src/main/java/com/zy/asrs/controller/OpenController.java
@@ -3,12 +3,11 @@ import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.annotations.AppAuth; import com.core.common.BaseRes; import com.core.common.Cools; import com.core.common.R; import com.core.exception.CoolException; import com.fasterxml.jackson.databind.ObjectMapper; import com.zy.asrs.domain.enums.TaskStatusType; import com.zy.asrs.entity.*; import com.zy.asrs.entity.param.*; import com.zy.asrs.service.*; @@ -16,16 +15,12 @@ import com.zy.common.web.BaseController; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.transaction.annotation.Transactional; import org.springframework.web.bind.annotation.*; import javax.servlet.http.HttpServletRequest; import java.io.IOException; import java.lang.reflect.Field; import java.util.*; import static org.apache.ibatis.ognl.OgnlRuntime.setFieldValue; @Slf4j @RestController @@ -53,32 +48,37 @@ @Autowired private BasCrnErrorService basCrnErrorService; @Value("${wms.url}") private String wmsUrl; private static final boolean auth = true; public static final ArrayList<String> APP_KEY_LIST = new ArrayList<String>() {{ add("ea1f0459efc02a79f046f982767939ae"); }}; //agv任务完成 @PostMapping("/toAgvTaskOver") @AppAuth(memo = "agv任务完成接口") public R getAgvTaskOver(@RequestHeader String appkey, @RequestBody TaskOverParam param, HttpServletRequest request){ auth(appkey, param, request); if (Cools.isEmpty(param)) { return R.parse(BaseRes.PARAM); //AGV上报 @PostMapping("/agvReport") public R agvReport(@RequestBody HashMap<String, Object> param) { String taskCode = param.get("taskCode").toString(); System.out.println(JSON.toJSONString(param)); TaskWrk taskWrk = taskWrkService.selectByTaskNo(taskCode); if(taskWrk == null) { return R.error("任务不存在"); } if (Cools.isEmpty(param.getWharfCode())){ return R.error("码头[wharfCode]不能为空"); } if (Cools.isEmpty(param.getStatus())){ return R.error("完成标记[status]不能为空"); } openService.getAgvTaskOver(param); taskWrk.setStatus(TaskStatusType.COMPLETE.id); taskWrk.setModiTime(new Date()); taskWrkService.updateById(taskWrk); return R.ok(); } //生成AGV任务 @PostMapping("/generateAgvTask") public R generateAgvTask(@RequestBody GenerateAgvTaskParam param) { boolean generated = openService.generateAgvTask(param); if(generated) { return R.ok(); } return R.error(); } //创建任务 @@ -158,44 +158,6 @@ return R.ok().add(taskWrk); } //取放货申请 @PostMapping("/pick/and/place/v1") @AppAuth(memo = "agv取放货申请") public R getAgvPickAndPlaceV1(@RequestHeader String appkey, @RequestBody TaskOverParam param, HttpServletRequest request){ auth(appkey, param, request); if (Cools.isEmpty(param)) { return R.parse(BaseRes.PARAM); } if (Cools.isEmpty(param.getStaNo())){ return R.error("码头[staNo]不能为空"); } if (Cools.isEmpty(param.getType())){ return R.error("类型[type]不能为空"); } return openService.getAgvPickAndPlaceV1(param); } //取放货完成反馈 @PostMapping("/pick/and/place/v2") @AppAuth(memo = "agv取放货完成反馈") public R getAgvPickAndPlaceV2(@RequestHeader String appkey, @RequestBody TaskOverParam param, HttpServletRequest request){ auth(appkey, param, request); if (Cools.isEmpty(param)) { return R.parse(BaseRes.PARAM); } if (Cools.isEmpty(param.getStaNo())){ return R.error("码头[staNo]不能为空"); } if (Cools.isEmpty(param.getType())){ return R.error("类型[type]不能为空"); } return openService.getAgvPickAndPlaceV2(param); } //查询任务指令集合 @GetMapping("/queryTaskCommand") public R queryTaskCommand(@RequestHeader String appkey, @@ -220,100 +182,6 @@ if (!APP_KEY_LIST.contains(appkey)) { throw new CoolException("认证失败，请确认appkey无误！"); } } //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 src/main/java/com/zy/asrs/domain/enums/WorkNoType.java
@@ -11,38 +11,13 @@ PICK(1), PAKOUT(2), OTHER(3), AGV(4), ; public Integer type; WorkNoType(Integer type) { this.type = type; } public static Integer getWorkNoType(Integer ioType) { switch (ioType) { case 1: return PAKIN.type; case 10: return PAKIN.type; case 11: return PICK.type; case 53: case 54: case 57: return PICK.type; case 101: return PAKOUT.type; case 103: case 104: case 107: return PICK.type; case 110: return PAKOUT.type; default: break; } throw new CoolException(ioType + "的任务类型无法生成工作号"); } } src/main/java/com/zy/asrs/entity/param/GenerateAgvTaskParam.java
New file @@ -0,0 +1,14 @@ package com.zy.asrs.entity.param; import lombok.Data; @Data public class GenerateAgvTaskParam { //取货点 private String originPoint; //放货点 private String targetPoint; } src/main/java/com/zy/asrs/entity/param/TaskCreateParam.java
@@ -1,6 +1,5 @@ package com.zy.asrs.entity.param; import io.swagger.models.auth.In; import lombok.Data; @Data src/main/java/com/zy/asrs/service/OpenService.java
