#

zjj

2023-12-12 a3c70ef5ed3c18209b37ba01a8ab3eb0eea0d7cb

#

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

@@ -192,7 +192,8 @@
        map.put("J-1109",118);map.put("J-1110",117);
        map.put("J-1111",122);map.put("J-1112",121);
        map.put("H-1102",300);map.put("H-1101",305);
        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_desc", param.getWharfCode()));
        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                .eq("stn_desc", param.getWharfCode()));

        if (Cools.isEmpty(staDesc)){
            return R.error("程序报错，未查询到站点");

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

@@ -41,6 +41,7 @@
        excludeTrash(param);
        convert(param, wrapper);
        if (!Cools.isEmpty(orderByField)){wrapper.orderBy(humpToLine(orderByField), "asc".equals(orderByType));}
        wrapper.orderDesc(Collections.singleton("create_time"));
        return R.ok(taskWrkLogService.selectPage(new Page<>(curr, limit), wrapper));
    }


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

@@ -7,6 +7,6 @@

    StaDesc queryCrnStn(Integer typeNo, Integer crnNo, Integer stnNo);

    StaDesc queryCrn(Integer typeNo, Integer stnNo);
    StaDesc queryCrn(Integer typeNo, Integer stnNo,Integer crnNo);

}

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

@@ -557,7 +557,7 @@
                                log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
                            }
                        }
                        return;

                    }
                }
            }
@@ -600,12 +600,13 @@
                crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位排
                crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位列
                crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位层
                crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setSourcePosZ(Utils.getRowShort(taskWrk.getStartPoint()));     // 源库位排
                crnCommand.setSourcePosX(Utils.getBayShort(taskWrk.getStartPoint()));     // 源库位列
                crnCommand.setSourcePosY(Utils.getLevShort(taskWrk.getStartPoint()));     // 源库位层
                crnCommand.setDestinationPosZ(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand.setDestinationPosX(Utils.getBayShort(taskWrk.getTargetPoint()));     // 目标库位列
                crnCommand.setDestinationPosY(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位层
                crnCommand.setCommand((short) 1);
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                } else {

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

@@ -53,7 +53,8 @@
    @Value("${wms.url}")
    private String wmsUrl;
    public ArrayList<String> wharfCode1 = new ArrayList<String>(){{
        add("J-1101"); add("J-1103"); add("J-1105"); add("J-1107"); add("J-1109"); add("J-1111");
        add("J-1101"); add("J-1103"); add("J-1105"); add("J-1107"); add("J-1109"); add("J-1111");add("H-1101");
        add("G-1101");
    }};


@@ -200,14 +201,22 @@
                staProtocol = staProtocol.clone();
            }
            Short workNo = staProtocol.getWorkNo();
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                if (inSta.getBackSta().equals(staDesc.getStnNo())){
                    if (wharfCode1.contains(param.getWharfCode())){
                        if (!staProtocol.isLoading() && !staProtocol.isCar()){
                            //AGV出库完成以后
                        }
            if (wharfCode1.contains(param.getWharfCode())){
                if (!staProtocol.isLoading() && !staProtocol.isCar() && staProtocol.getWorkNo() >0){
                    //AGV出库完成以后
                    staProtocol.setWorkNo((short) 0);
                    staProtocol.setStaNo((short)0);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
                    if (result) {

                    }else {
                    } else {
                        throw new RuntimeException("agv返回完成后，命令下发失败");
                    }
                }
            }else {
                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    if (inSta.getBackSta().equals(staDesc.getStnNo())){

                        if (staProtocol.isLoading() && !staProtocol.isCar() && workNo == 0){
                            //AGV入库完成以后
                            staProtocol.setWorkNo((short) 9999);
@@ -219,12 +228,10 @@
                                throw new RuntimeException("agv返回完成后，命令下发失败");
                            }
                        }

                    }
                }
            }



        }

    }

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

@@ -26,10 +26,11 @@
    }

    @Override
    public StaDesc queryCrn(Integer typeNo, Integer stnNo) {
    public StaDesc queryCrn(Integer typeNo, Integer stnNo,Integer crnNo) {
        Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                .eq("type_no", typeNo)
                .eq("stn_no", stnNo);
                .eq("stn_no", stnNo)
                .eq("crn_no",crnNo);
        StaDesc staDesc = this.selectOne(wrapper);
        if (staDesc == null) {
            return null;

