#

Junjie

9 天以前 470718b6f7de2688807a59b4e32f437624c51499

#

 src/main/java/com/zy/asrs/domain/enums/NotifyMsgType.java

@@ -1,21 +1,23 @@
package com.zy.asrs.domain.enums;

public enum NotifyMsgType {
    SHUTTLE_START_TAKE("shuttle_start_take", "小车开始取货"),
    SHUTTLE_TRANSPORT("shuttle_transport", "小车送货中"),
    SHUTTLE_DELIVERY("shuttle_delivery", "小车放货完成"),
    SHUTTLE_MOVING("shuttle_moving", "小车移动中"),
    SHUTTLE_MOVE_COMPLETE("shuttle_move_complete", "小车移动完成"),
    SHUTTLE_POWER_LOW("shuttle_power_low", "小车低电量"),
    SHUTTLE_POWER_START("shuttle_power_start", "小车开始充电"),
    SHUTTLE_POWER_COMPLETE("shuttle_power_complete", "小车充电完成"),
    SHUTTLE_ERROR("shuttle_error", "小车异常"),
    FORK_LIFT_ERROR("fork_lift_error", "货叉提升机异常"),

    //任务
    TASK_COMPLETE("task_complete", "任务完成"),
    TASK_CHARGE_COMPLETE("task_charge_complete", "充电任务完成"),
    TASK_CANCEL("task_cancel", "任务取消"),

    CRN_IN_TASK_RUN("crn_in_task_run", "堆垛机入库任务执行中"),
    CRN_IN_TASK_COMPLETE("crn_in_task_complete", "堆垛机入库任务执行完成"),
    CRN_OUT_TASK_RUN("crn_out_task_run", "堆垛机出库任务执行中"),
    CRN_OUT_TASK_COMPLETE("crn_out_task_complete", "堆垛机出库任务执行完成"),
    CRN_TRANSFER_TASK_RUN("crn_transfer_task_run", "堆垛机移库任务执行中"),
    CRN_TRANSFER_TASK_COMPLETE("crn_transfer_task_complete", "堆垛机移库任务执行完成"),

    DUAL_CRN_IN_TASK_RUN("dual_crn_in_task_run", "双工位堆垛机入库任务执行中"),
    DUAL_CRN_IN_TASK_COMPLETE("dual_crn_in_task_complete", "双工位堆垛机入库任务执行完成"),
    DUAL_CRN_OUT_TASK_RUN("dual_crn_out_task_run", "双工位堆垛机出库任务执行中"),
    DUAL_CRN_OUT_TASK_COMPLETE("dual_crn_out_task_complete", "双工位堆垛机出库任务执行完成"),
    DUAL_CRN_TRANSFER_TASK_RUN("dual_crn_transfer_task_run", "双工位堆垛机移库任务执行中"),
    DUAL_CRN_TRANSFER_TASK_COMPLETE("dual_crn_transfer_task_complete", "双工位堆垛机移库任务执行完成"),
    ;

    public String flag;

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

@@ -60,6 +60,16 @@
        notifyMsg("task", 1);
    }

    @Scheduled(cron = "0/3 * * * * ? ")
    public synchronized void notifyCrn(){
        notifyMsg("crn", 1);
    }

    @Scheduled(cron = "0/3 * * * * ? ")
    public synchronized void notifyDualCrn(){
        notifyMsg("dualCrn", 1);
    }

    private synchronized void notifyMsg(String notifyType, Integer device) {
        Config notifyEnableConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "notifyEnable"));
        if(notifyEnableConfig == null){

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

File was deleted

 src/main/java/com/zy/asrs/utils/NotifyUtils.java

@@ -58,6 +58,8 @@
            key = RedisKeyType.QUEUE_CRN.key + device;
        } else if (notifyType.equals(String.valueOf(SlaveType.Devp))) {
            key = RedisKeyType.QUEUE_DEVP.key + device;
        } else if (notifyType.equals(String.valueOf(SlaveType.DualCrn))) {
            key = RedisKeyType.QUEUE_DUAL_CRN.key + device;
        } else if (notifyType.equals(String.valueOf(SlaveType.Rgv))) {
            key = RedisKeyType.QUEUE_RGV.key + device;
        } else if (notifyType.equals("task")) {

