#
野心家
2025-03-14 e2d6a43d4f7d083233896755573d2c55444fb66f
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6个文件已修改
280 ■■■■■ 已修改文件
src/main/java/com/zy/asrs/controller/OpenController.java 94 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
src/main/java/com/zy/asrs/controller/TaskWrkController.java 2 ●●● 补丁 | 查看 | 原始文档 | blame | 历史
src/main/java/com/zy/asrs/task/SameLayerTransferScheduler.java 7 ●●●● 补丁 | 查看 | 原始文档 | blame | 历史
src/main/java/com/zy/core/thread/SiemensDevpThread.java 128 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
src/main/resources/application-prod.yml 45 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
src/main/resources/application.yml 4 ●●●● 补丁 | 查看 | 原始文档 | blame | 历史
src/main/java/com/zy/asrs/controller/OpenController.java
@@ -222,100 +222,6 @@
        }
    }
    //AGV请求入库码头接口
    @PostMapping("/targetWharfApply")
    @AppAuth(memo = "AGV请求入库码头接口")
    public R targetWharfApply(@RequestHeader String appkey,
                              @RequestBody WMSAndAGVInterfaceParam param,
                              HttpServletRequest request) throws IOException {
        auth(appkey,param,request);
        if (Cools.isEmpty(param)){
            return R.error("参数为空!");
        } else if (Cools.isEmpty(param.getTaskNo())){
            return R.error("工作号为空!");
        } else if (Cools.isEmpty(param.getContainerCode())){
            return R.error("托盘编码为空!");
        } else if (Cools.isEmpty(param.getWharfSource())){
            return R.error("源码头为空!");
        } else if (Cools.isEmpty(param.getFreeWharfs()) || param.getFreeWharfs().size()==0){
            return R.error("空闲的入库码头(AGV)为空!");
        }
        R r = openService.AgvToWCSToWms(param);
        apiLogService.save("AGV请求入库码头接口"
                ,request.getRemoteAddr()+request.getRequestURI()
                ,appkey
                ,request.getRemoteAddr()
                ,JSON.toJSONString(param)
                ,r.toString()
                ,true
        );
        return r;
    }
    //AGV请求动作接口
    @PostMapping("/agvTaskRequest")
    @AppAuth(memo = "AGV请求动作接口")
    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())){
            return R.error("请求类型为空!");
        } else if (Cools.isEmpty(param.getWharfCode())){
            return R.error("码头编号为空!");
        }
        Map<String,Integer> map = new HashMap<>();
        map.put("J-1102",102);map.put("J-1101",101);
        map.put("J-1103",105);map.put("J-1104",106);
        map.put("J-1105",109);map.put("J-1106",110);
        map.put("J-1107",113);map.put("J-1108",114);
        map.put("J-1109",117);map.put("J-1110",118);
        map.put("J-1111",121);map.put("J-1112",122);
        map.put("H-1102",300);map.put("H-1101",305);
        map.put("G-1102",400);map.put("G-1101",405);
//        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");
//        }
        if (Cools.isEmpty(map.get(param.getWharfCode()))){
            return R.error("未查询到站点");
        }
        BasDevp basDevp = basDevpService.selectById(map.get(param.getWharfCode()));
//        BasDevp basDevp = basDevpService.selectById(staDesc.getStnNo());
        if (basDevp.getAutoing().equals("Y") && (basDevp.getInEnable().equals("Y") || basDevp.getOutEnable().equals("Y"))){
            apiLogService.save("AGV请求入库码头接口"
                    ,request.getRemoteAddr()+request.getRequestURI()
                    ,appkey
                    ,request.getRemoteAddr()
                    ,JSON.toJSONString(param)
                    ,R.ok().toString()
                    ,true
            );
            return R.ok("可入");
        }else {
            apiLogService.save("AGV请求入库码头接口"
                    ,request.getRemoteAddr()+request.getRequestURI()
                    ,appkey
                    ,request.getRemoteAddr()
                    ,JSON.toJSONString(param)
                    ,R.error("站点状态不可入").toString()
                    ,true
            );
            return R.error("站点状态不可入");
        }
    }
    //任务下发接口
    @PostMapping("/outboundTaskSend")
    @Transactional
src/main/java/com/zy/asrs/controller/TaskWrkController.java
@@ -364,7 +364,7 @@
        }
        if(notifyDto.getMsgType().equals("task_complete")&&taskWrk.getIoType()==3){
            taskWrk.setWrkSts(8);//更新数据完成,直接转历史档
            taskWrk.setWrkSts(7);//更新数据完成,直接转历史档
            //更新源库位状态为空库位
            LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
src/main/java/com/zy/asrs/task/SameLayerTransferScheduler.java
@@ -13,6 +13,7 @@
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.apache.poi.ss.formula.functions.T;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
@@ -45,9 +46,13 @@
        if (config.getValue().equals("true")) {
            List<TaskWrk> taskWrks = taskWrkService.selectList(new EntityWrapper<TaskWrk>());