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

@@ -90,7 +90,7 @@
    @Override
    public void startup(TaskWrk taskWrk, Long userId) {
        //入库任务派发
        StaDesc staDesc = staDescService.queryCrn(taskWrk.getIoType(), Integer.parseInt(taskWrk.getStartPoint()));
        StaDesc staDesc = staDescService.queryCrn(taskWrk.getIoType(), Integer.parseInt(taskWrk.getStartPoint()), taskWrk.getCrnNo());
        if (staDesc == null) {
            throw new CoolException("入库路径不存在");
        }
@@ -130,7 +130,7 @@
    @Override
    public void stockOut(TaskWrk taskWrk, Long userId) {
        //出库任务派发
        StaDesc staDesc = staDescService.queryCrn(taskWrk.getIoType(), Integer.parseInt(taskWrk.getTargetPoint()));
        StaDesc staDesc = staDescService.queryCrn(taskWrk.getIoType(), Integer.parseInt(taskWrk.getTargetPoint()), taskWrk.getCrnNo());
        if (staDesc == null) {
            return;//不存在路径
        }
@@ -180,7 +180,7 @@
    @Override
    public void locMove(TaskWrk taskWrk, Long userId) {
        //库格移载任务派发
        StaDesc staDesc = staDescService.queryCrn(taskWrk.getIoType(), Integer.parseInt(taskWrk.getTargetPoint()));
        StaDesc staDesc = staDescService.queryCrn(taskWrk.getIoType(), Integer.parseInt(taskWrk.getTargetPoint()), taskWrk.getCrnNo());
        if (staDesc == null) {
            return;//不存在路径
        }

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

@@ -4,15 +4,13 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.CommandInfo;
import com.zy.asrs.entity.StaDesc;
import com.zy.asrs.entity.TaskWrk;
import com.zy.asrs.entity.param.TaskOverToWms;
import com.zy.asrs.entity.param.TaskStatusFeedbackParam;
import com.zy.asrs.service.ApiLogService;
import com.zy.asrs.service.CommandInfoService;
import com.zy.asrs.service.StaDescService;
import com.zy.asrs.service.TaskWrkService;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.PostMesDataUtils;
import com.zy.common.utils.HttpHandler;
import lombok.extern.slf4j.Slf4j;
@@ -39,6 +37,8 @@
    private CommandInfoService commandInfoService;
    @Autowired
    private ApiLogService apiLogService;
    @Autowired
    private BasDevpService basDevpService;

    @Autowired
    private StaDescService staDescService;
@@ -62,20 +62,19 @@
                taskOverToWms.setTaskNo(taskWrk.getTaskNo()); //任务号
                taskOverToWms.setTaskType(taskStatusFeedbackParam.getTaskType()); // 任务类型
                taskOverToWms.setContainerCode(taskWrk.getBarcode()); // 容器编码
                //区分入出库
                if (taskWrk.getIoType() ==1 ){
                    taskOverToWms.setEquipmentCode(String.valueOf(taskWrk.getCrnNo())); //设备编码
                    taskOverToWms.setTargetLocationCode(taskWrk.getOriginTargetPoint()); //目标库位
                }else if (taskWrk.getIoType() ==2){
                    Map<Integer,String> map1 = new HashMap<>();
                    map1.put(102,"J-1101");
                    map1.put(106,"J-1103");
                    map1.put(110,"J-1105");
                    map1.put(114,"J-1107");
                    map1.put(118,"J-1109");
                    map1.put(122,"J-1111");
                    StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>().eq("stn_no", taskWrk.getTargetPoint()));
                    StaDesc staDesc = staDescService.queryCrn(2, Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getCrnNo());
                    taskOverToWms.setEquipmentCode(staDesc.getStnDesc()); //设备编码
                    taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //源库位
                    //判断托盘是否走到出库站
                    BasDevp basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", taskWrk.getTargetPoint()));
                    if (!basDevp.getWrkNo().equals(taskWrk.getWrkNo())){
                        continue;
                    }
                }

                taskOverToWms.setTaskStatus("done"); //任务状态

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

@@ -506,38 +506,17 @@
        }



        //更新命令日志
        CommandInfoLogService commandInfoLogService = SpringUtils.getBean(CommandInfoLogService.class);
        CommandInfoService commandInfoService = SpringUtils.getBean(CommandInfoService.class);
        CommandInfo commandInfo = commandInfoService.selectById(command.getCommandId());
        CommandInfoLog commandInfoLog = JSON.parseObject(JSON.toJSONString(commandInfo), CommandInfoLog.class);
        commandInfoLog.setId(null);

        if (result.IsSuccess) {
            log.warn("堆垛机命令下发[id:{},时间：{}] >>>>> {}", slave.getId(), DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmsssss_F), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));

            //更新指令日志
            commandInfoLog.setDeviceLog("指令下发成功");
            commandInfoLogService.insert(commandInfoLog);

            //更新任务步序
            TaskWrkService taskWrkService = SpringUtils.getBean(TaskWrkService.class);
            TaskWrk taskWrk = taskWrkService.selectByWrkNo(command.getTaskNo().intValue());
            if (taskWrk != null) {
                taskWrk.setCommandStep(taskWrk.getCommandStep() + 1);//更新指令步序
                taskWrkService.updateById(taskWrk);
            }

            return true;
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());

            //更新指令日志
            commandInfoLog.setDeviceLog("指令下发失败");
            commandInfoLogService.insert(commandInfoLog);
            return false;
        }
    }

 src/main/resources/mapper/TaskWrkMapper.xml

@@ -118,7 +118,7 @@
    <select id="selectToBeHistoryData" resultMap="BaseResultMap">
        select * from dbo.wcs_task_wrk
        where 1=1
        and (status=5 or status=4)
        and ((wrk_sts=14 and status=5) or status=4 or (wrk_sts=4 and status=5))
        order by io_pri desc,create_time,wrk_no ASC
    </select>