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

@@ -136,13 +136,20 @@
    @TableField("devp_id")
    private Integer devpId;

    /**
     * barcode
     */
    @ApiModelProperty(value= "barcode")
    private String barcode;

    @ApiModelProperty(value= "任务类型")
    @TableField("io_type")
    private Integer ioType;
    private Integer ioType;//AGV库位==》输送线站点  0  AGV库位==》AGV库位  1  输送线站点==》AGV库位  2  输送线站点==》输送线站点  3

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

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

 src/main/java/com/zy/asrs/entity/param/ArmOrderAssignmentParam.java

@@ -1,5 +1,6 @@
package com.zy.asrs.entity.param;

import com.zy.asrs.entity.BasArm;
import com.zy.asrs.entity.BasArmMast;
import com.zy.asrs.entity.result.OrderDetlValueResultUtil;
import lombok.Data;
@@ -57,19 +58,19 @@
        }

        public OrderItem() {};
        public OrderItem(BasArmMast basArmMast, OrderDetlValueResultUtil orderDetlValueResultUtil) {
        public OrderItem(BasArm basArm,BasArmMast basArmMast, OrderDetlValueResultUtil orderDetlValueResultUtil) {
            target_num = orderDetlValueResultUtil.getAnfme().intValue();
            from = String.valueOf((basArmMast.getSortingLine()+1)%2);
            to = String.valueOf((basArmMast.getSortingLine()+1)%2+2);
            from = String.valueOf(basArm.getSortingLine());
            to = String.valueOf(basArm.getStaNo());
            sku_info = new SKUInfo(basArmMast,orderDetlValueResultUtil);
        };
    }

    public ArmOrderAssignmentParam() {}
    public ArmOrderAssignmentParam(BasArmMast basArmMast, OrderDetlValueResultUtil orderDetlValueResultUtil) {
        order_id = basArmMast.getMatnr()+sign_arm_sku+basArmMast.getBindingTags()+sign_arm_sku+basArmMast.getOrderNo()+sign_arm_order+(basArmMast.getSortingLine()+1)%2;
    public ArmOrderAssignmentParam(BasArm basArm, BasArmMast basArmMast, OrderDetlValueResultUtil orderDetlValueResultUtil) {
        order_id = basArmMast.getMatnr()+sign_arm_sku+basArmMast.getBindingTags()+sign_arm_sku+basArmMast.getOrderNo()+sign_arm_order+basArm.getSortingLine();
        List<OrderItem> orderItemArrayList= new ArrayList<>();
        OrderItem orderItem = new OrderItem(basArmMast,orderDetlValueResultUtil);
        OrderItem orderItem = new OrderItem(basArm,basArmMast,orderDetlValueResultUtil);
        orderItemArrayList.add(orderItem);
        order_items = orderItemArrayList;
    }

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

@@ -146,7 +146,6 @@
                if(!staProtocol.isLoading()){
                    continue;
                }

                if (barcodeThread == null) {
                    continue;
                }
@@ -221,30 +220,29 @@
                        && !staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()
                        && staProtocol.getWorkNo() == 0
                        && !barcode.equals("0")
                        && !Cools.isEmpty(barcode)
                ) {

                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        News.error(JSON.toJSONString(staProtocol));
                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                        }
                        staProtocol.setWorkNo(wrkNo);
                        staProtocol.setErrCode(errMsg);
                        News.info("条码判断{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
                        wrkNo++;
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        staProtocol.setBarcode(barcode);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
                        continue;
                    }
                    if(barcode.equals("0")){
                        continue;
                    }
//                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
////                        News.error(JSON.toJSONString(staProtocol));
//                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//                        // led 异常显示
//                        if (ledThread != null) {
//                            String errorMsg = "扫码失败，请重试";
//                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
//                        }
//                        staProtocol.setWorkNo(wrkNo);
//                        staProtocol.setErrCode(errMsg);
//                        News.info("条码判断{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
//                        wrkNo++;
//                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                        staProtocol.setBarcode(barcode);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
//                        continue;
//                    }
//                    if (staProtocol.getSiteId()!= 159){
//                        if( Cools.isEmpty(barcodeMat) || "NG".endsWith(barcodeMat) || "NoRead".equals(barcodeMat) || "00000000".equals(barcodeMat)) {
//                            News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcodeMat(), barcodeMat);
@@ -326,15 +324,6 @@
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo());
                            if(staProtocol.getSiteId() == 1036){ //1036
                                BasAgvMast basAgvMast = basAgvMastService.selectOne(new EntityWrapper<BasAgvMast>().eq("sta_no", 1037));
                                AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
                                agvBindCtnrAndBinParam.setCtnrCode(barcode);
                                ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定解绑", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
                                if (resultBind.getCode()!=200){
                                    agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV容器绑定解绑", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                                }
                            }
                            ledThread.errorReset();
                            log.error("组托请求后LED错误清除");

