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

@@ -76,7 +76,7 @@
    }

    @PostMapping("/run/del")//Take  Put  Walk
    @ManagerAuth(memo = "小车行走")
    @ManagerAuth(memo = "清空任务")
    public R rgvRunDel(@RequestParam(defaultValue = "0")  Integer rgvNo
    ) {
        if (rgvNo==null || rgvNo==0){
@@ -101,15 +101,12 @@
    @PostMapping("/run/walk")//Take  Put  Walk
    @ManagerAuth(memo = "小车行走")
    public R rgvRunWalk(@RequestParam(defaultValue = "0")  Integer rgvNo,
                            @RequestParam(defaultValue = "0")  Integer taskNo,
                            @RequestParam(defaultValue = "9999")  Integer taskNo,
                            @RequestParam(defaultValue = "0")  Integer rgvStaNoPut,
                            @RequestParam(defaultValue = "0")  Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if ((rgvStaNoPut == null || rgvStaNoPut == 0) && (rgvPosDestination==null || rgvPosDestination==0L)){
            return R.error("目标站点请填写");
@@ -149,15 +146,12 @@
    @PostMapping("/run/put")//Take  Put  Walk
    @ManagerAuth(memo = "小车放货")
    public R rgvPutWalk(@RequestParam(defaultValue = "0")  Integer rgvNo,
                        @RequestParam(defaultValue = "0")  Integer taskNo,
                        @RequestParam(defaultValue = "9999")  Integer taskNo,
                        @RequestParam(defaultValue = "0")  Integer rgvStaNoPut,
                        @RequestParam(defaultValue = "0")  Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if (rgvStaNoPut == null || rgvStaNoPut == 0){
            return R.error("目标站点请填写");
@@ -193,15 +187,12 @@
    @PostMapping("/run/take")//Take  Put  Walk
    @ManagerAuth(memo = "小车取货")
    public R rgvTakeWalk(@RequestParam(defaultValue = "0") Integer rgvNo,
                        @RequestParam(defaultValue = "0") Integer taskNo,
                        @RequestParam(defaultValue = "9999") Integer taskNo,
                        @RequestParam(defaultValue = "0") Integer rgvStaNoTake,
                        @RequestParam(defaultValue = "0") Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if (rgvStaNoTake == null || rgvStaNoTake == 0){
            return R.error("取货站点请填写");
@@ -236,16 +227,13 @@
    @PostMapping("/run/TakeAndPut")//Take  Put  Walk
    @ManagerAuth(memo = "小车取货")
    public R rgvTakeAndPut(@RequestParam(defaultValue = "0") Integer rgvNo,
                         @RequestParam(defaultValue = "0") Integer taskNo,
                         @RequestParam(defaultValue = "9999") Integer taskNo,
                         @RequestParam(defaultValue = "0") Integer rgvStaNoTake,
                         @RequestParam(defaultValue = "0") Integer rgvStaNoPut,
                         @RequestParam(defaultValue = "0") Long rgvPosDestination
    ) {
        if (rgvNo==null || rgvNo==0){
            return R.error("请选择小车");
        }
        if (taskNo==null || taskNo==0){
            return R.error("作业号请填写");
        }
        if (rgvStaNoTake == null || rgvStaNoTake == 0){
            return R.error("取货站点请填写");

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

@@ -23,6 +23,7 @@
import org.springframework.beans.factory.annotation.Value;
import org.springframework.web.bind.annotation.*;

import java.time.LocalDateTime;
import java.util.*;

@RestController
@@ -263,10 +264,12 @@
        try{
            HashMap<String, Object> headParam = new HashMap<>();
            headParam.put("taskNo",taskWrk.getTaskNo());
            headParam.put("status",taskWrk.getStatus());
            headParam.put("taskStatus",taskWrk.getStatusWms());
            headParam.put("ioType",taskWrk.getIoTypeWms());
            headParam.put("barcode",taskWrk.getBarcode());
//            headParam.put("reportTime",new Date());
            headParam.put("barCode",taskWrk.getBarcode());
            headParam.put("reportTime", LocalDateTime.now());
            headParam.put("weight",taskWrk.getScWeight().doubleValue());

            log.info("wcs手动完成任务上报wms={}", taskWrk);
            response = new HttpHandler.Builder()
                    // .setHeaders(headParam)
@@ -322,10 +325,12 @@
        try{
            HashMap<String, Object> headParam = new HashMap<>();
            headParam.put("taskNo",taskWrk.getTaskNo());
            headParam.put("status",taskWrk.getStatus());
            headParam.put("taskStatus",taskWrk.getStatusWms());
            headParam.put("ioType",taskWrk.getIoTypeWms());
            headParam.put("barcode",taskWrk.getBarcode());
//            headParam.put("reportTime",new Date());
            headParam.put("barCode",taskWrk.getBarcode());
            headParam.put("reportTime", LocalDateTime.now());
            headParam.put("weight",taskWrk.getScWeight().doubleValue());


            log.info("wcs手动取消任务上报wm={}", taskWrk);
            response = new HttpHandler.Builder()

