From 701542ac0a90cf0e3a0a81ec2bb8066b5de68e75 Mon Sep 17 00:00:00 2001
From: zyh <zyh@123>
Date: 星期六, 28 三月 2026 11:21:17 +0800
Subject: [PATCH] 更新为正式部署许可证
---
src/main/java/com/zy/asrs/service/impl/MesServiceImpl.java | 251 ++++++++++++++++++++++++++++++++++---------------
1 files changed, 172 insertions(+), 79 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MesServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MesServiceImpl.java
index 4ca46f5..8e8c95d 100644
--- a/src/main/java/com/zy/asrs/service/impl/MesServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MesServiceImpl.java
@@ -2,6 +2,7 @@
import com.alibaba.excel.util.DateUtils;
import com.alibaba.excel.util.StringUtils;
+import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
@@ -14,6 +15,7 @@
import com.zy.asrs.entity.param.EmptyPlateOutParam;
import com.zy.asrs.entity.rcs.*;
import com.zy.asrs.mapper.AgvInfoMapper;
+import com.zy.asrs.mapper.CanFinMapper;
import com.zy.asrs.mapper.MatItemBarcodeMapper;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.OrderInAndOutUtil;
@@ -26,8 +28,11 @@
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
import javax.annotation.Resource;
+import java.io.IOException;
import java.text.ParseException;
import java.util.*;
import java.util.concurrent.ExecutionException;
@@ -52,6 +57,14 @@
public long defaultUserId;
@Value("${wms.zpalletId}")
public String WMS_ZPALLET_ID;
+
+ // 娴峰悍RCS鍦板潃
+ @Value("${hik.url}")
+ private String HIK_URL;
+
+ // 鍗庢檽RCS鍦板潃
+ @Value("${hx.url}")
+ private String HX_URL;
@Resource
private RcsService rcsService;
@@ -95,6 +108,8 @@
private DocTypeService docTypeService;
@Autowired
private OrderService orderService;
+ @Autowired
+ private CanFinMapper canFinMapper;
// region MES鎺ュ彛
@@ -239,7 +254,6 @@
newMemo.put("itemdata", list);
-
// 鐢熸垚璁㈠崟
OrderPakin orderPakin = new OrderPakin();
orderPakin.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
@@ -260,14 +274,14 @@
// 鐢熸垚鏄庣粏
Mat mat = matService.selectByMatnr(mesMatInfo.getItemNo());
- if(Cools.isEmpty(mat)){
- log.error("璇ョ墿鏂欑紪鍙风珛搴撴病鏈�="+mesMatInfo.getItemNo());
+ if (Cools.isEmpty(mat)) {
+ log.error("璇ョ墿鏂欑紪鍙风珛搴撴病鏈�=" + mesMatInfo.getItemNo());
continue;
}
OrderDetlPakin orderDetlPakin = new OrderDetlPakin();
orderDetlPakin.setOrderId(orderPakin.getId());
orderDetlPakin.setOrderNo(orderPakin.getOrderNo());
- orderDetlPakin.setAnfme(Double.valueOf(mesMatInfo.getQty()));
+ orderDetlPakin.setAnfme(mesMatInfo.getQty());
orderDetlPakin.setQty(0.0);
orderDetlPakin.setMatnr(mat.getMatnr());
orderDetlPakin.setMaktx(mat.getMaktx());
@@ -938,6 +952,27 @@
if (docType == null) {
return 0;
}
+
+/*
+ // 鏌ヨcan_fin琛ㄤ腑apply_time鏈�鏂扮殑璁板綍
+ List<CanFin> canFinList = canFinMapper.selectList(new EntityWrapper<CanFin>()
+ .orderBy("apply_time", false)
+ );
+ if (!canFinList.isEmpty()) {
+ CanFin firstCanFin = canFinList.get(0);
+ if (firstCanFin.getAgvType().equals("agv-in-out")) {
+ // 鍙慨鏀归渶瑕佹洿鏂扮殑瀛楁
+ firstCanFin.setOutType("waiting");
+ firstCanFin.setOutNo(mesCallOutApply.getOrderNo());
+ // 纭繚鍏朵粬瀛楁淇濇寔涓嶅彉
+ canFinMapper.updateById(firstCanFin);
+
+ log.info("宸叉洿鏂癱an_fin琛ㄦ渶鏃╄褰曠殑out_no锛孖D锛歿}锛屽嚭搴撳崟鍙凤細{}",
+ firstCanFin.getId(), mesCallOutApply.getOrderNo());
+ }
+ }
+*/
+
//鐢熸垚鍑哄簱鍗�
if (docType.getPakout() == 1) {
long settle = 1;