@@ -3753,7 +3742,7 @@
                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
                    log.error("更新小车任务成功");
                    log.error("更新小车任务成功{}",wrkMastSta);
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
@@ -3850,7 +3839,7 @@

                continue;
            }
            if(wrkMastSta != null &&LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
            if( LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
                StaProtocol staProtocolSta = devpThread.getStation().get(wrkMastSta.getStaEnd());
                if (staProtocolSta == null) {
                    News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
@@ -3902,7 +3891,7 @@
                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
                    log.error("更新小车任务成功");
                    log.error("更新小车任务成功{}",wrkMastSta);
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
@@ -4409,6 +4398,40 @@
    /*
     * arm任务完成自动组托
     * */
    public synchronized void  armMissionAccomplished1() {
        try{
            for (DevpSlave devp : slaveProperties.getDevp()) {
                // 遍历拣料入库口
                for (DevpSlave.Sta armSta : devp.getArmStaTwo()) {

                    // 获取站点信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    StaProtocol staProtocol = devpThread.getStation().get(armSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    String barcode = staProtocol.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                            armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
                            continue;
                        }
                    } else {
                        armTaskAssignmentCallApiLogSave(staProtocol, "托盘条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
                        continue;
                    }
                }
            }
        } catch (Exception e){
            log.error("机械臂抓取任务完成组托失败"+e.getMessage());
        }
    }

    /*
     * arm任务完成自动组托
     * */
    public synchronized void  armMissionAccomplished2() {
        try{
            List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>().gt("arm_no",4));
@@ -4425,6 +4448,7 @@
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", basArm.getArmNo())
                                    .eq("sorting_line", basArm.getSortingLineSou())
                                    .eq("sta_no", basArm.getStaNoSou())
                                    .eq("status", 3)
                    );
                    if (basArmMastList.isEmpty()){
@@ -4617,16 +4641,21 @@

                                }
                            }
                            OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getMatnr());

                            if (Cools.isEmpty(orderDetlValueResultUtil)){
                                continue;
                            }
//                            OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getMatnr());
//                            if (Cools.isEmpty(orderDetlValueResultUtil)){
//                                continue;
//                            }
                            OrderDetlValueResultUtil orderDetlValueResultUtil = new OrderDetlValueResultUtil();
                            Mat mat = matService.selectOne(new EntityWrapper<Mat>().eq("matnr", basArmMast.getMatnr()));
                            orderDetlValueResultUtil.setHeight(mat.getHeight());
                            orderDetlValueResultUtil.setWeight(mat.getWeight());
                            orderDetlValueResultUtil.setLength(mat.getManLength());
                            orderDetlValueResultUtil.setWidth(mat.getWidth());
                            Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getMatnr(),basArmMast.getBindingTags());
                            orderDetlValueResultUtil.setAnfme(anfmeSign);
                            //订单下发
                            try{
                                ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
                                ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArm,basArmMast,orderDetlValueResultUtil);
//                                订单下发(SKU+订单)
                                ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取订单（SKU）下发：",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_ADAPTOR, armOrderAssignmentParam);
                                if (result.getCode()!=200){
@@ -4770,7 +4799,7 @@
                        orderDetlValueResultUtil.setWidth(mat.getWidth());
                        //订单下发
                        try{
                            ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArmMast,orderDetlValueResultUtil);
                            ArmOrderAssignmentParam armOrderAssignmentParam = new ArmOrderAssignmentParam(basArm,basArmMast,orderDetlValueResultUtil);
//                                订单下发(SKU+订单)
                            ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取订单（SKU）下发：",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_ADAPTOR, armOrderAssignmentParam);
                            if (result.getCode()!=200){
@@ -4923,6 +4952,7 @@
                            basAgvMast.setTaskNo(wrkMast.getWrkNo());
                            basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
                            basAgvMast.setLocNo(dto.getLocNo());
                            basAgvMast.setBarcode(wrkMast.getBarcode());
                            basAgvMast.setSourceLocNo(wrkMast.getSourceLocNo());
                            basAgvMast.setDevpId(devp.getId());
                            basAgvMast.setIoType(2);
@@ -5018,6 +5048,7 @@
                            basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
                            basAgvMast.setLocNo(dto.getLocNo());
                            basAgvMast.setDevpId(devp.getId());
                            basAgvMast.setBarcode(barcode);
                            basAgvMast.setIoType(2);
                            basAgvMast.setFloorNo(2);