            if (Cools.isEmpty(taskWrks)) {
            if (taskWrks.size() < 3) {
                List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>().eq("loc_sts", "F"));
                for (LocMast locMast : locMasts) {
                    TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("start_point",locMast.getLocNo()));
                    if(!Cools.isEmpty(taskWrk1)){
                        continue;
                    }
                    List<LocMast> list = locMastService.selectList(new EntityWrapper<LocMast>().eq("loc_sts", "O").eq("lev1", locMast.getLev1()));
                    String[] locMs = new String[list.size()];
src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -238,74 +238,6 @@
                }
            }
        }
//        OperateResultExOne<byte[]> resultAgvAndPlc = siemensS7Net.Read("DB102.0", (short) 30);
//        if (resultAgvAndPlc.IsSuccess) {
//            for (int i = 0; i < staNoSize; i++) {
//                int sign =(i+2)/2-1;
//                if ((i+2)%2!=0){
//                    Integer siteId = staNos.get(i); // 站点编号
//                    StaProtocol staProtocol = station.get(siteId);
//                    if (null == staProtocol) {
//                        staProtocol = new StaProtocol();
//                        staProtocol.setSiteId(siteId);
//                        station.put(siteId, staProtocol);
//                    }
//                    staProtocol.setAgvStartPick(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlc.Content, sign*6+4));     // 允许取货
//                    staProtocol.setAgvStartPlace((short)0);   // 允许放货
//                    continue;
//                }
//                Integer siteId = staNos.get(i); // 站点编号
//                StaProtocol staProtocol = station.get(siteId);
//                if (null == staProtocol) {
//                    staProtocol = new StaProtocol();
//                    staProtocol.setSiteId(siteId);
//                    station.put(siteId, staProtocol);
//                }
//                staProtocol.setAgvStartPick(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlc.Content, sign*6));     // 允许取货
//                staProtocol.setAgvStartPlace(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlc.Content, sign*6 + 2));   // 允许放货
//            }
//        }
//        OperateResultExOne<byte[]> resultAgvAndPlcOk = siemensS7Net.Read("DB132.0", (short) 30);
//        if (resultAgvAndPlcOk.IsSuccess) {
//            for (int i = 0; i < staNoSize; i++) {
//                int sign =(i+2)/2-1;
//                if ((i+2)%2!=0){
//                    Integer siteId = staNos.get(i); // 站点编号
//                    StaProtocol staProtocol = station.get(siteId);
//                    if (null == staProtocol) {
//                        staProtocol = new StaProtocol();
//                        staProtocol.setSiteId(siteId);
//                        station.put(siteId, staProtocol);
//                    }
//                    staProtocol.setAgvTargetPick(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlcOk.Content, sign*6+4));     // 允许取货
//                    staProtocol.setAgvTargetPlace((short)0);   // 允许放货
//                    continue;
//                }
//                Integer siteId = staNos.get(i); // 站点编号
//                StaProtocol staProtocol = station.get(siteId);
//                if (null == staProtocol) {
//                    staProtocol = new StaProtocol();
//                    staProtocol.setSiteId(siteId);
//                    station.put(siteId, staProtocol);
//                }
//                try{
//                    staProtocol.setAgvTargetPick(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlcOk.Content, sign*6));     // 取货完成
//                    if (staProtocol.getAgvTargetPick()!=0){
//                        System.out.println(staProtocol.getAgvTargetPick());
//                    }
//                    staProtocol.setAgvTargetPlace(siemensS7Net.getByteTransform().TransInt16(resultAgvAndPlcOk.Content, sign*6 + 2));   // 放货完成
//                    if (staProtocol.getAgvTargetPlace()!=0){
//                        System.out.println(staProtocol.getAgvTargetPlace());
//                    }
//                }catch (Exception e){
//                    log.error(""+e);
//                }
//            }
//        }
        if (slave.getId() == 1) {
            //条码
            //Thread.sleep(200);
@@ -319,67 +251,9 @@
                    }
                }
            }
            //外形检测
            OperateResultExOne<byte[]> resultErr1 = siemensS7Net.Read("DB101.810.0", (short) (barcodeSize*1));
            StaProtocol staProtocol1 = station.get(116);
            boolean[] status1 = siemensS7Net.getByteTransform().TransBool(resultErr1.Content, 0, 1);