@@ -1,11 +1,8 @@ package com.zy.asrs.service; import com.core.common.R; import com.zy.asrs.entity.param.TaskOverParam; import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam; import com.zy.asrs.entity.param.GenerateAgvTaskParam; import com.zy.asrs.entity.param.TaskCreateParam; import java.io.IOException; import java.util.HashMap; public interface OpenService { @@ -13,10 +10,6 @@ //创建任务 HashMap<String,Object> taskCreate(TaskCreateParam param); R AgvToWCSToWms(WMSAndAGVInterfaceParam param) throws IOException; boolean generateAgvTask(GenerateAgvTaskParam param); void getAgvTaskOver(TaskOverParam param); R getAgvPickAndPlaceV1(TaskOverParam param); R getAgvPickAndPlaceV2(TaskOverParam param); } src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3,39 +3,21 @@ import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.Cools; import com.core.common.R; import com.core.exception.CoolException; import com.zy.asrs.controller.CrnController; import com.zy.asrs.controller.OpenController; import com.zy.asrs.controller.SiteController; import com.zy.asrs.domain.enums.TaskStatusType; import com.zy.asrs.domain.enums.WorkNoType; import com.zy.asrs.domain.param.CrnOperatorParam; import com.zy.asrs.entity.*; import com.zy.asrs.entity.param.Result; import com.zy.asrs.entity.param.StorageEscalationParam; import com.zy.asrs.entity.param.TaskOverToWms; import com.zy.asrs.entity.param.GenerateAgvTaskParam; import com.zy.asrs.mapper.*; import com.zy.asrs.service.*; import com.zy.asrs.utils.CommandUtils; import com.zy.asrs.utils.Utils; import com.zy.common.service.CommonService; import com.zy.common.utils.HttpHandler; import com.zy.core.CrnThread; import com.zy.core.DevpThread; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.*; import com.zy.core.model.CrnSlave; import com.zy.core.model.DevpSlave; import com.zy.core.model.Task; import com.zy.core.model.command.CommandPackage; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.protocol.CrnProtocol; import com.zy.core.model.protocol.StaProtocol; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.BarcodeThread; import com.zy.core.thread.SiemensDevpThread; import com.zy.system.entity.Config; import com.zy.system.service.ConfigService; @@ -44,14 +26,12 @@ import org.springframework.beans.factory.annotation.Value; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; import org.springframework.transaction.interceptor.TransactionAspectSupport; import java.io.IOException; import java.util.*; /** * 立体仓库WCS系统主流程业务 * Created by vincent on 2020/8/6 */ @Slf4j @Service("mainService") @@ -63,17 +43,9 @@ @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastMapper wrkMastMapper; @Autowired private LocMastService locMastService; @Autowired private BasCrnpService basCrnpService; @Autowired private BasDevpService basDevpService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Autowired private TaskWrkMapper taskWrkMapper; @Autowired @@ -84,236 +56,104 @@ private StaDescMapper staDescMapper; @Autowired private CommandInfoService commandInfoService; @Autowired private OpenServiceImpl openServiceImpl; @Autowired private StaDescService staDescService; @Autowired private ApiLogService apiLogService; @Autowired private CommonService commonService; @Value("${wms.url}") private String wmsUrl; @Value("${wms.inboundTaskApplyPath}") private String inboundTaskApplyPath; @Value("${wms.TaskExecCallback}") private String TaskExecCallback; @Value("${wms.taskStatusFeedbackPath}") private String taskStatusFeedbackPath; private OpenService openService; @Value("${wcs.urlWcs}") private String wcsUrl; @Value("${wcs.inboundTaskApplyPathWcs}") private String wcsInboundTaskApplyPath; @Autowired private CrnController crnController; @Autowired private SiteController siteController; public synchronized void generateStoreWrkFile1() throws IOException, InterruptedException { try { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { StorageEscalationParam storageEscalationParam = new StorageEscalationParam(); // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } Short workNo = staProtocol.getWorkNo(); Short stano = staProtocol.getStaNo(); // 尺寸检测异常 boolean back = false; String errMsg = ""; if (staProtocol.isFrontErr()) { errMsg = "前超限"; back = true; } if (!back && staProtocol.isBackErr()) { errMsg = "后超限"; back = true; } if (!back && staProtocol.isHighErr()) { errMsg = "高超限"; back = true; } if (!back && staProtocol.isLeftErr()) { errMsg = "左超限"; back = true; } if (!back && staProtocol.isRightErr()) { errMsg = "右超限"; back = true; } if (!back && staProtocol.isWeightErr()) { errMsg = "超重"; back = true; } if (!back && staProtocol.isBarcodeErr()) { errMsg = "扫码失败"; back = true; } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && workNo >= 9790 && staProtocol.isPakMk()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode()); if (barcodeThread == null) { continue; } String BoxNo = barcodeThread.getBarcode(); TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", BoxNo)); if (!Cools.isEmpty(taskWrk1)) { log.info("托盘码：" + BoxNo + "任务档存在"); if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) { StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>() .eq("crn_no", taskWrk1.