@@ -5060,7 +5091,7 @@
                    // 判断重复工作档
                    List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("sta_no", inStaAgv.getStaNo()));
                    if (!basAgvMastList.isEmpty()) {
                        News.info("{}号站点存在任务执行中，等待任务执行完毕!!!", inStaAgv.getStaNo());
//                        News.info("{}号站点存在任务执行中，等待任务执行完毕!!!", inStaAgv.getStaNo());
                        continue;
                    }
                    // 任务生成区 --------------------------------------------------------------------------
@@ -5098,6 +5129,7 @@
                            basAgvMast.setStaNo(inStaAgv.getStaNo());
                            basAgvMast.setDevpId(devp.getId());
                            basAgvMast.setFloorNo(floorNo);
                            basAgvMast.setBarcode(locMast.getBarcode());
                            basAgvMast.setIoType(0);//AGV库位==》输送线站点  0
                            basAgvMastService.insert(basAgvMast);
                            break;
@@ -5179,12 +5211,7 @@
                    }

                    if (staProtocol.isAutoing()){
                        AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
                        agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
                        ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
                        if (resultBind.getCode()!=200){
                            agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV容器绑定", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                        }
//

                        AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
                        //任务下发
@@ -5264,22 +5291,30 @@

                        AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
                        if(basAgvMast.getFloorNo()==1 || basAgvMast.getStaNo().equals(2034)) {
                            WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
                            AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
                            agvBindCtnrAndBinParam.setCtnrCode(wrkMast.getBarcode());
                            agvBindCtnrAndBinParam.setCtnrTyp("1");
                            ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定解绑", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
                            if (resultBind.getCode()==200){
                                //任务下发
                                ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
                                if (result.getCode()==200){
                                    basAgvMast.setStatus(1);
                                    basAgvMastService.updateById(basAgvMast);
                                } else {
                                    agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                                }
//                            WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
//                            AgvBindCtnrAndBinParam agvBindCtnrAndBinParam = new AgvBindCtnrAndBinParam(basAgvMast);
//                            agvBindCtnrAndBinParam.setCtnrCode(basAgvMast.getTimestamp().toString());
//                            agvBindCtnrAndBinParam.setCtnrTyp("1");
//                            ReturnT<String> resultBind = new PostMesDataUtils().postMesDataAgv("AGV容器绑定解绑", AgvConstant.AGV_URL, AgvConstant.AGV_CTNRANDBING, agvBindCtnrAndBinParam);
//                            if (resultBind.getCode()==200){
//                                //任务下发
//                                ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
//                                if (result.getCode()==200){
//                                    basAgvMast.setStatus(1);
//                                    basAgvMastService.updateById(basAgvMast);
//                                } else {
//                                    agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
//                                }
//                            } else {
//                                agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV容器绑定解绑", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
//                            }
                            //任务下发
                            ReturnT<String> result = new PostMesDataUtils().postMesDataAgv("AGV任务下发", AgvConstant.AGV_URL, AgvConstant.AGV_ADAPTOR, agvTaskAssignmentParam);
                            if (result.getCode()==200){
                                basAgvMast.setStatus(1);
                                basAgvMastService.updateById(basAgvMast);
                            } else {
                                agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV容器绑定解绑", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                                agvTaskAssignmentCallApiLogSave(basAgvMast, "AGV任务下发失败", "任务号："+basAgvMast.getTaskNo()+"任务信息下发失败！！！", false);
                            }
                        }else{
                            //任务下发

