*

lsh

2025-10-27 aa8638651f5f488ccc714a6e73e5b351bdfbde2e

*

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

@@ -5,6 +5,8 @@
import com.baomidou.mybatisplus.annotations.TableField;
import java.text.SimpleDateFormat;
import java.util.Date;

import com.core.common.SnowflakeIdWorker;
import org.springframework.format.annotation.DateTimeFormat;
import java.text.SimpleDateFormat;
import java.util.Date;
@@ -29,7 +31,7 @@
     * ID
     */
    @ApiModelProperty(value= "ID")
    @TableId(value = "task_no", type = IdType.AUTO)
    @TableId(value = "id", type = IdType.AUTO)
    private Long id;

    /**
@@ -138,7 +140,17 @@
    @TableField("io_type")
    private Integer ioType;

    public BasAgvMast() {}
    public BasAgvMast() {
        SnowflakeIdWorker snowflakeIdWorker = SpringUtils.getBean(SnowflakeIdWorker.class);
        this.timestamp = snowflakeIdWorker.nextId();

        this.priority = 1L;
        this.status = 0;

        Date now = new Date();
        this.appeTime = now;
        this.modiTime = now;
    }

    public BasAgvMast(Integer taskNo,Long timestamp,Integer sourceStaNo,Integer staNo,String sourceLocNo,String locNo,Long priority,Integer floorNo,Integer status,Date errorTime,String errorMemo,Date appeTime,Date modiTime,String modiUser) {
        this.taskNo = taskNo;

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

@@ -308,6 +308,13 @@
    @TableField("full_plt")
    private String fullPlt;

    /**
     * 空操作 / 取货无箱   //和得  AGV任务生成标记
     */
    @ApiModelProperty(value= "AGV任务生成标记")
    @TableField("take_none")
    private String takeNone;

    public String getWrkSts$(){
        BasWrkStatusMapper mapper = SpringUtils.getBean(BasWrkStatusMapper.class);
        BasWrkStatus entity = mapper.selectById(this.wrkSts);

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

@@ -4,9 +4,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
import com.core.common.DateUtils;
import com.core.common.R;
import com.core.common.*;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.AgvTaskAssignmentParam;
@@ -4591,6 +4589,173 @@
                response, bool);
    }

    /*
     * agv任务生成  Full
     * */
    public synchronized void agvTaskCreateFull() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历出库口
            for (DevpSlave.Sta outStaAgv : devp.getOutStaAgvFull())  {
                // 获取入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(outStaAgv.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                // 判断是否满足入库条件
                if (!staProtocol.isLoading()){
                    continue;
                }
                if (staProtocol.isAutoing() ) {
                    WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
                    if (Cools.isEmpty(wrkMast) || Cools.isEmpty(wrkMast.getTakeNone()) || !wrkMast.getTakeNone().equals("1")){
                        continue;
                    }

                    // 判断重复工作档
                    List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("task_no", staProtocol.getWorkNo()));
                    if (!basAgvMastList.isEmpty()) {
                        wrkMast.setTakeNone("2");
                        wrkMastMapper.updateById(wrkMast);
                        continue;
                    }

                    // 任务生成区 --------------------------------------------------------------------------

                    BasAgvMast basAgvMast = new BasAgvMast();


                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(wrkMast.getBarcode());
                        param.setIoType(1);
                        param.setSourceStaNo(outStaAgv.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/agv/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            basAgvMast.setTaskNo(wrkMast.getWrkNo());
                            basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
                            basAgvMast.setLocNo(dto.getLocNo());
                            basAgvMast.setDevpId(devp.getId());
                            basAgvMast.setIoType(2);

                            basAgvMastService.insert(basAgvMast);


                            wrkMast.setTakeNone("2");
                            wrkMastMapper.updateById(wrkMast);
                        } else {
                            News.error(JSON.toJSONString(staProtocol));
                        }
                    } catch (Exception e) {
                        News.error(JSON.toJSONString(e.getMessage()));
                    }
                }
            }
        }
    }

    /*
     * agv任务生成  Empty
     * */
    public synchronized void agvTaskCreateEmpty() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历出库口
            for (DevpSlave.Sta outStaAgv : devp.getOutStaAgvEmpty())  {
                // 获取入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(outStaAgv.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                // 判断是否满足入库条件
                if (!staProtocol.isLoading()){
                    continue;
                }

                String barcode = staProtocol.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        News.info("{}号站点扫描器检测条码信息：{}", outStaAgv.getStaNo(), barcode);
                        continue;
                    }
                } else {
                    News.info("{}号站点扫描器检测条码信息：{}", outStaAgv.getStaNo(), barcode);
                    continue;
                }
                if (staProtocol.isAutoing()) {

                    // 判断重复工作档
                    List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()));
                    if (!basAgvMastList.isEmpty()) {
                        News.info("{}号站点存在任务执行中，请等待任务执行完毕：{}", outStaAgv.getStaNo(), barcode);
                        continue;
                    }

                    List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>().eq("barcode", barcode));
                    if (!locMastList.isEmpty()) {
                        News.info("{}号站点条码信息重复：{}", outStaAgv.getStaNo(), barcode);
                        continue;
                    }
                    // 任务生成区 --------------------------------------------------------------------------

                    BasAgvMast basAgvMast = new BasAgvMast();


                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
                        param.setSourceStaNo(outStaAgv.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/agv/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            basAgvMast.setTaskNo(outStaAgv.getStaNo());
                            basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
                            basAgvMast.setLocNo(dto.getLocNo());
                            basAgvMast.setDevpId(devp.getId());
                            basAgvMast.setIoType(2);

                            basAgvMastService.insert(basAgvMast);
                        } else {
                            News.error(JSON.toJSONString(staProtocol));
                        }
                    } catch (Exception e) {
                        News.error(JSON.toJSONString(e.getMessage()));
                    }
                }
            }
        }
    }


    /*
     * agv任务下发:AGV库位==》输送线站点
@@ -4685,7 +4850,9 @@
                        staProtocol = staProtocol.clone();
                    }

                    if (!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())){
                    if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo()))
                            ||
                            (basAgvMast.getSourceStaNo().equals(2033))){

                        AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);


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

@@ -198,6 +198,10 @@
                mainService.agvTaskAssignment2();//0===》1  输送线站点==》AGV库位  2
                mainService.agvTaskAssignment3();//0===》1  输送线站点==》输送线站点  3


                mainService.agvTaskCreateFull();//任务生成
                mainService.agvTaskCreateEmpty();//任务生成

            } catch (Exception e) {
                e.printStackTrace();
            }

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

@@ -29,6 +29,10 @@

    private List<Sta> armSta = new ArrayList<>();

    private List<Sta> outStaAgvFull = new ArrayList<>();

    private List<Sta> outStaAgvEmpty = new ArrayList<>();

    @Data
    public static class Sta {


 src/main/resources/mapper/WrkMastMapper.xml

@@ -59,6 +59,7 @@
<!--        <result column="Pdc_type" property="PdcType" />-->
        <result column="ctn_no" property="ctnNo" />
        <result column="full_plt" property="fullPlt" />
        <result column="take_none" property="takeNone" />

    </resultMap>