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId())); if (Cools.isEmpty(staDesc)) { return; } else { continue; } } } if (back) { storageEscalationParam.setWCSStatus(1); storageEscalationParam.setWCSErrorMessage(storageEscalationParam.getWCSErrorMessage() + errMsg); } log.info("组托入库={}", storageEscalationParam); storageEscalationParam.setBoxNo(BoxNo); String response = ""; Boolean success = false; try { response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath(inboundTaskApplyPath) .setJson(JSON.toJSONString(storageEscalationParam)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (back) { if (staProtocol.getWorkNo() >= 9801 && staProtocol.getWorkNo() <= 9825) { staProtocol.setStaNo((short) 105); } else if (staProtocol.getWorkNo() >= 9826 && staProtocol.getWorkNo() <= 9850) { staProtocol.setStaNo((short) 107); } else if (staProtocol.getWorkNo() >= 9851 && staProtocol.getWorkNo() <= 9875) { staProtocol.setStaNo((short) 109); } else { staProtocol.setStaNo((short) 110); } devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); } else { if (!Cools.isEmpty(response) && !Cools.isEmpty(jsonObject.get("ReturnStatus")) && jsonObject.get("ReturnStatus").equals(0) && !Cools.isEmpty(jsonObject.get("Result").toString())) { Result result = JSON.parseObject(jsonObject.get("Result").toString(), Result.class); // 创新一个入库工作档 TaskWrk taskWrk = taskWrkService.selectByTaskNo(result.getTaskNo()); if (Cools.isEmpty(taskWrk)) { taskWrk = createTask1(result, BoxNo); if (Cools.isEmpty(taskWrk)) { log.error("库位异常，库位号：={}", taskWrk.getOriginTargetPoint()); } else { taskWrkService.insert(taskWrk); StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>() .eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId())); staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue()); staProtocol.setStaNo(staDesc.getCrnStn().shortValue()); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); HashMap<String, Object> hashMap = new HashMap<>(); hashMap.put("TaskNo", taskWrk.getTaskNo()); try { //开始上报,任务开始时，WCS回调WMS response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath(taskStatusFeedbackPath) .setJson(JSON.toJSONString(hashMap)) .build() .doPost(); JSONObject jsonObject1 = JSON.parseObject(response); Boolean bool = false; if (jsonObject1.get("ReturnStatus").equals(0)) { bool = true; } apiLogService.save("wcs开始入库任务上报wms" , wmsUrl + TaskExecCallback , null , "127.0.0.1" , JSON.toJSONString(hashMap) , response , bool ); } catch (Exception e) { } } } else { // staProtocol.setWorkNo((short) 9991); if (staProtocol.getWorkNo() >= 9801 && staProtocol.getWorkNo() <= 9825) { staProtocol.setStaNo((short) 105); } else if (staProtocol.getWorkNo() >= 9826 && staProtocol.getWorkNo() <= 9850) { staProtocol.setStaNo((short) 107); } else if (staProtocol.getWorkNo() >= 9851 && staProtocol.getWorkNo() <= 9875) { staProtocol.setStaNo((short) 109); } else { staProtocol.setStaNo((short) 110); } devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); } } else { // staProtocol.setWorkNo((short) 9991); staProtocol.setStaNo(inSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); } } } catch (Exception e) { log.error("请求入库调用接口失败"); log.error("异常信息打印：" + e); try { BasDevp basDevp = basDevpService.selectById(inSta.getStaNo()); if (Cools.isEmpty(basDevp)) { log.error("站点号异常" + inSta.getStaNo()); } else if (basDevp.getStaErr() != 0) { basDevp.setStaErr(2); basDevpService.updateById(basDevp); } } catch (Exception e1) { // 退回 log.error("扫码检测程序异常" + inSta.getStaNo() + "异常信息" + e1); } } finally { apiLogService.save("wms请求入库货位接口" , wmsUrl + inboundTaskApplyPath , null , "127.0.0.1" , JSON.toJSONString(storageEscalationParam) , response , success ); } log.info("入库请求参数=" + JSON.toJSONString(BoxNo)); log.info("入库请求返回参数=" + JSON.toJSONString(response)); } } } } catch (Exception e) { log.error("generateStoreWrkFile e", e); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); public synchronized void demo() { boolean demoEnable = false; Config demoEnableConfig = configService.selectByCode("demoEnable"); if(demoEnableConfig != null) { demoEnable = Boolean.parseBoolean(demoEnableConfig.getValue()); } if (!demoEnable) { return; } //演示模式-AGV出库 demoAgvOut(); //演示模式-AGV入库 demoAgvIn(); //演示模式-四向库出库 demoShuttleOut(); //演示模式-四向库入库 demoShuttleIn(); } //演示模式-AGV出库 private synchronized void demoAgvOut() { LocMast locMast = locMastService.selectByLocNo("1100601"); if(locMast == null) { return; } if (!locMast.getLocSts().equals("O")) { return; } List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>() .eq("mk", "agv") .eq("loc_sts", "F") .notIn("loc_no", "0900601") ); if (locMasts.isEmpty()) { return; } LocMast originLocMast = locMasts.get(0); //生成AGV出库任务 GenerateAgvTaskParam param = new GenerateAgvTaskParam(); param.setOriginPoint(originLocMast.getLocNo()); param.setTargetPoint(locMast.getLocNo()); openService.generateAgvTask(param); } //演示模式-AGV入库 private synchronized void demoAgvIn() { LocMast locMast = locMastService.selectByLocNo("0900601"); if(locMast == null) { return; } if (!locMast.getLocSts().equals("F")) { return; } List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>() .eq("mk", "agv") .eq("loc_sts", "O") .notIn("loc_no", "1100601") ); if (locMasts.isEmpty()) { return; } LocMast targetLocMast = locMasts.get(0); //生成AGV出库任务 GenerateAgvTaskParam param = new GenerateAgvTaskParam(); param.setOriginPoint(locMast.getLocNo()); param.setTargetPoint(targetLocMast.getLocNo()); openService.generateAgvTask(param); } //演示模式-四向库出库 private synchronized void demoShuttleOut() { } //演示模式-四向库入库 private synchronized void demoShuttleIn() { } /** @@ -564,345 +404,6 @@ } } /** * 库位移转 */ public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) { for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) { // 获取工作状态为11（生成出库ID）的移库工作档 List<TaskWrk> taskWrks = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>() .eq("crn_no", slave.getId()) .eq("wrk_sts", 11) .eq("io_type", 3) .orderBy("io_pri", false)); for (TaskWrk