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

@@ -110,7 +110,7 @@
     */
    @ApiModelProperty(value= "重量")
    @TableField("SC_WEIGHT")
    private Integer scWeight;
    private Integer scWeight = 0;

    /**
     * 修改人员
@@ -376,6 +376,17 @@
        }
    }

    public Integer getStatusWms(){
        switch (status){
            case 5:
                return 1;
            case 4:
                return 0;
            default:
                return 0;
        }
    }

    public String getPut(String point){
        String[] split = point.split("-");
        if (split.length == 5){

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

@@ -38,6 +38,7 @@
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.io.IOException;
import java.time.LocalDateTime;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
@@ -653,13 +654,17 @@
                continue;
            }

            CrnSlave crnSlave = new CrnSlave(crn);

            if (!crn.getId().equals(crnProtocol.getLaneNo())) {
                for (CrnSlave crnOther : slaveProperties.getCrn()) {
                    if (crnOther.getId().equals(crnProtocol.getLaneNo())) {
                        crn.updateCrnInStn(crnOther);
                        crnSlave.updateCrnInStn(crnOther);
                    }
                }
            }

            crn = crnSlave;

            // 库位移转
            this.locToLoc(crn, crnProtocol);
@@ -807,10 +812,13 @@
                    }
                    try {
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("taskNo", taskWrk.getTaskNo());
                        headParam.put("status", taskWrk.getStatus());
                        headParam.put("ioType", taskWrk.getIoTypeWms());
                        headParam.put("barcode", taskWrk.getBarcode());
                        headParam.put("taskNo",taskWrk.getTaskNo());
                        headParam.put("taskStatus",taskWrk.getStatusWms());
                        headParam.put("ioType",taskWrk.getIoTypeWms());
                        headParam.put("barCode",taskWrk.getBarcode());
                        headParam.put("reportTime", LocalDateTime.now());
                        headParam.put("weight",taskWrk.getScWeight().doubleValue());

                        String response;
                        response = new HttpHandler.Builder()
                                // .setHeaders(headParam)
@@ -927,10 +935,13 @@
                            }
                            try {
                                HashMap<String, Object> headParam = new HashMap<>();
                                headParam.put("taskNo", taskWrk.getTaskNo());
                                headParam.put("status", taskWrk.getStatus());
                                headParam.put("ioType", taskWrk.getIoTypeWms());
                                headParam.put("barcode", taskWrk.getBarcode());
                                headParam.put("taskNo",taskWrk.getTaskNo());
                                headParam.put("taskStatus",taskWrk.getStatusWms());
                                headParam.put("ioType",taskWrk.getIoTypeWms());
                                headParam.put("barCode",taskWrk.getBarcode());
                                headParam.put("reportTime", LocalDateTime.now());
                                headParam.put("weight",taskWrk.getScWeight().doubleValue());

                                String response;
                                response = new HttpHandler.Builder()
                                        // .setHeaders(headParam)
@@ -1031,10 +1042,13 @@
                    }
                    try {
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("taskNo", taskWrk.getTaskNo());
                        headParam.put("status", taskWrk.getStatus());
                        headParam.put("ioType", taskWrk.getIoTypeWms());
                        headParam.put("barcode", taskWrk.getBarcode());
                        headParam.put("taskNo",taskWrk.getTaskNo());
                        headParam.put("taskStatus",taskWrk.getStatusWms());
                        headParam.put("ioType",taskWrk.getIoTypeWms());
                        headParam.put("barCode",taskWrk.getBarcode());
                        headParam.put("reportTime", LocalDateTime.now());
                        headParam.put("weight",taskWrk.getScWeight().doubleValue());

                        String response;
                        response = new HttpHandler.Builder()
                                // .setHeaders(headParam)
@@ -1145,10 +1159,13 @@

                    try {
                        HashMap<String, Object> headParam = new HashMap<>();
                        headParam.put("taskNo", taskWrk.getTaskNo());
                        headParam.put("status", taskWrk.getStatus());
                        headParam.put("ioType", taskWrk.getIoTypeWms());
                        headParam.put("barcode", taskWrk.getBarcode());
                        headParam.put("taskNo",taskWrk.getTaskNo());
                        headParam.put("taskStatus",taskWrk.getStatusWms());
                        headParam.put("ioType",taskWrk.getIoTypeWms());
                        headParam.put("barCode",taskWrk.getBarcode());
                        headParam.put("reportTime", LocalDateTime.now());
                        headParam.put("weight",taskWrk.getScWeight().doubleValue());

