.AgvLocDetl;
import com.zy.asrs.entity.AgvWaitPakin;
import com.zy.asrs.entity.AgvWrkDetl;
@@ -139,12 +140,26 @@
    @Transactional
    public ReturnT<String> startPutWayWrk(List<AgvWrkMast> agvWrkMastList) throws IOException {

        int startWwrkCode = agvWrkMastService.startWrk(agvWrkMastList,"putaway");
        //下发任务
        int startWrkCode = agvWrkMastService.startWrk(agvWrkMastList,"putaway");
        if(startWrkCode != 0){
            throw new CoolException("任务下发失败");
        }

        int code = agvWrkMastService.containerMove(agvWrkMastList);
        //下发容器入场指令 （缓存货架）
        int code = agvWrkMastService.containerMoveIn(agvWrkMastList);

        if(code == 0){
            agvWrkMastList.forEach(agvWrkMast -> {
            for(AgvWrkMast agvWrkMast : agvWrkMastList){
                //下发容器达到通知 （输送线）
                if("Y".equals(agvWrkMast.getMk())){
                    int containerArrivedCode = agvWrkMastService.containerArrived(agvWrkMast);
                    if(containerArrivedCode != 0){
                        log.error("容器到达指令下发失败");
                        continue;
                    }
                }

                //202.RCS取货中
                agvWrkMast.setWrkSts(202L);
                agvWrkMastService.updateById(agvWrkMast);
@@ -152,9 +167,7 @@
                    //修改AGV入库通知档状态入出状态为Y
                    agvWaitPakinService.updateIoStatus(agvWrkMast.getWrkNo(),"Y");
                }

            });
            //agvWrkMastService.updateBatchById(agvWrkMastList);
            }

            return SUCCESS;
        }

 src/main/java/com/zy/common/web/WcsController.java

@@ -345,6 +345,7 @@
        AgvBasDevp agvBasDevp = agvBasDevpService.getByDevNo(param.getDevNo());

        if(Cools.isEmpty(agvBasDevp) || !"O".equals(agvBasDevp.getLocSts())){
            //去找agv工作档任务
            throw new CoolException("当前站点不存在或者站点不为空");
        }
        //绑定站点
@@ -352,7 +353,7 @@

        //生成工作档
        List<AgvBasDevp> agvBasDevpList = agvBasDevpService.selectList(new EntityWrapper<AgvBasDevp>().eq("dev_no", param.getDevNo()));
        agvWorkService.createWaitPainWrkMastStart(agvBasDevpList, null);
        agvWorkService.createWaitPainWrkMastStart(agvBasDevpList, null, true);


        return R.ok();

 src/main/resources/application.yml

@@ -10,9 +10,9 @@
    enabled: false
  datasource:
    driver-class-name: com.microsoft.sqlserver.jdbc.SQLServerDriver
    #url: jdbc:sqlserver://localhost:1433;databasename=tzskasrs
    url: jdbc:sqlserver://localhost:1433;databasename=tzskasrs
    #url: jdbc:sqlserver://192.168.4.15:1433;databasename=tzskasrs
    url: jdbc:sqlserver://10.10.10.40:1433;databasename=tzskasrs
    #url: jdbc:sqlserver://10.10.10.40:1433;databasename=tzskasrs
    username: sa
    password: sa@123
  mvc:
@@ -80,6 +80,7 @@
  taskCreatePath: /task/create
  containerMoveInPath: /expand/api/moveIn/container
  containerMoveOutPath: /expand/api/moveOut/container
  containerArrivedPath: /conveyor/containerArrived

u8:
  url: http://192.168.1.55:8010