taskWrk : taskWrks) { // 双深库位且浅库位有货，则需先对浅库位进行库位移转 // if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) { // String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint()); // TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo); // if (!Cools.isEmpty(hallowLocNoTask)){ // continue; // } // } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { continue; } // 已经存在吊车执行任务时，则过滤 if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) { continue; } if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("") || taskWrk.getWrkNo() == null) { continue; } // 工作档状态判断 if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) { log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType()); continue; } // 命令下发区 -------------------------------------------------------------------------- // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 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.setCommand((short) 1); if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand), false)) { 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 { // 修改工作档状态 11.生成出库ID => 12.吊车出库中 Date now = new Date(); taskWrk.setWrkSts(12); taskWrk.setStatus(2); taskWrk.setModiTime(now); if (taskWrkMapper.updateById(taskWrk) == 0) { 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()); } try { HashMap<String, Object> headParam = new HashMap<>(); headParam.put("TaskNo", taskWrk.getTaskNo()); String response; response = new HttpHandler.Builder() // .setHeaders(headParam) .setUri(wmsUrl) .setPath(taskStatusFeedbackPath) .setJson(JSON.toJSONString(headParam)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); apiLogService.save("wcs派发移库任务上报wms" , wmsUrl + taskStatusFeedbackPath , null , "127.0.0.1" , JSON.toJSONString(headParam) , response , true ); } catch (Exception e) { log.error("wcs派发移库库任务上报wms失败", taskWrk); // throw new CoolException("wcs派发移库库任务上报wms失败"); } } return; } } } /** * 执行对工作档的完成操作 */ // public void storeFinished() { // for (CrnSlave crn : slaveProperties.getCrn()) { // // 获取堆垛机信息 // CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); // CrnProtocol crnProtocol = crnThread.getCrnProtocol(); // if (crnProtocol == null) { continue; } // // // 状态：等待确认 并且 任务完成位 = 1 // if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) { // //获取入库待确认工作档 // TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue()); // if (Cools.isEmpty(taskWrk)) { //// log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo()); // continue; // } // // //获取指令ID // Integer commandId = crnProtocol.getCommandId(); // CommandInfo commandInfo = new CommandInfo(); // if (Cools.isEmpty(commandId)){ // commandInfo = commandInfoService.selectOne(new EntityWrapper<CommandInfo>() // .eq("wrk_no",crnProtocol.getTaskNo()) // .eq("device","Crn")); // }else { // commandInfo = commandInfoService.selectById(commandId); // } // // // if (commandInfo == null) { // //指令不存在 // continue; // } // if (commandInfo.getCommandStatus() == 3){ // continue; // } // commandInfo.setCommandStatus(CommandStatusType.COMPLETE.id);//指令完成 // commandInfo.setCompleteTime(new Date());//指令完成时间 // if (commandInfoService.updateById(commandInfo)) {//修改成功后复位堆垛机 // // 堆垛机复位 // crnThread.setResetFlag(true); // } // } // } // } /** * 执行对工作档的完成操作 */ public synchronized void storeFinished() throws InterruptedException { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } // 状态：等待确认 并且 任务完成位 = 1 if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) { //获取入库待确认工作档 TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(), crnProtocol.getTaskNo().intValue()); if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) { log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo()); continue; } //确认完成信号 CrnOperatorParam crnOperatorParam = new CrnOperatorParam(); crnOperatorParam.setCrnNo(crn.getId()); R r = crnController.crnTaskComplete(crnOperatorParam); Thread.sleep(1000); if (!r.get("code").equals(200)) { return; } if (!Cools.isEmpty(taskWrk)) { if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) { taskWrk.setWrkSts(4);//入库完成 taskWrk.setStatus(5);//完结 //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint()); locMast.setLocSts("F");//F.在库 locMast.setBarcode(taskWrk.getBarcode());//托盘码 locMast.setModiTime(new Date()); locMast.setModiUser(9999L); locMastService.updateById(locMast); } else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) { taskWrk.setWrkSts(13);//出库完成 taskWrk.setStatus(5);//完结 //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint()); locMast.setLocSts("O");//O.空库位 locMast.setBarcode("");//托盘码 locMast.setModiTime(new Date()); locMast.setModiUser(9999L); locMastService.updateById(locMast); } else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) { taskWrk.setWrkSts(4);//入库完成 taskWrk.setStatus(5);//完结 //更新库位状态 LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint()); locMast.setLocSts("F");//F.在库 locMast.setBarcode(taskWrk.getBarcode());//托盘码 locMast.setModiTime(new Date()); locMast.setModiUser(9999L); locMastService.updateById(locMast); LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint()); locMast1.setLocSts("O");//O.