                        String response;
                        log.error("wcs完结任务上报wms==》", headParam);

@@ -1372,6 +1389,32 @@
        }
        return true;
    }
    public boolean rgvOtherIDLEOther(RgvSlave slave) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getOtherId());
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getOtherId());

        if (rgvProtocol == null || rgvTaskProtocol == null) {
            return false;
        }
        if (!rgvProtocol.getModeType().equals(RgvModeType.AUTO) || rgvProtocol.getRgvPos().equals(0L) || rgvTaskProtocol.getAvoid() == -1
                || (!rgvProtocol.getStatusType().equals(RgvStatusType.IDLE) && !rgvProtocol.getStatusType().equals(RgvStatusType.ROAM))) {
            return false;
        }
        RgvProtocol rgvProtocolOther = RgvStatusCache.getRgvStatus(slave.getId());
        RgvTaskProtocol rgvTaskProtocolOther = RgvTaskCache.getRgvStatus(slave.getId());

        if (rgvProtocolOther == null) {
            return true;
        }
        if (rgvProtocolOther.statusEnable) {
            if (rgvProtocolOther.getModeType().equals(RgvModeType.AUTO)
                    && rgvProtocolOther.getStatusType().equals(RgvStatusType.IDLE)
                    && rgvProtocolOther.getLoaded()==0) {
                return false;
            }
        }
        return true;
    }
    public boolean rgvOtherIDLE(RgvSlave slave) {
        RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
        RgvTaskProtocol rgvTaskProtocol = RgvTaskCache.getRgvStatus(slave.getId());
@@ -1509,8 +1552,10 @@
                        }

                        if (!sign){
                            if (!rgvOtherIDLE(rgvSlave)){
                                sign=true;
                            if (rgvOtherIDLEOther(rgvSlave)){
                                if (!rgvOtherIDLE(rgvSlave)){
                                    sign=true;
                                }
                            }
                        }


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

@@ -34,6 +34,7 @@
import org.springframework.transaction.annotation.Propagation;
import org.springframework.transaction.annotation.Transactional;

import java.time.LocalDateTime;
import java.util.Date;
import java.util.HashMap;
import java.util.List;
@@ -143,9 +144,12 @@
            try{
                HashMap<String, Object> headParam = new HashMap<>();
                headParam.put("taskNo",taskWrk.getTaskNo());
                headParam.put("status",taskWrk.getStatus());
                headParam.put("taskStatus",taskWrk.getStatusWms());
                headParam.put("ioType",taskWrk.getIoTypeWms());
                headParam.put("barcode",taskWrk.getBarcode());
                headParam.put("barCode",taskWrk.getBarcode());
                headParam.put("reportTime", LocalDateTime.now());
                headParam.put("weight",taskWrk.getScWeight().doubleValue());

//                headParam.put("reportTime",new Date());
                String response;
                response = new HttpHandler.Builder()

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

@@ -19,6 +19,7 @@
import org.springframework.stereotype.Component;

import java.io.IOException;
import java.time.LocalDateTime;
import java.util.Date;
import java.util.HashMap;
import java.util.List;
@@ -62,10 +63,10 @@
            HashMap<String, Object> map = new HashMap<>();
            try {
                map.put("taskNo",taskWrk.getTaskNo());
                map.put("taskStatus",taskWrk.getStatus());
                map.put("taskStatus",taskWrk.getStatusWms());
                map.put("ioType",taskWrk.getIoTypeWms());
                map.put("barCode",taskWrk.getBarcode());
                map.put("reportTime",new Date());
                map.put("reportTime", LocalDateTime.now());
                map.put("weight",taskWrk.getScWeight().doubleValue());
                response = new HttpHandler.Builder()
                        .setUri(wmsUrl)