@@ -972,6 +1007,22 @@
log.error("MES淇濆瓨鍑哄簱璁㈠崟锛堝彨鏂欙級涓绘。澶辫触");
throw new CoolException("淇濆瓨鍑哄簱璁㈠崟锛堝彨鏂欙級涓绘。澶辫触");
}
+
+ if (mesCallOutApply.getTransType().equals("瑁呴厤鍑哄簱鍗�")){
+ CanFin canFin = new CanFin();
+ Date time = now;
+ canFin.setAgvType("agv-out");
+ canFin.setOutNo(mesCallOutApply.getOrderNo());
+ List<CanFin> canFinList = canFinMapper.selectList(new EntityWrapper<>());
+ if (canFinList.isEmpty()){
+ canFin.setTaskStatus("canout");
+ }else {
+ canFin.setTaskStatus("waiting");
+ }
+ canFin.setApplyTime(time);
+ canFinMapper.insert(canFin);
+ }
+
Set<String> set = new HashSet<>();
// 鐢熸垚鏄庣粏
if (mesCallOutApply.getItemdata() != null && !mesCallOutApply.getItemdata().isEmpty()) {
@@ -979,6 +1030,10 @@
set.add(mesOutApplyItem.getTrayid());
Mat mat = matService.selectByMatnr(mesOutApplyItem.getItemno());
+ if (Cools.isEmpty(mat)) {
+ log.error("鐗╂枡缂栧彿涓嶅瓨鍦�: {}", mesOutApplyItem.getItemno());
+ throw new CoolException("鐗╂枡缂栧彿涓嶅瓨鍦�: " + mesOutApplyItem.getItemno());
+ }
OrderDetlPakout orderDetlPakout = new OrderDetlPakout();
orderDetlPakout.setOrderId(orderPakout.getId());
orderDetlPakout.setOrderNo(orderPakout.getOrderNo());
@@ -1004,9 +1059,9 @@
}
//鏈夊灏戠涓嶅悓鐨勯厤鐩樺彿 鍙湁閰嶇洏鍑哄簱鍗曢渶瑕佺煡閬�
- if (mesCallOutApply.getTransType().equals("閰嶇洏鍑哄簱鍗�")){
+ if (mesCallOutApply.getTransType().equals("閰嶇洏鍑哄簱鍗�")) {
orderPakout.setPayType(set.size());
- String shipCode =mesCallOutApply.getItemdata().get(0).getTrayid().split("-")[2];
+ String shipCode = mesCallOutApply.getItemdata().get(0).getTrayid().split("-")[2];
orderPakout.setShipCode(shipCode);//鍖哄煙 鏄惁鏄壒娈婃墭鐩�
orderPakoutService.updateById(orderPakout);
}
@@ -1040,11 +1095,11 @@
orderPakin.setPakinPakoutStatus(1);
orderPakinService.insert(orderPakin);
if (mesCallOutApply.getItemdata() != null && !mesCallOutApply.getItemdata().isEmpty()) {
- for (MesCallOutApply.MesOutApplyItem mesOutApplyItem : mesCallOutApply.getItemdata()){
+ for (MesCallOutApply.MesOutApplyItem mesOutApplyItem : mesCallOutApply.getItemdata()) {
// 鐢熸垚鏄庣粏
Mat mat = matService.selectByMatnr(mesOutApplyItem.getItemno());
- if(Cools.isEmpty(mat)){
- log.error("璇ョ墿鏂欑紪鍙风珛搴撴病鏈�="+mesOutApplyItem.getItemno());
+ if (Cools.isEmpty(mat)) {
+ log.error("璇ョ墿鏂欑紪鍙风珛搴撴病鏈�=" + mesOutApplyItem.getItemno());
continue;
}
OrderDetlPakin orderDetlPakin = new OrderDetlPakin();
@@ -1105,73 +1160,57 @@
return result;
}
- // 涓嬪彂缁橰CS
- RcsTaskSubmit rcsTaskSubmit = new RcsTaskSubmit();
- rcsTaskSubmit.setRobotTaskCode(transTask.getTaskno());
- rcsTaskSubmit.setInitPriority(10); //榛樿10
- List<RcsTaskTargetRoute> targetRouteList = new ArrayList<>();
- RcsTaskTargetRoute startRoute = new RcsTaskTargetRoute();
- startRoute.setSeq(0);
- startRoute.setCode(transTask.getCurStationId());
- startRoute.setOperation("COLLECT");
- targetRouteList.add(startRoute);
- RcsTaskTargetRoute endRoute = new RcsTaskTargetRoute();
- endRoute.setSeq(1);
- endRoute.setCode(transTask.getNextStationId());
- endRoute.setOperation("DELIVERY");
- targetRouteList.add(endRoute);
- rcsTaskSubmit.setTargetRoute(targetRouteList);
+ int workNo = commonService.getWorkNo(WorkNoType.OTHER.type);
+ Date now = new Date();
+ Task task = new Task();
+ task.setWrkNo(workNo);
+ task.setTaskType("ZX-AGV");
+ if (transTask.getTransType()!= null){
+ if (transTask.getTransType().equals("08-1")){