空库位 locMast1.setBarcode("");//托盘码 locMast1.setModiTime(new Date()); locMast1.setModiUser(9999L); locMastService.updateById(locMast1); } taskWrkService.updateById(taskWrk); } } } } /** * 堆垛机异常信息记录 */ public synchronized void recCrnErr() { Date now = new Date(); for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } if (false) { // if (crnProtocol.getModeType() != CrnModeType.STOP) { // 有任务 if (crnProtocol.getTaskNo() != 0) { BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue()); // 有异常 if (latest == null) { if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) { WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo()); if (wrkMast == null) { continue; } BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm()); String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName(); BasErrLog basErrLog = new BasErrLog( null, // 编号 wrkMast.getWrkNo(), // 工作号 now, // 发生时间 null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 crn.getId(), // 堆垛机 null, // plc wrkMast.getLocNo(), // 目标库位 wrkMast.getStaNo(), // 目标站 wrkMast.getSourceStaNo(), // 源站 wrkMast.getSourceLocNo(), // 源库位 wrkMast.getBarcode(), // 条码 (int) crnProtocol.getAlarm1(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "任务中异常" // 备注 ); if (!basErrLogService.insert(basErrLog)) { log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName); } } } else { // 异常修复 if (crnProtocol.getAlarm1() == null || crnProtocol.getAlarm1() == 0) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basErrLogService.updateById(latest)) { log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } // 无任务 } else { BasErrLog latest = basErrLogService.findLatest(crn.getId()); // 有异常 if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm() > 0) { // 记录新异常 if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) { BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm()); String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName(); BasErrLog basErrLog = new BasErrLog( null, // 编号 null, // 工作号 now, // 发生时间 null, // 结束时间 null, // 工作状态 null, // 入出库类型 crn.getId(), // 堆垛机 null, // plc null, // 目标库位 null, // 目标站 null, // 源站 null, // 源库位 null, // 条码 (int) crnProtocol.getAlarm1(), // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "无任务异常" // 备注 ); if (!basErrLogService.insert(basErrLog)) { log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName); } } // 无异常 } else { // 异常修复 if (latest != null && latest.getStatus() == 1) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basErrLogService.updateById(latest)) { log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId()); } } } } } } } //自动派发任务 public synchronized void autoDistribute() { Config config = configService.selectByCode("autoDistribute"); @@ -1030,145 +531,6 @@ locMastService.updateById(locMast); } } } public synchronized String CrnStartRunning(TaskWrk taskWrk) { String tasktype = null; switch (taskWrk.getIoType()) { case 1: tasktype = "RK"; break; case 2: tasktype = "CK"; break; case 3: tasktype = "YK"; break; default: tasktype = "未知"; } Map<String, Object> map = new HashMap<>(); map.put("x-api-key", "7a15b5db-29b6-552c-8cff-0cfec3756da2"); TaskOverToWms taskOverToWms = new TaskOverToWms(); taskOverToWms.setFeedbackFrom("WCS"); //来源 taskOverToWms.setWarehouseId("1688469798893297665"); //仓库标识 taskOverToWms.setTaskNo(taskWrk.getTaskNo()); //任务号 taskOverToWms.setTaskType(tasktype); // 任务类型 taskOverToWms.setContainerCode(taskWrk.getBarcode()); // 容器编码 if (taskWrk.getIoType() == 1 || taskWrk.getIoType() == 3) { 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"); map1.put(305, "H-1101"); map1.put(405, "G-1101"); taskOverToWms.setEquipmentCode(map1.get(taskWrk.getTargetPoint())); //设备编码 taskOverToWms.setSourceLocationCode(taskWrk.getOriginStartPoint()); //源库位 } taskOverToWms.setTaskStatus("executing"); //任务状态 String response = null; try { response = new HttpHandler.Builder() .setHeaders(map) .setUri(wmsUrl) .setPath("wcsManager/wcsInterface/taskStatusFeedback") .setJson(JSON.toJSONString(taskOverToWms)) .build() .doPost(); } catch (Exception e) { log.error("堆垛机任务完成，请求wms任务完成接口失败"); } apiLogService.save("堆垛机开始运行" , wmsUrl + "wcsManager/wcsInterface/taskStatusFeedback" , null , "127.0.0.1" , JSON.toJSONString(taskOverToWms) , response , true ); return response; } private TaskWrk createTask1(Result result, String barcode) { String locNo = Utils.Fusion(result.getRow(), result.getFloor(), result.getColumn()); Date now = new Date(); TaskWrk taskWrk = new TaskWrk(); int workNo1 = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号 taskWrk.setTaskNo(result.getTaskNo());//任务号 taskWrk.setWrkNo(workNo1); taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//任务状态：派发 taskWrk.setCreateTime(now); taskWrk.setIoType(1);//任务类型 taskWrk.setIoPri(13);//优先级 taskWrk.setBarcode(barcode);//条码 LocMast locMast = locMastService.selectByLocNo(locNo); taskWrk.setCrnNo(locMast.getCrnNo()); taskWrk.setTargetPoint(locNo); taskWrk.setStartPoint("116"); if (result.getAlley().equals("1")) { taskWrk.setCrnNo(1); } else { taskWrk.setCrnNo(2); } if (taskWrk.getIoType() == 1) { taskWrk.setWrkSts(2); if (!Cools.isEmpty(taskWrk.getTargetPoint())) { taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint()); } } return taskWrk; } private TaskWrk createTask(GetWmsDto dto, String barcode) { String wcsLocNo = dto.getLocNo(); if (Cools.isEmpty(wcsLocNo)) { return null; } Date now = new Date(); TaskWrk taskWrk = new TaskWrk(); int workNo1 = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号 taskWrk.setTaskNo(dto.getWrkNo());//任务号 taskWrk.setWrkNo(workNo1); taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收 taskWrk.setCreateTime(now); taskWrk.setIoType(1);//任务类型 taskWrk.setIoPri(Cools.isEmpty(dto.getTaskPriority()) ? 