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

@@ -142,7 +142,8 @@

                //arm任务完成
                mainService.armMissionAccomplished();//3==>4   ====>   3===》5
                mainService.armMissionAccomplished2();//3==>4   ====>   3===》5
                mainService.armMissionAccomplished1();//3==>4   ====>   3===》5  2lou
                mainService.armMissionAccomplished2();//3==>4   ====>   3===》5  2lou
//                mainService.armMissionAccomplishedScanToCheckIn();//4===》5

                //arm任务下发

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

@@ -29,6 +29,7 @@
    private List<Sta> pickSta = new ArrayList<>();

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

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


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

@@ -121,6 +121,12 @@
        put(2031, 464);put(2032, 348);put(2033, 556);put(2034, 92);put(2035, 0);
        put(2037, 256);

//        put(2101, 0);put(2102, 92);put(2103, 184);put(2104, 276);put(2105, 368);
//        put(2106, 460);put(2107, 552);put(2108, 644);put(2109, 736);put(2110, 828);
//        put(2111, 920);put(2112, 1012);put(2113, 1104);put(2114, 1196);put(2115, 1288);
//        put(2116, 1380);put(2117, 1472);put(2118, 1564);put(2119, 1656);put(2120, 1748);
//        put(2121, 1840);put(2122, 1932);

        put(4001, 0);put(4002, 116);put(4003, 508);put(4004, 392);put(4005, 300);
        put(4006, 208);
        // 其他站点同理继续加
@@ -457,6 +463,8 @@
        OperateResultExOne<byte[]> result3 = null;//1042-1053
        OperateResultExOne<byte[]> result4 = null;//1054-1079
        OperateResultExOne<byte[]> result5 = null;//1080-1110
        OperateResultExOne<byte[]> result6 = null;//2101-2122

        OperateResultExOne<byte[]> resultErr = null;
        OperateResultExOne<byte[]> resultPlc = null;
        OperateResultExOne<byte[]> resultAgv = null;
@@ -474,6 +482,7 @@
            result1 = siemensS7Net.Read("DB200.0", (short) (3000));//2001-2030
            result2 = siemensS7Net.Read("DB201.0", (short) (720));//2031-2037
            result3 = siemensS7Net.Read("DB400.0", (short) (600));//4001-4006
//            result6 = siemensS7Net.Read("DB400.0", (short) (7400));//2101-2122
            resultErr = siemensS7Net.Read("DB3.0", (short) (354));
//            resultAgv = siemensS7Net.Read("DB901.0", (short) (7)); //agv取放货请求
//            resultPlc = siemensS7Net.Read("DB902.0", (short) (7)); //输送线确认
@@ -507,9 +516,12 @@
                }else{
                    if (siteId < 2031) {
                        result = result1;
                    } else if (siteId < 4001) {
                    } else if (siteId < 2040) {
                        result = result2;
                    } else {
                    } else if(siteId<4000){
//                        result = result6;
                    }
                    else {
                        result = result3;
                    }
                }

 src/main/resources/application.yml

@@ -559,6 +559,14 @@
#    outSta[2]:
#      staNo: 156
#      led: ${wcs-slave.led[4].id}
    # 拆垛位
    armStaTwo[0]:
      staNo: 2110
      armNo: 5
    # 拆垛位
    armStaTwo[1]:
      staNo: 2120
      armNo: 6


  # 条码扫描仪1

 src/main/resources/mapper/BasAgvMastMapper.xml

@@ -13,6 +13,7 @@
        <result column="loc_no" property="locNo" />
        <result column="priority" property="priority" />
        <result column="floor_no" property="floorNo" />
        <result column="barcode" property="barcode" />
        <result column="status" property="status" />
        <result column="error_time" property="errorTime" />
        <result column="error_memo" property="errorMemo" />