 src/main/java/com/zy/core/enums/RedisKeyType.java

@@ -12,6 +12,7 @@
    DUAL_CRN_COMMAND_("dual_crn_command_"),

    QUEUE_CRN("queue_crn_"),
    QUEUE_DUAL_CRN("queue_dual_crn_"),
    QUEUE_DEVP("queue_devp_"),
    QUEUE_RGV("queue_rgv_"),
    QUEUE_TASK("queue_task_"),

 src/main/java/com/zy/core/network/real/ZyStationRealConnect.java

@@ -18,6 +18,7 @@
import com.zy.core.News;
import com.zy.core.cache.OutputQueue;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.command.StationCommand;
import com.zy.core.network.api.ZyStationConnectApi;
import com.zy.core.network.entity.ZyStationStatusEntity;
@@ -35,7 +36,7 @@
public class ZyStationRealConnect implements ZyStationConnectApi {

    private List<ZyStationStatusEntity> statusList;
    private List<ZyStationStatusEntity> barcodeStatusList;
    private List<StationObjModel> barcodeOriginList;
    private SiemensS7Net siemensNet;
    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;
@@ -91,14 +92,17 @@
            if (statusList != null) {
                statusList.sort(Comparator.comparing(ZyStationStatusEntity::getStationId));
            }
            barcodeStatusList = JSONObject.parseArray(basDevp.getBarcodeStationList(), ZyStationStatusEntity.class);
            barcodeOriginList = basDevp.getBarcodeStationList$();
        }

        OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) (statusList.size() * 2));
        OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) (statusList.size() * 8));
        if (result.IsSuccess) {
            for (int i = 0; i < statusList.size(); i++) {
                ZyStationStatusEntity statusEntity = statusList.get(i); // ç«™ç‚¹ç¼–号
                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, i * 2, 2);
                statusEntity.setTaskNo((int) siemensNet.getByteTransform().TransInt16(result.Content, i * 8)); // å·¥ä½œå·
                statusEntity.setTargetStaNo((int) siemensNet.getByteTransform().TransInt16(result.Content, i * 8 + 4)); // ç›®æ ‡ç«™

                boolean[] status = siemensNet.getByteTransform().TransBool(result.Content, i * 8 + 6, 2);
                statusEntity.setAutoing(status[0]); // è‡ªåŠ¨
                statusEntity.setLoading(status[1]); // æœ‰ç‰©
                statusEntity.setInEnable(status[2]); // å¯å…¥
@@ -108,27 +112,62 @@
            }
        }

        OperateResultExOne<byte[]> result1 = siemensNet.Read("DB100.0", (short) (statusList.size() * 4));
        if (result1.IsSuccess) {
            for (int i = 0; i < statusList.size(); i++) {
                ZyStationStatusEntity statusEntity = statusList.get(i);
                statusEntity.setTaskNo((int) siemensNet.getByteTransform().TransInt16(result1.Content, i * 4)); // å·¥ä½œå·
                statusEntity.setTargetStaNo((int) siemensNet.getByteTransform().TransInt16(result1.Content, i * 4 + 2)); // ç›®æ ‡ç«™
        // æ¡ç æ‰«æå™¨
        OperateResultExOne<byte[]> result2 = siemensNet.Read("DB101.840", (short) (barcodeOriginList.size() * 8));
        if (result2.IsSuccess) {
            for (int i = 0; i < barcodeOriginList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
                if (barcodeEntity == null) {
                    continue;
                }
                String barcode = siemensNet.getByteTransform().TransString(result2.Content, i * 8, 8, "UTF-8");
                barcode = barcode.trim();
                barcodeEntity.setBarcode(barcode);
            }
        }

        // æ¡ç æ‰«æå™¨
        OperateResultExOne<byte[]> result2 = siemensNet.Read("DB101.100", (short) (statusList.size() * 10));
        if (result2.IsSuccess) {
            for (int i = 0; i < barcodeStatusList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = barcodeStatusList.get(i);
                ZyStationStatusEntity statusEntity = findStatusEntity(barcodeEntity.getStationId());
                if (statusEntity == null) {
        // æŠ¥è­¦ä¿¡æ¯
        OperateResultExOne<byte[]> result3 = siemensNet.Read("DB101.800", (short) (barcodeOriginList.size() * 3));
        if (result3.IsSuccess) {
            for (int i = 0; i < barcodeOriginList.size(); i++) {
                ZyStationStatusEntity barcodeEntity = findStatusEntityByBarcodeIdx(i + 1);
                if (barcodeEntity == null) {
                    continue;
                }
                String barcode = siemensNet.getByteTransform().TransString(result2.Content, i * 10 + 2, 8, "UTF-8");
                barcode = barcode.trim();
                barcodeEntity.setBarcode(barcode);

                barcodeEntity.setPalletHeight((int) siemensNet.getByteTransform().TransInt16(result3.Content, i * 3)); // é«˜ä½Žä¿¡å·