300 : Integer.parseInt(dto.getTaskPriority()));//优先级 taskWrk.setBarcode(barcode);//条码 LocMast locMast = locMastService.selectByLocNo(wcsLocNo); taskWrk.setCrnNo(locMast.getCrnNo()); taskWrk.setTargetPoint(wcsLocNo); taskWrk.setStartPoint(dto.getStaNo().toString()); if (taskWrk.getIoType() == 1) { taskWrk.setWrkSts(2); if (!Cools.isEmpty(taskWrk.getTargetPoint())) { taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint()); } // } else if (param.getIoType() == 2) { // taskWrk.setWrkSts(11); // if (!Cools.isEmpty(param.getStartPoint())) { // taskWrk.setStartPoint(Utils.getWcsLocNo(param.getStartPoint()));//起点 // taskWrk.setOriginStartPoint(param.getStartPoint()); // } // taskWrk.setTargetPoint(param.getTargetPoint()); // }else if (param.getIoType() == 3){ // taskWrk.setWrkSts(11); // if (!Cools.isEmpty(param.getStartPoint())) { // taskWrk.setStartPoint(param.getStartPoint());//起点 // taskWrk.setOriginStartPoint(param.getStartPoint()); // } } return taskWrk; } } src/main/java/com/zy/asrs/service/impl/OpenServiceImpl.java
@@ -1,34 +1,19 @@ package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.Cools; import com.core.common.R; import com.core.exception.CoolException; import com.zy.asrs.domain.enums.TaskStatusType; import com.zy.asrs.domain.enums.WorkNoType; import com.zy.asrs.entity.*; import com.zy.asrs.entity.param.TaskOverParam; import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam; import com.zy.asrs.entity.param.GenerateAgvTaskParam; import com.zy.asrs.entity.param.TaskCreateParam; import com.zy.asrs.service.*; import com.zy.asrs.utils.Utils; import com.zy.common.service.CommonService; import com.zy.common.utils.HttpHandler; import com.zy.core.DevpThread; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.SlaveType; import com.zy.core.model.DevpSlave; import com.zy.core.model.Task; import com.zy.core.model.protocol.StaProtocol; import com.zy.core.properties.SlaveProperties; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.stereotype.Service; import java.io.IOException; import java.util.*; @Service @@ -37,33 +22,9 @@ @Autowired private TaskWrkService taskWrkService; @Autowired private SlaveProperties slaveProperties; @Autowired private ApiLogService apiLogService; @Autowired private StaDescService staDescService; @Autowired private CommonService commonService; @Autowired private LocMastService locMastService; @Autowired private BasDevpService basDevpService; @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("H-1101"); add("G-1101"); }}; @Override public HashMap<String, Object> taskCreate(TaskCreateParam param) { @@ -133,247 +94,53 @@ } @Override public R AgvToWCSToWms(WMSAndAGVInterfaceParam param) throws IOException { ToWmsDTO toWmsDTO = new ToWmsDTO(); Map<String, Object> map = new HashMap<>(); map.put("x-api-key", "7a15b5db-29b6-552c-8cff-0cfec3756da2"); List<Integer> list = new ArrayList<>(); if (param.getWharfSource().contains("J")) { list = getInEnableRoadway(); } else { list = getInEnableRoadway2(); public boolean generateAgvTask(GenerateAgvTaskParam param) { Date now = new Date(); String originPoint = param.getOriginPoint(); String targetPoint = param.getTargetPoint(); LocMast startLocMast = locMastService.selectByLocNo(originPoint); if(startLocMast == null){ throw new CoolException("取货点库位不存在"); } //TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo()); toWmsDTO.setWarehouseId("1688469798893297665"); toWmsDTO.setContainerCode(param.getContainerCode()); toWmsDTO.setApplyType("TUNNEL"); toWmsDTO.setWharfSource(null); toWmsDTO.setCanInboundTunnels(list); String response = null; try { response = new HttpHandler.Builder() .setHeaders(map) .setUri(wmsUrl) .setPath("wcsManager/wcsInterface/inboundTaskApply") .setJson(JSON.toJSONString(toWmsDTO)) .build() .doPost(); } catch (Exception e) { return R.error("wms连接失败" + e.getMessage()); if (!startLocMast.getLocSts().equals("F")) { throw new CoolException("取货点不处于在库"); } JSONObject jsonObject = JSON.parseObject(response); apiLogService.save("wms请求入库码头接口" , wmsUrl + "wcsManager/wcsInterface/inboundTaskApply" , null , "127.0.0.1" , JSON.toJSONString(toWmsDTO) , response , true ); if (jsonObject.getInteger("code").equals(200)) { //解析 List<WMSAndAGVInterfaceParam> params = new ArrayList<>(); params.add(param); WMSAndAGVInterfaceParam data = JSONObject.parseObject(jsonObject.get("data").toString(), WMSAndAGVInterfaceParam.class); String msg = null; try { taskCreate(new TaskCreateParam(data)); } catch (Exception e) { msg = e.getMessage(); } if (msg != null) { return R.error(msg); } Map<String, String> map1 = new HashMap<>(); StaDesc staDesc = new StaDesc(); if (param.getWharfSource().contains("J")) { staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>() .eq("crn_no", data.getTaskTunnel()) .eq("type_no", 1) .lt("stn_no", 200)); } else if (param.getWharfSource().contains("H")) { staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>() .eq("crn_no", data.getTaskTunnel()) .eq("type_no", 1) .lt("stn_no", 400) .gt("stn_no", 200)); } else { staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>() .eq("crn_no", data.getTaskTunnel()) .eq("type_no", 1) .lt("stn_no", 500) .ge("stn_no", 400)); } map1.put("taskTunnel", staDesc.getStnDesc()); //map1.put("taskTunnel", "J-1104"); return R.ok(map1); LocMast targetLocMast = locMastService.selectByLocNo(targetPoint); if(targetLocMast == null){ throw new CoolException("放货点库位不存在"); } return R.error((String) jsonObject.get("msg")); if (!targetLocMast.getLocSts().equals("O")) { throw new CoolException("放货点不处于空库"); } TaskWrk taskWrk = new TaskWrk(); int workNo1 = commonService.getWorkNo(WorkNoType.AGV.type);//获取AGV工作号 taskWrk.setTaskNo(String.valueOf(workNo1));//任务号 taskWrk.setWrkNo(workNo1); taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收 taskWrk.setCreateTime(now); taskWrk.setWrkSts(11); taskWrk.setIoType(4);//AGV搬运 taskWrk.setStartPoint(param.getOriginPoint());//取货点 taskWrk.setTargetPoint(param.getTargetPoint());//放货点 boolean insert = taskWrkService.insert(taskWrk); if (!insert) { throw new CoolException("任务生成失败"); } startLocMast.setLocSts("R"); startLocMast.setModiTime(now); locMastService.updateById(startLocMast); targetLocMast.setLocSts("S"); targetLocMast.setModiTime(now); locMastService.updateById(targetLocMast); return true; } @Override public void getAgvTaskOver(TaskOverParam param) { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>() .eq("stn_desc", param.getWharfCode())); if (Cools.isEmpty(staDesc)) { throw new RuntimeException("未查询到站点信息"); } // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(staDesc.getStnNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } Short workNo = staProtocol.getWorkNo(); 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 { 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); staProtocol.setStaNo(inSta.getStaNo().shortValue()); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol)); if (result) { } else { throw new RuntimeException("agv返回完成后，命令下发失败"); } } } } } } } @Override public R getAgvPickAndPlaceV1(TaskOverParam param) { BasDevp basDevp = basDevpService.selectById(param.getStaNo()); if (Cools.isEmpty(basDevp)) { return R.error("站点号有误" + param.getStaNo()); } if (param.getType() == 0 && basDevp.getAgvStartPick() == 1) { return R.ok(); } else if (param.getType() == 1 && basDevp.getAgvStartPlace() == 1) { return R.ok(); } else { return R.error("不允许"); } } @Override public R getAgvPickAndPlaceV2(TaskOverParam param) { BasDevp basDevp = basDevpService.selectById(param.getStaNo()); if (Cools.isEmpty(basDevp)) { return R.error("站点号有误" + param.getStaNo()); } if (param.getType() == 0) { basDevp.setAgvTargetPick(1); basDevpService.updateById(basDevp); return R.ok(); } else if (param.getType() == 1) { basDevp.setAgvTargetPlace(1); basDevpService.updateById(basDevp); return R.ok(); } else { return R.error("请求类型异常" + param.getType()); } } public List<Integer> getInEnableRoadway() { int[] roadway = null; List<Integer> list = new ArrayList<>(); Map<Integer, Integer> map = new HashMap<>(); map.put(103, 1); map.put(107, 2); map.put(111, 3); map.put(115, 4); map.put(119, 5); map.put(123, 6); //put(301,7); // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getBackSta()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } Short workNo = staProtocol.getWorkNo(); if (workNo == 0 && !staProtocol.isLoading()) { if (Cools.isEmpty(map.get(inSta.getStaNo()))) { continue; } list.add(map.get(inSta.getStaNo())); } } } //roadway = list.stream().mapToInt(Integer::intValue).toArray(); return list; } public List<Integer> getInEnableRoadway2() { int[] roadway = null; List<Integer> list = new ArrayList<>(); Map<Integer, Integer> map = new HashMap<>(); map.put(205, 1); map.put(211, 2); map.put(217, 3); map.put(223, 4); map.put(229, 5); map.put(235, 6); //put(301,7); // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getBackSta()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } Short workNo = staProtocol.getWorkNo(); if (workNo == 0 && !staProtocol.isLoading()) { if (Cools.isEmpty(map.get(inSta.getStaNo()))) { continue; } list.add(map.get(inSta.getStaNo())); } } } //roadway = list.stream().mapToInt(Integer::intValue).toArray(); return list; } } src/main/java/com/zy/asrs/task/AgvTaskLogScheduler.java
New file @@ -0,0 +1,77 @@ package com.zy.asrs.task; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.exception.CoolException; import com.zy.asrs.domain.enums.TaskStatusType; import com.zy.asrs.entity.LocMast; import com.zy.asrs.entity.TaskWrk; import com.zy.asrs.entity.TaskWrkLog; import com.zy.asrs.service.LocMastService; import com.zy.asrs.service.TaskWrkLogService; import com.zy.asrs.service.TaskWrkService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Component; import java.util.Date; import java.util.List; @Slf4j @Component public class AgvTaskLogScheduler { @Autowired private TaskWrkService taskWrkService; @Autowired private TaskWrkLogService taskWrkLogService; @Autowired private LocMastService locMastService; /** * AGV任务转历史 */ @Scheduled(cron = "0/3 * * * * ? ") public void execute() { List<TaskWrk> taskWrkList = taskWrkService.selectList(new EntityWrapper<TaskWrk>() .eq("status", TaskStatusType.COMPLETE.id)); for (TaskWrk taskWrk : taskWrkList) { Date now = new Date(); String originPoint = taskWrk.getStartPoint(); String