+ task.setTaskType("ZX-AGV-08-1");
+ }else if (transTask.getTransType().equals("08-2")){
+ task.setTaskType("ZX-AGV-08-2");
+ }else if (transTask.getTransType().equals("11")){
+ task.setTaskType("ZP-AGV");
+ }
+ }
+ task.setWrkSts(301L);//301.AGV浠诲姟鍒涘缓
+ task.setIoType(3);//3.绔欏埌绔�
+ task.setIoPri(10.00);
+ task.setWrkDate(now);
+ task.setBarcode(transTask.getBarcode());
+ task.setSourceStaNo(transTask.getCurStationId());
+ task.setStaNo(transTask.getNextStationId());
+ task.setBarcode(transTask.getTuoPanId());
+ task.setModiUser(defaultUserId);
+ task.setModiTime(now);
+ task.setAppeUser(defaultUserId);
+ task.setAppeTime(now);
+ task.setTaskNo(transTask.getTaskno());
+ task.setMemo(JSONObject.toJSONString(transTask));
+ task.setPltType(transTask.getAgvFactory());//鍗庢檽AGV
+ task.setPacked(transTask.getRackNumber());//鏂欐灦鍙�
+ task.setCtnType(1);
+ task.setIsPda(transTask.getIsPDA());
- // 杞彂缁欐捣搴锋垨鍗庢檽RCS
- int success = rcsService.submitTask(rcsTaskSubmit, transTask.getAgvFactory());
- if (success == 1) {
- int workNo = commonService.getWorkNo(WorkNoType.OTHER.type);
- Date now = new Date();
- Task task = new Task();
- task.setWrkNo(workNo);
- task.setTaskType("ZX-AGV");
- task.setWrkSts(302L);//302.AGV浠诲姟鎵ц涓�
- task.setIoType(3);//3.绔欏埌绔�
- task.setIoPri(10.00);
- task.setWrkDate(now);
- task.setBarcode(transTask.getBarcode());
- task.setSourceStaNo(transTask.getCurStationId());
- task.setStaNo(transTask.getNextStationId());
- task.setBarcode(transTask.getTuoPanId());
- task.setModiUser(defaultUserId);
- task.setModiTime(now);
- task.setAppeUser(defaultUserId);
- task.setAppeTime(now);
- task.setTaskNo(transTask.getTaskno());
- task.setMemo(JSONObject.toJSONString(transTask));
- task.setPltType(transTask.getAgvFactory());//鍗庢檽AGV
- task.setPacked(transTask.getRackNumber());//鏂欐灦鍙�
-
- taskService.insert(task);
-// Mat mat = matService.selectByMatnr(transTask.getItemno());
-// TaskDetl taskDetl = new TaskDetl();
-// taskDetl.setWrkNo(task.getWrkNo());
-// taskDetl.setIoTime(task.getIoTime());
-// taskDetl.setMatnr(transTask.getItemno());
-// taskDetl.setAnfme(0.0);
-// taskDetl.setStandby1(String.valueOf(transTask.getQty()));
-// taskDetl.setMaktx(mat.getMaktx());
-// taskDetl.setSpecs(mat.getSpecs());
-// taskDetl.setOrderNo(transTask.getOrderNo());
-// taskDetl.setZpallet(transTask.getTuoPanId());
-// taskDetl.setMemo(JSONObject.toJSONString(transTask.getItemBarcode()));
-// taskDetl.setModiUser(defaultUserId);
-// taskDetl.setModiTime(now);
-// taskDetl.setAppeUser(defaultUserId);
-// taskDetl.setAppeTime(now);
-// taskDetlService.insert(taskDetl);
+ if (taskService.insert(task)) {
+ if (transTask.getNextStationId().equals("402") || transTask.getNextStationId().equals("401")){
+ CanFin canFin = new CanFin();
+// canFin.setAgvType("agv-in-out");
+ canFin.setAgvType("agv-in");
+ canFin.setTaskStatus("waiting");
+ canFin.setInNo(transTask.getTaskno());
+ canFin.setApplyTime(now);
+ canFinMapper.insert(canFin);
+ result.put("Success", "1");
+ result.put("Message", "浠诲姟涓嬪彂缁橰CS鎴愬姛");
+ }
result.put("Success", "1");
- result.put("Message", "浠诲姟鎺ユ敹鎴愬姛");
- } else {
+ result.put("Message", "浠诲姟涓嬪彂缁橰CS鎴愬姛");
+ }else {
result.put("Success", "2");
result.put("Message", "浠诲姟涓嬪彂缁橰CS澶辫触");
}
-