                StringBuilder sb = new StringBuilder();
                boolean[] status1 = siemensNet.getByteTransform().TransBool(result3.Content, i * 3 + 2, 1);

                if(status1[0]){
                    sb.append("前超限报警;");
                }
                if(status1[1]) {
                    sb.append("后超限报警;");
                }
                if(status1[2]) {
                    sb.append("超高报警;");
                }
                if(status1[3]) {
                    sb.append("左超报警;");
                }
                if(status1[4]) {
                    sb.append("右超报警;");
                }
                if(status1[5]) {
                    sb.append("超重报警;");
                }
                if(status1[6]) {
                    sb.append("扫码失败;");
                }

                if(sb.length() > 0) {
                    barcodeEntity.setError(1);
                }else {
                    barcodeEntity.setError(0);
                }
                barcodeEntity.setErrorMsg(sb.toString());
            }
        }

@@ -236,4 +275,21 @@
        }
        return -1;
    }

    private ZyStationStatusEntity findStatusEntityByBarcodeIdx(Integer barcodeIdx) {
        Integer stationId = null;
        for (StationObjModel stationObjModel : barcodeOriginList) {
            if (stationObjModel.getBarcodeIdx().equals(barcodeIdx)) {
                stationId = stationObjModel.getStationId();
                break;
            }
        }

        for (ZyStationStatusEntity zyStationStatusEntity : statusList) {
            if(zyStationStatusEntity.getStationId().equals(stationId)) {
                return zyStationStatusEntity;
            }
        }
        return null;
    }
}

 src/main/java/com/zy/core/plugin/FakeProcess.java

@@ -476,6 +476,7 @@
                        if (lock != null) {
                            continue;
                        }
                        redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 10);

                        String barcode = stationProtocol.getBarcode();
                        Integer stationIdVal = stationProtocol.getStationId();
@@ -531,7 +532,6 @@
                                        stationProtocol.getPalletHeight());
                                redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2);
                            }
                            // å¦‚果有请求进行中，等待下次循环再检查
                        }
                    }
                }

 src/main/java/com/zy/core/utils/CrnOperateProcessUtils.java

@@ -4,6 +4,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.domain.param.CreateLocMoveTaskParam;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.LocMast;
@@ -11,6 +12,7 @@
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
@@ -49,6 +51,8 @@
    private WmsOperateUtils wmsOperateUtils;
    @Autowired
    private CommonService commonService;
    @Autowired
    private NotifyUtils notifyUtils;

    public synchronized void crnIoExecute() {
        Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
@@ -207,6 +211,7 @@
            wrkMast.setIoTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
                notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_IN_TASK_RUN, null);
                News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
            }
        }
@@ -295,6 +300,7 @@
                wrkMast.setIoTime(new Date());
                if (wrkMastService.updateById(wrkMast)) {
                    MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
                    notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_OUT_TASK_RUN, null);
                    News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
                    return;
                }
@@ -387,6 +393,7 @@
            wrkMast.setIoTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
                notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_IN_TASK_RUN, null);
                News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
                return true;
            }
@@ -471,6 +478,7 @@
            wrkMast.setIoTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
                notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_OUT_TASK_RUN, null);
                News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
                return true;
            }
@@ -524,6 +532,7 @@
            wrkMast.setIoTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
                notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_TRANSFER_TASK_RUN, null);
                News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
                return;
            }
@@ -563,10 +572,13 @@
                Long updateWrkSts = null;
                if(wrkMast.getWrkSts() == WrkStsType.INBOUND_RUN.sts){
                    updateWrkSts = WrkStsType.COMPLETE_INBOUND.sts;
                    notifyUtils.notify(String.valueOf(SlaveType.Crn), crnProtocol.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_IN_TASK_COMPLETE, null);
                }else if(wrkMast.getWrkSts() == WrkStsType.OUTBOUND_RUN.sts){
                    updateWrkSts = WrkStsType.OUTBOUND_RUN_COMPLETE.sts;
                    notifyUtils.notify(String.valueOf(SlaveType.Crn), crnProtocol.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_OUT_TASK_COMPLETE, null);
                }else if(wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_RUN.sts){
                    updateWrkSts = WrkStsType.COMPLETE_LOC_MOVE.sts;
                    notifyUtils.notify(String.valueOf(SlaveType.Crn), crnProtocol.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_TRANSFER_TASK_COMPLETE, null);
                }else{
                    News.error("堆垛机处于等待确认且任务完成状态，但工作状态异常。堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
                    continue;
@@ -727,6 +739,7 @@
        wrkMast.setIoTime(new Date());
        if (wrkMastService.updateById(wrkMast)) {
            MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
            notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_TRANSFER_TASK_RUN, null);
            News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
            return true;
        }

