#输送线回退

zjj

2023-11-26 2fe889c0da06206e8c00012026938aa81312509c

#输送线回退

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

@@ -1,27 +1,30 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.BaseRes;
import com.core.common.Cools;
import com.core.common.R;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.CommandInfo;
import com.zy.asrs.entity.TaskWrk;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
import com.zy.asrs.entity.param.taskCreateParam;
import com.zy.asrs.service.*;
import com.zy.common.utils.HttpHandler;
import com.zy.common.web.BaseController;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;

import javax.servlet.http.HttpServletRequest;
import java.io.IOException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

@Slf4j
@RestController
@@ -38,6 +41,9 @@
    private TaskWrkController taskWrkController;
    @Autowired
    private BasDevpService basDevpService;

    @Value("${wms.url}")
    private String wmsUrl;

    private static final boolean auth = true;

@@ -110,7 +116,7 @@
    @PostMapping("/targetWharfApply")
    public R targetWharfApply(@RequestHeader String appkey,
                              @RequestBody WMSAndAGVInterfaceParam param,
                              HttpServletRequest request) {
                              HttpServletRequest request) throws IOException {
        if (Cools.isEmpty(param)){
            return R.error("参数为空！");
        } else if (Cools.isEmpty(param.getTaskNo())){
@@ -122,12 +128,35 @@
        } else if (Cools.isEmpty(param.getFreeWharfs()) || param.getFreeWharfs().size()==0){
            return R.error("空闲的入库码头（AGV）为空！");
        }
        TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
        ToWmsDTO toWmsDTO = new ToWmsDTO();
        Map<String, Object> map = new HashMap<>();
        map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
        List<Integer> list = new ArrayList<>();
        list.add(1);
        list.add(4);
        //TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
        toWmsDTO.setWarehouseId("1688469798893297665");
        toWmsDTO.setContainerCode(param.getContainerCode());
        toWmsDTO.setApplyType("TUNNEL");
        toWmsDTO.setCanInboundTunnels(list);
        String response = new HttpHandler.Builder()
                .setHeaders(map)
                .setUri(wmsUrl)
                .setPath("wcsManager/wcsInterface/inboundTaskApply")
                .setJson(JSON.toJSONString(toWmsDTO))
                .build()
                .doPost();

        if (Cools.isEmpty(taskWrk)){
            return R.error("未查询到任务，任务号："+param.getTaskNo());
        JSONObject jsonObject = JSON.parseObject(response);
        if (jsonObject.getInteger("code").equals(200)) {
            //解析
            return R.ok(jsonObject.get("data"));
        }else {
            return R.error((String) jsonObject.get("msg"));
        }
        return R.ok(taskWrk.getStartPoint());



    }

    //AGV请求动作接口
@@ -135,6 +164,7 @@
    public R agvTaskRequest(@RequestHeader String appkey,
                              @RequestBody WMSAndAGVInterfaceParam param,
                              HttpServletRequest request) {
        auth(appkey, param, request);
        if (Cools.isEmpty(param)){
            return R.error("参数为空！");
        } else if (Cools.isEmpty(param.getRequestType())){

 src/main/java/com/zy/asrs/entity/ToAgvDTO.java

New file
@@ -0,0 +1,21 @@
package com.zy.asrs.entity;

import lombok.Data;

import java.util.Date;

@Data
public class ToAgvDTO {
    private String taskNo;
    private String warehouseId;
    private String warehouseCode;
    private String taskType;
    private String taskPriority;
    private String containerCode;
    private String containerTypeCode;
    private String emptyContainer;
    private Date createTime;
    private Integer taskTunnel;
    private String targetLocationCode;

}

 src/main/java/com/zy/asrs/entity/ToWmsDTO.java

New file
@@ -0,0 +1,13 @@
package com.zy.asrs.entity;

import lombok.Data;

import java.util.List;

@Data
public class ToWmsDTO {
    private String warehouseId;
    private String containerCode;
    private String applyType;
    private List<Integer> canInboundTunnels;
}

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

@@ -16,14 +16,18 @@
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
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;
@@ -76,6 +80,86 @@
    @Value("${wms.movePath}")
    private String movePath;


    public void generateStoreWrkFile() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                Short workNo = staProtocol.getWorkNo();
                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                        && !staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (workNo >= 0)
                        && staProtocol.isPakMk()) {

