| src/main/java/com/zy/asrs/controller/BasMapController.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/enums/RedisKeyType.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/enums/WrkIoType.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/model/StationObjModel.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/network/real/ZyStationV3RealConnect.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/plugin/NormalProcess.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 | |
| src/main/resources/application.yml | ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 |
src/main/java/com/zy/asrs/controller/BasMapController.java
@@ -218,8 +218,20 @@ Integer isBarcodeStation = value.getInteger("isBarcodeStation"); if (isBarcodeStation != null && isBarcodeStation == 1) { StationObjModel barcodeStationModel = new StationObjModel(); barcodeStationModel.setDeviceNo(deviceNo); barcodeStationModel.setStationId(value.getInteger("stationId")); if (value.getInteger("backStation") != null) { StationObjModel backStation = new StationObjModel(); barcodeStationModel.setBackStation(backStation); backStation.setDeviceNo(value.getInteger("backStationDeviceNo")); backStation.setStationId(value.getInteger("backStation")); } List<StationObjModel> barcodeStationList = barcodeStationMap.getOrDefault(deviceNo, new ArrayList<>()); barcodeStationList.add(stationObjModel); barcodeStationList.add(barcodeStationModel); barcodeStationMap.put(deviceNo, barcodeStationList); }
@@ -39,6 +39,7 @@ STATION_OUT_EXECUTE_COMPLETE_LIMIT("station_out_execute_complete_limit_"), CHECK_STATION_RUN_BLOCK_LIMIT_("check_station_run_block_limit_"), CHECK_SHALLOW_LOC_STATUS_LIMIT("check_shallow_loc_status_limit_"), GENERATE_ENABLE_IN_STATION_DATA_LIMIT("generate_enable_in_station_data_limit_"), DUAL_CRN_PICK_WAIT_NEXT_TASK("dual_crn_pick_wait_next_task_"), DUAL_CRN_OUT_TASK_STATION_INFO("dual_crn_out_task_station_info_"), src/main/java/com/zy/core/enums/WrkIoType.java
@@ -7,8 +7,6 @@ IN(1, "入库"), OUT(101, "出库"), LOC_MOVE(201, "移库任务"), PREVIEW_LIFT_MOVE(98, "提升机预调度移动任务"), MANUAL(99, "手动任务"), FAKE_TASK_NO(9999, "仿真随机工作号"), ;
@@ -19,4 +19,6 @@ private StationObjModel barcodeStation; private StationObjModel backStation; } src/main/java/com/zy/core/network/real/ZyStationV3RealConnect.java
@@ -50,7 +50,7 @@ @Override public boolean connect() { boolean connected = false; siemensNet = new SiemensS7Net(SiemensPLCS.S1200, deviceConfig.getIp()); siemensNet = new SiemensS7Net(SiemensPLCS.S1500, deviceConfig.getIp()); OperateResult connect = siemensNet.ConnectServer(); if (connect.IsSuccess) { connected = true; @@ -66,6 +66,7 @@ News.error("输送站plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()); } // siemensNet.ConnectClose(); return connected; } @@ -97,6 +98,10 @@ if (barcodeStatusList != null) { barcodeStatusList.sort(Comparator.comparing(ZyStationStatusEntity::getStationId)); } } if (siemensNet == null) { return statusList; } OperateResultExOne<byte[]> result = siemensNet.Read("DB100.0", (short) (statusList.size() * 8)); @@ -146,10 +151,12 @@ return commandResponse; } int maxTryCount = 999; int tryCount = 0; if (command.getCommandType().equals(StationCommandType.MOVE)) { int enableCommandIdx = -1; while (true) { enableCommandIdx = getEnableCommandIdx(); enableCommandIdx = getEnableCommandIdx(command.getTaskNo()); if(enableCommandIdx == -1) { try { Thread.sleep(300); @@ -157,11 +164,16 @@ }else { break; } tryCount++; if (tryCount > maxTryCount) { commandResponse.setMessage("命令下发超时，无法找到可用下发区域"); return commandResponse; } } List<Integer> pathList = command.getNavigatePath(); short[] data = new short[22]; short[] data = new short[21]; data[0] = command.getTargetStaNo().shortValue(); int dataIdx = 1; @@ -169,9 +181,18 @@ data[dataIdx++] = path.shortValue(); } OperateResult writeTask = siemensNet.Write("DB23." + enableCommandIdx * taskAddressLength, command.getTaskNo()); OperateResult writeData = siemensNet.Write("DB23." + enableCommandIdx * taskAddressLength + 4, data); if(writeTask.IsSuccess && writeData.IsSuccess) { OperateResult writeTask = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength), command.getTaskNo()); try { Thread.sleep(50); }catch (Exception e) {} OperateResult writeData = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength + 4), data); try { Thread.sleep(200); }catch (Exception e) {} OperateResult writeConfirm = siemensNet.Write("DB23." + (enableCommandIdx * taskAddressLength + 46), (short) 1); if(writeTask.IsSuccess && writeData.IsSuccess && writeConfirm.IsSuccess) { log.error("写入输送线命令成功。任务号={}，站点数据={}", command.getTaskNo(), JSON.toJSON(command)); commandResponse.setResult(true); }else { @@ -219,11 +240,21 @@ return null; } private int getEnableCommandIdx() { private int getEnableCommandIdx(int taskNo) { int useIdx = -1; for (int i = 0; i < taskAddressLimit; i++) { OperateResultExOne<byte[]> result = siemensNet.Read("DB23." + i * taskAddressLength, (short) taskAddressLength); int taskStatus = siemensNet.getByteTransform().TransInt16(result.Content, i * taskAddressLength + 46); OperateResultExOne<byte[]> resultTask = siemensNet.Read("DB23." + (i * taskAddressLength + 0), (short) 2); OperateResultExOne<byte[]> resultStatus = siemensNet.Read("DB23." + (i * taskAddressLength + 46), (short) 2); if(resultTask.IsSuccess && resultStatus.IsSuccess) { continue; } int commandAreaTaskNo = siemensNet.getByteTransform().TransInt32(resultTask.Content, 0); if(commandAreaTaskNo == taskNo) { return -1; } int taskStatus = siemensNet.getByteTransform().TransInt16(resultStatus.Content, 0); if (taskStatus == 1) { continue; } src/main/java/com/zy/core/plugin/NormalProcess.java
@@ -1,11 +1,39 @@ package com.zy.core.plugin; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.Cools; import com.zy.asrs.domain.param.CreateInTaskParam; import com.zy.asrs.entity.BasDevp; import com.zy.asrs.entity.WrkMast; import com.zy.asrs.service.BasDevpService; import com.zy.asrs.service.WrkMastService; import com.zy.common.model.StartupDto; import com.zy.common.service.CommonService; import com.zy.common.utils.RedisUtil; import com.zy.core.News; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.RedisKeyType; import com.zy.core.enums.SlaveType; import com.zy.core.enums.StationCommandType; import com.zy.core.enums.WrkIoType; import com.zy.core.model.StationObjModel; import com.zy.core.model.Task; import com.zy.core.model.command.StationCommand; import com.zy.core.model.protocol.StationProtocol; import com.zy.core.plugin.api.MainProcessPluginApi; import com.zy.core.thread.StationThread; import com.zy.core.utils.CrnOperateProcessUtils; import com.zy.core.utils.StationOperateProcessUtils; import com.zy.core.utils.WmsOperateUtils; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Component; import java.util.List; import java.util.Map; @Slf4j @Component @@ -15,9 +43,24 @@ private CrnOperateProcessUtils crnOperateUtils; @Autowired private StationOperateProcessUtils stationOperateProcessUtils; @Autowired private CommonService commonService; @Autowired private BasDevpService basDevpService; @Autowired private WrkMastService wrkMastService; @Autowired private RedisUtil redisUtil; @Autowired private WmsOperateUtils wmsOperateUtils; @Override public void run() { //请求生成入库任务 generateStoreWrkFile(); //检测入库站是否有任务生成，并启动入库 checkInStationHasTask(); //执行堆垛机任务 crnOperateUtils.crnIoExecute(); //堆垛机任务执行完成-具备仿真能力 @@ -30,4 +73,121 @@ stationOperateProcessUtils.stationOutExecuteFinish(); } /** * 请求生成入库任务 * 入库站，根据条码扫描生成入库工作档 */ public synchronized void generateStoreWrkFile() { List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>()); for (BasDevp basDevp : basDevps) { StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo()); if(stationThread == null){ continue; } Map<Integer, StationProtocol> stationMap = stationThread.getStatusMap(); List<StationObjModel> list = basDevp.getBarcodeStationList$(); for (StationObjModel entity : list) { Integer stationId = entity.getStationId(); if(!stationMap.containsKey(stationId)){ continue; } StationProtocol stationProtocol = stationMap.get(stationId); if (stationProtocol == null) { continue; } //满足自动、有物、有工作号，生成入库数据 if (stationProtocol.isAutoing() && stationProtocol.isLoading() && stationProtocol.getTaskNo() > 0 ) { if (Cools.isEmpty(stationProtocol.getBarcode())) { continue; } //检测任务是否生成 List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode())); if (!wrkMasts.isEmpty()) { continue; } Object lock = redisUtil.get(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId); if (lock != null) { continue; } redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2); String response = wmsOperateUtils.applyInTask(stationProtocol.getBarcode(), stationProtocol.getStationId(), stationProtocol.getPalletHeight()); if (response == null) { News.error("请求WMS入库接口失败，接口未响应！！！response：{}", response); continue; } JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.getInteger("code").equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); CreateInTaskParam taskParam = new CreateInTaskParam(); taskParam.setTaskNo(dto.getTaskNo()); taskParam.setLocNo(dto.getLocNo()); taskParam.setTaskPri(dto.getTaskPri()); taskParam.setBarcode(stationProtocol.getBarcode()); WrkMast wrkMast = commonService.createInTask(taskParam); StationCommand command = stationThread.getCommand(StationCommandType.WRITE_INFO, wrkMast.getWrkNo(), stationId, stationId, 0); if(command == null){ News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败"); continue; } MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command)); } } } } } //检测入库站是否有任务生成，并启动入库 private synchronized void checkInStationHasTask() { List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>()); for (BasDevp basDevp : basDevps) { StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo()); if(stationThread == null){ continue; } Map<Integer, StationProtocol> stationMap = stationThread.getStatusMap(); List<StationObjModel> list = basDevp.getInStationList$(); for (StationObjModel entity : list) { Integer stationId = entity.getStationId(); if(!stationMap.containsKey(stationId)){ continue; } StationProtocol stationProtocol = stationMap.get(stationId); if (stationProtocol == null) { continue; } Object lock = redisUtil.get(RedisKeyType.GENERATE_ENABLE_IN_STATION_DATA_LIMIT.key + stationId); if(lock != null){ continue; } //满足自动、无物、工作号0，生成入库数据 if (stationProtocol.isAutoing() && stationProtocol.isLoading() && stationProtocol.getTaskNo() == 0 && stationProtocol.isEnableIn() ) { StationCommand command = stationThread.getCommand(StationCommandType.MOVE, commonService.getWorkNo(WrkIoType.FAKE_TASK_NO.id), stationId, entity.getBarcodeStation().getStationId(), 0); MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command)); redisUtil.set(RedisKeyType.GENERATE_ENABLE_IN_STATION_DATA_LIMIT.key + stationId, "lock", 10); } } } } } src/main/java/com/zy/core/thread/impl/ZyStationV3Thread.java
@@ -217,7 +217,8 @@ CommandResponse commandResponse = null; try { commandResponse = zyStationConnectDriver.sendCommand(command); return commandResponse; } catch (Exception e) { e.printStackTrace(); } finally { BasStationOptService optService = SpringUtils.getBean(BasStationOptService.class); List<ZyStationStatusEntity> statusListEntity = zyStationConnectDriver.getStatus(); @@ -249,6 +250,7 @@ optService.insert(basStationOpt); } } return commandResponse; } @Override src/main/resources/application.yml
@@ -78,7 +78,7 @@ expireDays: 7 llm: platform: python platform: java pythonPlatformUrl: http://127.0.0.1:9000/ai/diagnose/askStream # base-url: https://api.siliconflow.cn/v1 # api-key: sk-sxdtebtquwrugzrmaqqqkzdzmrgzhzmplwwuowysdasccent