            staProtocol1.setFrontErr(status1[0]);
            staProtocol1.setBackErr(status1[1]);
            staProtocol1.setHighErr(status1[2]);
            staProtocol1.setLeftErr(status1[3]);
            staProtocol1.setRightErr(status1[4]);
            staProtocol1.setWeightErr(status1[5]);
            staProtocol1.setBarcodeErr(status1[6]);
            OperateResultExOne<byte[]> resultErr = siemensS7Net.Read("DB101.922.0", (short) (staNoSize * 4));
            if (resultErr.IsSuccess) {
                for (int i = 0; i < staNoSize; i++) {
                    Integer siteId = staNos.get(i); // 站点编号
                    boolean[] status = siemensS7Net.getByteTransform().TransBool(resultErr.Content, i * 4, 1);
                    StaProtocol staProtocol = station.get(siteId);
                    staProtocol.setBreakerErr(status[0]);
                    staProtocol.setInfraredErr(status[1]);
                    staProtocol.setOutTimeErr(status[2]);
                    staProtocol.setSeizeSeatErr(status[3]);
                    staProtocol.setWrkYgoodsN(status[4]);
                    staProtocol.setInverterErr(status[5]);
                    staProtocol.setContactErr(status[6]);
                    staProtocol.setUpcontactErr(status[7]);
                }
            }
        }
//        //RGV台车位置
//        Thread.sleep(200);
//        OperateResultExOne<byte[]> result3 = siemensS7Net.Read("DB100.0",(short)4);
//        if (result3.IsSuccess) {
//            for (int i = 0; i < 2; i++) {
//                Integer siteId = i==0 ? 1 : 2; // 站点编号
//                StaProtocol staProtocol = station.get(siteId);
//                if (null == staProtocol) {
//                    staProtocol = new StaProtocol();
//                    staProtocol.setSiteId(siteId);
//                    station.put(siteId, staProtocol);
//                }
//                staProtocol.setNearbySta(String.valueOf(siemensS7Net.getByteTransform().TransInt16(result3.Content, i*2)));
////                String aa = staProtocol.getNearbySta();
////                System.out.println(siteId + "===>>" + staProtocol.getNearbySta());
//            }
//        }
//        OperateResultExOne<Short> result2 = siemensS7Net.ReadInt16("DB200.0");
//        if (result2.IsSuccess) {
//            this.ioMode = IoModeType.get(result2.Content);
//        }
        if (result.IsSuccess ) {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
            // 根据实时信息更新数据库
            try {
                List<BasDevp> basDevps = new ArrayList<>();
@@ -387,7 +261,6 @@
                    StaProtocol staProtocol = station.get(siteId);
                    basDevps.add(staProtocol.toSqlModel());
                }
                BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
                if (null != basDevpService && !basDevpService.updateBatchById(basDevps)) {
                    throw new Exception("更新数据库数据失败");
@@ -397,7 +270,6 @@
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】更新数据库数据失败 ===>> [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("更新数据库数据失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
            deviceErrorService.deleteDeviceError("devp", slave.getId());
        } else {
src/main/resources/application-prod.yml
@@ -1,49 +1,4 @@
wcs-slave:
  doubleDeep: true #双深
  doubleLocs: 1,4,5,8 #双深库位排号 1,4,5,8
  groupCount: 4 #一个堆垛机负责的货架排数
  crn[0]: #堆垛机1
    id: 1
    ip: 10.10.10.110
    slot: 0
    demo: false
    rack: 0
    offset: 2  #偏移量,当堆垛机站点列号=1时,偏移量=2
    port: 102
    crnOutStn[0]: #堆垛机出库站点
      staNo: 125
      row: 3
      bay: 1
      lev: 2
      devpPlcId: ${wcs-slave.devp[0].id}
    crnInStn[0]: #堆垛机入库站点1
      staNo: 100
      row: 2
      bay: 1
      lev: 2
      backSta: 102
      devpPlcId: ${wcs-slave.devp[0].id}
  crn[1]: #堆垛机2
    id: 2
    ip: 10.10.10.120
    slot: 0
    demo: false
    rack: 0
    offset: 2  #偏移量,当堆垛机站点列号=1时,偏移量=2
    port: 102
    crnOutStn[0]: #堆垛机出库站点
      staNo: 115
      row: 7
      bay: 1
      lev: 2
      devpPlcId: ${wcs-slave.devp[0].id}
    crnInStn[0]: #堆垛机入库站点1
      staNo: 120
      row: 6
      bay: 1
      lev: 2
      backSta: 106
      devpPlcId: ${wcs-slave.devp[0].id}
  devp[0]: #输送线
    id: 1
    ip: 10.10.10.130
src/main/resources/application.yml
@@ -50,7 +50,7 @@
  #url: 10.32.53.195:8080
  # WMS系统ip
  #  url: 10.210.157.109:8090
  url: 10.10.10.222:2410
  url: 127.0.0.1:2410
  # 入库任务申请接口
  #inboundTaskApplyPath: api/InterFace/inboundTaskApply
  inboundTaskApplyPath: api/StereoscopicCallBack/AcceptTaskStatus
@@ -62,7 +62,7 @@
  # 移库申请接口
  movePath: api/InterFace/get_InterFace_TestStorage
wcs:
  urlWcs: 10.10.20.200:9090/wcs
  urlWcs: 127.0.0.1:9091/wcs
  #入库任务申请
  inboundTaskApplyPathWcs: openapi/createInTask
  #出库任务申请