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

@@ -51,6 +51,18 @@

    }

    public CrnSlave() {
    }

    public CrnSlave(CrnSlave crnSlave) {
        this.rack = crnSlave.getRack();
        this.slot = crnSlave.getSlot();
        this.offset = crnSlave.getOffset();
        this.demo = crnSlave.getDemo();
        this.crnInStn = crnSlave.getCrnInStn();
        this.crnOutStn = crnSlave.getCrnOutStn();
    }

    public void updateCrnInStn(CrnSlave crnSlave){
        crnInStn = crnSlave.getCrnInStn();
        crnOutStn = crnSlave.getCrnOutStn();

 src/main/resources/application-prod.yml

@@ -3,7 +3,7 @@
  doubleLocs: 3 #双深库位排号
  groupCount: 2 #一个堆垛机负责的货架排数
  devp[0]: #输送线
    ip: 10.10.10.60
    ip: 27.172.2.60
    slot: 0
    port: 102
    rack: 0
@@ -78,7 +78,7 @@
  # RGV穿梭车1
  rgv[0]:
    id: 1
    ip: 10.10.10.70
    ip: 27.172.2.70
    port: 502
    rack: 0
    slot: 0
@@ -154,7 +154,7 @@
  # RGV穿梭车2
  rgv[1]:
    id: 2
    ip: 10.10.10.71
    ip: 27.172.2.71
    port: 502
    rack: 0
    slot: 0
@@ -243,19 +243,19 @@
    # 磅秤
  scale[0]:
    id: 1
    ip: 10.10.10.202
    ip: 27.172.2.121
    port: 5005
    staNo: 1004
    devpPlcId: 1
    # 磅秤
  scale[1]:
    id: 2
    ip: 10.10.10.203
    ip: 27.172.2.122
    port: 5005
    staNo: 1022
    devpPlcId: 1
  crn[0]: #堆垛机1
    ip: 10.10.10.10
    ip: 27.172.2.10
    id: 1
    slot: 0
    demo: false
@@ -275,7 +275,7 @@
      lev: 1
      devpPlcId: ${wcs-slave.devp[0].id}
  crn[1]: #堆垛机1
    ip: 10.10.10.20
    ip: 27.172.2.20
    id: 2
    slot: 0
    demo: false
@@ -295,7 +295,7 @@
      lev: 1
      devpPlcId: ${wcs-slave.devp[0].id}
  crn[2]: #堆垛机1
    ip: 10.10.10.30
    ip: 27.172.2.30
    id: 3
    slot: 0
    demo: false
@@ -315,7 +315,7 @@
      lev: 1
      devpPlcId: ${wcs-slave.devp[0].id}
  crn[3]: #堆垛机1
    ip: 10.10.10.40
    ip: 27.172.2.40
    id: 4
    slot: 0
    demo: false
@@ -335,7 +335,7 @@
      lev: 1
      devpPlcId: ${wcs-slave.devp[0].id}
  crn[4]: #堆垛机1
    ip: 10.10.10.50
    ip: 27.172.2.50
    id: 5
    slot: 0
    demo: false

 src/main/resources/application.yml

@@ -12,7 +12,7 @@
#    username: sa
#    password: sa@123
    driver-class-name: dm.jdbc.driver.DmDriver
#    url: jdbc:dm://10.10.10.201:5236/SOURCE
#    url: jdbc:dm://27.172.2.101:5236/SOURCE
    url: jdbc:dm://127.0.0.1:5236/SOURCE
    username: SYSDBA
    password: Zy@12345
@@ -66,7 +66,7 @@
  #url: 10.32.53.195:8080
  # WMS系统ip
  #  url: 10.210.157.109:8090
  url: 10.10.10.205:9027
  url: 27.172.2.107:9027
  # 入库任务申请接口
  #inboundTaskApplyPath: api/InterFace/inboundTaskApply
  inboundTaskApplyPath: sugood/inboundTaskApply

 src/main/webapp/views/deviceOperate/rgvOperate.html

@@ -41,9 +41,6 @@
                    </div>
                    <div>
                        <el-form :model="formParam" label-position="top" :inline="true" class="demo-form-inline">
                            <el-form-item label="工作号">
                                <el-input v-model="formParam.taskNo" placeholder="工作号"></el-input>
                            </el-form-item>
                            <el-form-item label="目标定位置">
                                <el-input v-model="formParam.rgvPosDestination" placeholder="目标定位置"></el-input>
                            </el-form-item>
@@ -106,7 +103,6 @@
                currentIndex: null,
                formParam: {
                    rgvNo: 0,
                    taskNo: 0,
                    rgvStaNoTake: 0,
                    rgvStaNoPut: 0,
                    rgvPosDestination: 0
@@ -133,7 +129,6 @@
                    this.currentTitle = row.rgvNo + "小车"
                    
                    this.formParam.rgvNo = row.rgvNo
                    this.formParam.taskNo = row.taskNo
                    this.formParam.rgvStaNoTake = row.rgvStaNoTake
                    this.formParam.rgvStaNoPut = row.rgvStaNoPut
                    this.formParam.rgvPosDestination = row.rgvPosDestination