 src/main/java/com/zy/core/utils/DualCrnOperateProcessUtils.java

@@ -5,6 +5,7 @@
import com.alibaba.fastjson.serializer.SerializerFeature;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.domain.param.CreateLocMoveTaskParam;
import com.zy.asrs.entity.BasDualCrnp;
import com.zy.asrs.entity.LocMast;
@@ -12,6 +13,7 @@
import com.zy.asrs.service.BasDualCrnpService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
@@ -55,6 +57,8 @@
    private WmsOperateUtils wmsOperateUtils;
    @Autowired
    private CommonService commonService;
    @Autowired
    private NotifyUtils notifyUtils;

    //入出库  ===>>  åŒå·¥ä½å †åž›æœºå…¥å‡ºåº“作业下发
    public synchronized void dualCrnIoExecute() {
@@ -328,6 +332,7 @@
        wrkMast.setIoTime(new Date());
        if (wrkMastService.updateById(wrkMast)) {
            MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, commandList));
            notifyUtils.notify(String.valueOf(SlaveType.DualCrn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.DUAL_CRN_IN_TASK_RUN, null);
            News.info("双工位堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(commandList));
            dualCrnProtocol.setLastIo("I");
            return true;
@@ -421,6 +426,7 @@
            wrkMast.setIoTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, commandList));
                notifyUtils.notify(String.valueOf(SlaveType.DualCrn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.DUAL_CRN_OUT_TASK_RUN, null);
                News.info("双工位堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(commandList));
                dualCrnProtocol.setLastIo("O");

@@ -492,6 +498,7 @@
        wrkMast.setIoTime(new Date());
        if (wrkMastService.updateById(wrkMast)) {
            MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, commandList));
            notifyUtils.notify(String.valueOf(SlaveType.DualCrn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.DUAL_CRN_TRANSFER_TASK_RUN, null);
            News.info("双工位堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(commandList));
            dualCrnProtocol.setLastIo("I");
            return true;
@@ -557,9 +564,11 @@
            Long updateWrkSts = null;
            if (wrkMast.getWrkSts() == WrkStsType.INBOUND_RUN.sts) {
                updateWrkSts = WrkStsType.COMPLETE_INBOUND.sts;
                notifyUtils.notify(String.valueOf(SlaveType.DualCrn), basDualCrnp.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.DUAL_CRN_IN_TASK_COMPLETE, null);
            } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_RUN.sts) {
                updateWrkSts = WrkStsType.OUTBOUND_RUN_COMPLETE.sts;

                notifyUtils.notify(String.valueOf(SlaveType.DualCrn), basDualCrnp.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.DUAL_CRN_OUT_TASK_COMPLETE, null);
                
                if(mainProcessPlugin.contains("Fake")) {
                    //生成仿真站点数据
                    List<StationObjModel> outStationList = basDualCrnp.getOutStationList$();
@@ -585,6 +594,7 @@

            } else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_RUN.sts) {
                updateWrkSts = WrkStsType.COMPLETE_LOC_MOVE.sts;
                notifyUtils.notify(String.valueOf(SlaveType.DualCrn), basDualCrnp.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.DUAL_CRN_TRANSFER_TASK_COMPLETE, null);
            } else {
                News.error("双工位堆垛机处于等待确认且任务完成状态，但工作状态异常。堆垛机号={}，工作号={}", basDualCrnp.getCrnNo(), taskNo);
                return;

 src/main/resources/docs/WCSÍⲿHTTP API½Ó¿ÚV1.6.docx

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