targetPoint = taskWrk.getTargetPoint(); LocMast startLocMast = locMastService.selectByLocNo(originPoint); if(startLocMast == null){ throw new CoolException("取货点库位不存在"); } if (!startLocMast.getLocSts().equals("R")) { throw new CoolException("取货点不处于出库预约"); } LocMast targetLocMast = locMastService.selectByLocNo(targetPoint); if(targetLocMast == null){ throw new CoolException("放货点库位不存在"); } if (!targetLocMast.getLocSts().equals("S")) { throw new CoolException("放货点不处于入库预约"); } startLocMast.setLocSts("O"); startLocMast.setModiTime(now); locMastService.updateById(startLocMast); targetLocMast.setLocSts("F"); targetLocMast.setModiTime(now); locMastService.updateById(targetLocMast); TaskWrkLog taskWrkLog = new TaskWrkLog(taskWrk); if (!taskWrkLogService.insert(taskWrkLog)) { throw new CoolException("转历史档失败" + taskWrkLog); } if (!taskWrkService.deleteById(taskWrk)) { throw new CoolException("任务档删除失败" + taskWrkLog); } } } } src/main/java/com/zy/asrs/task/AssignAgvTaskScheduler.java
New file @@ -0,0 +1,115 @@ package com.zy.asrs.task; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.zy.asrs.domain.enums.TaskStatusType; import com.zy.asrs.entity.LocMast; import com.zy.asrs.entity.TaskWrk; import com.zy.asrs.service.ApiLogService; import com.zy.asrs.service.LocMastService; import com.zy.asrs.service.TaskWrkService; import com.zy.common.utils.HttpHandler; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Component; import java.util.ArrayList; import java.util.HashMap; import java.util.List; @Slf4j @Component public class AssignAgvTaskScheduler { @Autowired private TaskWrkService taskWrkService; @Autowired private ApiLogService apiLogService; @Autowired private LocMastService locMastService; @Value("${agv.url}") private String agvUrl; @Value("${agv.applyTask}") private String agvApplyTask; /** * 自动派发AGV搬运任务 */ @Scheduled(cron = "0/3 * * * * ? ") public void execute() { List<TaskWrk> taskWrks = taskWrkService.selectList(new EntityWrapper<TaskWrk>() .eq("status", TaskStatusType.RECEIVE.id).eq("io_type", 4)); for (TaskWrk taskWrk : taskWrks) { String startPoint = taskWrk.getStartPoint(); String targetPoint = taskWrk.getTargetPoint(); LocMast startLocMast = locMastService.selectByLocNo(startPoint); if(startLocMast == null){ continue; } if (!startLocMast.getLocSts().equals("R")) { continue; } LocMast targetLocMast = locMastService.selectByLocNo(targetPoint); if(targetLocMast == null){ continue; } if (!targetLocMast.getLocSts().equals("S")) { continue; } HashMap<String, Object> requestParam = new HashMap<>(); requestParam.put("reqCode", taskWrk.getTaskNo()); requestParam.put("taskCode", taskWrk.getTaskNo()); requestParam.put("taskTyp", "YK"); ArrayList<HashMap<String, Object>> positionCodePathList = new ArrayList<>(); HashMap<String, Object> startPointParam = new HashMap<>(); startPointParam.put("positionCode", taskWrk.getStartPoint()); startPointParam.put("type", "00"); HashMap<String, Object> targetPointParam = new HashMap<>(); targetPointParam.put("positionCode", taskWrk.getTargetPoint()); targetPointParam.put("type", "00"); positionCodePathList.add(startPointParam); positionCodePathList.add(targetPointParam); requestParam.put("positionCodePath", positionCodePathList); String response = null; boolean requestStatus = false; try { log.info("WCS派发任务给AGV={}", taskWrk); response = new HttpHandler.Builder() .setUri(agvUrl) .setPath(agvApplyTask) .setJson(JSON.toJSONString(requestParam)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); if (jsonObject.get("code").equals("0")) { taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id); taskWrkService.updateById(taskWrk); requestStatus = true; } } catch (Exception e) { log.error("WCS派发任务给AGV失败{},返回值={}", taskWrk, response); } finally { apiLogService.save("WCS派发任务给AGV" , agvUrl + agvApplyTask , null , "127.0.0.1" , JSON.toJSONString(requestParam) , response , requestStatus ); } } } } src/main/java/com/zy/core/MainProcess.java
@@ -43,30 +43,13 @@ continue; } // 演示 // mainService.crnDemoOfLocMove1(); // 入库 ===>> 入库站到堆垛机站，根据条码扫描生成入库工作档 mainService.generateStoreWrkFile1(); // 组托 // 入出库 ===>> 调用RCS进行入出库 mainService.crnIoExecute(); // 出库 ===>> 堆垛机出库站到出库站 mainService.crnStnToOutStn(); // 入库 ===>> 执行对工作档的完成操作 // mainService.storeFinished(); // 堆垛机异常信息记录 // mainService.recCrnErr(); // 入库 ===>> 空栈板初始化入库,叉车入库站放货 // mainService.storeEmptyPlt(); // mainService.outOfDevp(); // 其他 ===>> // 入出库模式切换函数 i++; if (i > 1) { // mainService.ioConvert(); i = 0; } //演示模式 mainService.demo(); //自动派发任务 // mainService.autoDistribute(); src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -322,15 +322,17 @@ //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]); if (resultErr1.IsSuccess) { 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) { src/main/resources/application.yml
@@ -37,7 +37,7 @@ #License相关配置 license: subject: lfdwcs_sxc subject: tswcs_sxk publicAlias: publicCert storePass: public_zhongyang_123456789 licensePath: license.lic @@ -69,3 +69,7 @@ outboundTaskRequest : openapi/createOutTask # 移库申请接口 movePathWcs: openapi/createLocMoveTask agv: url: 10.10.20.160:8181 applyTask: /rcms/services/rest/hikRpcService/genAgvSchedulingTask src/main/resources/license.licBinary files differ
src/main/resources/sql/tswcs_sxk.bakBinary files differ