                    // 尺寸检测异常
                    boolean back = false;
                    String errMsg = "";
                    if (staProtocol.isFrontErr()) {
                        errMsg = "前超限";
                        back = true;
                    }
                    if (!back && staProtocol.isBackErr()) {
                        errMsg = "后超限";
                        back = true;
                    }
                    if (!back && staProtocol.isHighErr()) {
                        errMsg = "高超限";
                        back = true;
                    }
                    if (!back && staProtocol.isLeftErr()) {
                        errMsg = "左超限";
                        back = true;
                    }
                    if (!back && staProtocol.isRightErr()) {
                        errMsg = "右超限";
                        back = true;
                    }
                    if (!back && staProtocol.isWeightErr()) {
                        errMsg = "超重";
                        back = true;
                    }
                    if (!back && staProtocol.isBarcodeErr()) {
                        errMsg = "扫码失败";
                        back = true;
                    }
                    // 退回
                    if (back) {
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                        staProtocol.setWorkNo(workNo);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));


                        continue;
                    }
                    // 获取条码扫描仪信息
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                    if (barcodeThread == null) {
                        continue;
                    }
                    String barcode = barcodeThread.getBarcode();
                    if(!Cools.isEmpty(barcode)) {

                    }
                }


            }
        }
    }


    /**
     * 堆垛机站出库到出库站
     */

 src/main/java/com/zy/core/MainProcess.java

@@ -46,7 +46,7 @@
                    // 演示
//                    mainService.crnDemoOfLocMove1();
                    // 入库  ===>> 入库站到堆垛机站，根据条码扫描生成入库工作档
//                    mainService.generateStoreWrkFile(); // 组托
                    mainService.generateStoreWrkFile(); // 组托
                    // 出库  ===>>  堆垛机出库站到出库站
                    mainService.crnStnToOutStn();
                    // 入出库  ===>>  堆垛机入出库作业下发

 src/main/java/com/zy/core/model/CrnSlave.java

@@ -46,6 +46,9 @@
        // 层
        private Integer lev;

        //退回站点
        private Integer backSta;

    }

}

 src/main/java/com/zy/core/model/DevpSlave.java

@@ -35,6 +35,8 @@
        private Integer barcode;

        private Integer scale;

        private Integer backSta;
    }

}

 src/main/java/com/zy/core/model/protocol/StaProtocol.java

@@ -59,6 +59,30 @@
    //指令ID
    private Integer commandId;

    // 外形检测 ------------------------------------------------------------------------

    // 前超限
    private boolean frontErr;

    // 后超限
    private boolean backErr;

    // 高超限
    private boolean highErr;

    // 左超限
    private boolean leftErr;

    // 右超限
    private boolean rightErr;

    // 超重
    private boolean weightErr;

    // 扫码失败
    private boolean barcodeErr;


    public BasDevp toSqlModel(){
        BasDevp basDevp = new BasDevp();
        basDevp.setDevNo(siteId);

 src/main/java/com/zy/core/thread/SiemensDevpThread.java

@@ -232,19 +232,121 @@
            }
        }

//            //条码
//            Thread.sleep(200);
//            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB100.160",(short)4);
//            if (result2.IsSuccess) {
//                for (int i = 0; i < barcodeSize; i++) {
//                    String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8");
//                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1);
//                    if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
//                        barcodeThread.setBarcode(barcode);
//                    }
//                }
//
//            }
            //条码
            Thread.sleep(200);
            OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB101.100",(short)31);
            if (result2.IsSuccess) {
                for (int i = 0; i < barcodeSize; i++) {
                    String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8");
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1);
                    if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) {
                        barcodeThread.setBarcode(barcode);
                    }
                }

            }
        if (slave.getId() == 1){
            // 外形检测 - 102
            Thread.sleep(100);
            OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB101.150", (short)1);
            if (result4.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result4.Content, 0, 1);
                StaProtocol staProtocol = station.get(103);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 107
            Thread.sleep(50);
            OperateResultExOne<byte[]> result5 = siemensS7Net.Read("DB101.154", (short)1);
            if (result5.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result5.Content, 0, 1);
                StaProtocol staProtocol = station.get(107);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 111
            Thread.sleep(50);
            OperateResultExOne<byte[]> result6 = siemensS7Net.Read("DB101.158", (short)1);
            if (result6.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result6.Content, 0, 1);
                StaProtocol staProtocol = station.get(111);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 115
            Thread.sleep(50);
            OperateResultExOne<byte[]> result7 = siemensS7Net.Read("DB101.162", (short)1);
            if (result7.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result7.Content, 0, 1);
                StaProtocol staProtocol = station.get(115);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 119
            Thread.sleep(50);
            OperateResultExOne<byte[]> result8 = siemensS7Net.Read("DB101.166", (short)1);
            if (result8.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result8.Content, 0, 1);
                StaProtocol staProtocol = station.get(119);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
            // 外形检测 - 123
            Thread.sleep(50);
            OperateResultExOne<byte[]> result9 = siemensS7Net.Read("DB101.170", (short)1);
            if (result9.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result9.Content, 0, 1);
                StaProtocol staProtocol = station.get(123);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
        } else if (slave.getId() == 3) {
            // 外形检测 - 111
            Thread.sleep(50);
            OperateResultExOne<byte[]> result10 = siemensS7Net.Read("DB101.26", (short)1);
            if (result10.IsSuccess) {
                boolean[] status = siemensS7Net.getByteTransform().TransBool(result10.Content, 0, 1);
                StaProtocol staProtocol = station.get(301);
                staProtocol.setFrontErr(status[0]);
                staProtocol.setBackErr(status[1]);
                staProtocol.setHighErr(status[2]);
                staProtocol.setLeftErr(status[3]);
                staProtocol.setRightErr(status[4]);
                staProtocol.setWeightErr(status[5]);
                staProtocol.setBarcodeErr(status[6]);
            }
        }


//        //RGV台车位置
//        Thread.sleep(200);

 src/main/resources/application-prod.yml

@@ -21,6 +21,7 @@
      row: 3
      bay: 1
      lev: 1
      backSta: 102
      devpPlcId: ${wcs-slave.devp[0].id}
    crnOutStn[1]:  #堆垛机出库站点
      staNo: 200
@@ -53,6 +54,7 @@
      row: 6
      bay: 1
      lev: 1
      backSta: 106
      devpPlcId: ${wcs-slave.devp[0].id}
    crnOutStn[1]:  #堆垛机出库站点
      staNo: 206
@@ -85,6 +87,7 @@
      row: 9
      bay: 1
      lev: 1
      backSta: 110
      devpPlcId: ${wcs-slave.devp[0].id}
    crnOutStn[1]:  #堆垛机出库站点
      staNo: 212
@@ -117,6 +120,7 @@
      row: 13
      bay: 1
      lev: 1
      backSta: 114
      devpPlcId: ${wcs-slave.devp[0].id}
    crnOutStn[1]:  #堆垛机出库站点
      staNo: 218
@@ -149,6 +153,7 @@
      row: 17
      bay: 1
      lev: 1
      backSta: 118
      devpPlcId: ${wcs-slave.devp[0].id}
    crnOutStn[1]:  #堆垛机出库站点
      staNo: 224
@@ -181,6 +186,7 @@
      row: 21
      bay: 1
      lev: 1
      backSta: 122
      devpPlcId: ${wcs-slave.devp[0].id}
    crnOutStn[1]:  #堆垛机出库站点
      staNo: 230
@@ -201,7 +207,7 @@
    port: 102
    slot: 0
    emptyInSta[0]: #空板入库口0
      staNo: 101
      staNo: 103
    emptyInSta[1]: #空板入库口1
      staNo: 105
    emptyInSta[2]: #空板入库口2
@@ -214,42 +220,48 @@
      staNo: 121
    inSta[0]: #入库口1
      scale: ${wcs-slave.scale[0].id}
      staNo: 101
      staNo: 103
      backSta: 102
      barcode: ${wcs-slave.barcode[0].id}
    inSta[1]: #入库口2
      scale: ${wcs-slave.scale[1].id}
      staNo: 105
      staNo: 107
      backSta: 106
      barcode: ${wcs-slave.barcode[1].id}
      #slot: 0
    inSta[2]: #入库口1
      scale: ${wcs-slave.scale[0].id}
      staNo: 109
      staNo: 111
      backSta: 110
      barcode: ${wcs-slave.barcode[0].id}
    inSta[3]: #入库口1
      scale: ${wcs-slave.scale[0].id}
      staNo: 113
      staNo: 115
      backSta: 114
      barcode: ${wcs-slave.barcode[0].id}
    inSta[4]: #入库口2
      scale: ${wcs-slave.scale[1].id}
      staNo: 117
      staNo: 119
      backSta: 118
      barcode: ${wcs-slave.barcode[1].id}
      #slot: 0
    inSta[5]: #入库口1
      scale: ${wcs-slave.scale[0].id}
      staNo: 121
      staNo: 123
      backSta: 122
      barcode: ${wcs-slave.barcode[0].id}
    outSta[0]: #出库口1
      staNo: 102
      staNo: 100
    outSta[1]: #出库口2
      staNo: 106
      staNo: 104
    outSta[2]: #出库口2
      staNo: 110
      staNo: 108
    outSta[3]: #出库口1
      staNo: 114
      staNo: 112
    outSta[4]: #出库口2
      staNo: 118
      staNo: 116
    outSta[5]: #出库口2
      staNo: 122
      staNo: 120
  devp[1]: #输送线
    id: 2
    ip: 172.17.91.45
@@ -266,8 +278,9 @@
      staNo: 306
    inSta[0]: #入库口1
      scale: ${wcs-slave.scale[1].id}
      staNo: 306
      staNo: 301
      barcode: ${wcs-slave.barcode[1].id}
      backSta: 300
      #slot: 0
    outSta[0]: #出库口1
      staNo: 307