return result;
}
@@ -1267,9 +1306,14 @@
mesReturn.setSuccess("2");
if ("Y".equals(allow.getStatus())) {
- Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", allow.getTaskno()));
+ String taskNo = allow.getTaskno();
+ if (taskNo.contains("-")) {
+ taskNo = allow.getTaskno().substring(0, taskNo.lastIndexOf("-"));
+ }
+ Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", taskNo));
if (Cools.isEmpty(task)) {
- mesReturn.setMessage("娌℃湁鎵句釜璇ヤ换鍔＄紪鍙�=" + allow.getTaskno() + "鐨凙GV绉诲姩浠诲姟");
+
+ mesReturn.setMessage("娌℃湁鎵惧埌璇ヤ换鍔＄紪鍙�=" + allow.getTaskno() + "鐨凙GV绉诲姩浠诲姟");
} else {
//鏌ョ湅鐢宠绔欑偣鐨勬槸娴峰悍杩樻槸鍗庢檽
//娴峰悍
@@ -1285,13 +1329,23 @@
mesReturn.setSuccess(success == 1 ? "1" : "2");
mesReturn.setMessage(success == 1 ? "" : "杞彂缁橰CS澶辫触");
} else {
+ JSONObject params = new JSONObject();
+ params.put("EqptCode", allow.getStationId());
+ params.put("TaskCode", allow.getTaskno());
+ params.put("ActionStatus", "1");
allow.setMethod("APPLY_IN_STATION");
int success = rcsService.continueTask(allow, 2);
- mesReturn.setSuccess(success == 1 ? "1" : "2");
- mesReturn.setMessage(success == 1 ? "" : "杞彂缁橰CS澶辫触");
+ int success1 = rcsService.applyIn(params, 2);
+ if (success1 == 1 || success == 1){
+ mesReturn.setSuccess("1");
+ mesReturn.setMessage("");
+ }else {
+ mesReturn.setSuccess(success1 == 1 ? "1" : "2");
+ mesReturn.setMessage(success1 == 1 ? "" : "杞彂缁橰CS澶辫触");
+ }
}
-
}
+
}
return mesReturn;
@@ -1355,23 +1409,27 @@
mesReturn.setSuccess("2");
if ("Y".equals(allow.getStatus())) {
- Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", allow.getTaskno()));
+ String taskNo = allow.getTaskno();
+ if (taskNo.contains("-")) {
+ taskNo = allow.getTaskno().substring(0, taskNo.lastIndexOf("-"));
+ }
+ Task task = taskService.selectOne(new EntityWrapper<Task>().eq("task_no", taskNo));
if (Cools.isEmpty(task)) {
mesReturn.setMessage("娌℃湁鎵句釜璇ヤ换鍔＄紪鍙�=" + allow.getTaskno() + "鐨凙GV绉诲姩浠诲姟");
} else {
//鏌ョ湅鐢宠绔欑偣鐨勬槸娴峰悍杩樻槸鍗庢檽
//娴峰悍
- if (Cools.isEmpty(task.getPltType()) || task.getPltType() == 1) {
+ if (Cools.isEmpty(task.getPltType()) || task.getPltType() == 1 || task.getPltType() == 0) {
RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
rcsTaskContinue.setRobotTaskCode(allow.getTaskno());
rcsTaskContinue.setTriggerType("TASK");
rcsTaskContinue.setTriggerCode(allow.getTaskno());
// rcsTaskContinue.setTriggerType("ROBOT");
// rcsTaskContinue.setTriggerCode(allow.getAgvCode());
-
int success = rcsService.continueTask(rcsTaskContinue, 1);
mesReturn.setSuccess(success == 1 ? "1" : "2");
mesReturn.setMessage(success == 1 ? "" : "杞彂缁橰CS澶辫触");
+
} else {
allow.setMethod("APPLY_OFF_STATION");
int success = rcsService.continueTask(allow, 2);
@@ -1419,6 +1477,7 @@
return mesReturn;
}
+
// endregion
/**
@@ -1432,5 +1491,39 @@
AgvInfo agvInfo = agvInfoMapper.selectById(agvNo);
return agvInfo.getAgvFactory();
}
+ @Override
+ public int AGVPause(JSONObject params, int AGVType){
+ MesReturn mesReturn = new MesReturn();
+ String hik_blockUrl = "api/robot/controller/zone/blockade";
+ String hik_pauseUrl = "api/robot/controller/zone/pause";
+ String hx_url = "robot/controller/notify/isstop";
+
+ if (AGVType == 1){
+ String BLOCK_URL = HIK_URL + hik_blockUrl;
+ String PAUSE_URL = HIK_URL + hik_pauseUrl;
+
+ String blockResponse = RcsServiceImpl.sendPost(BLOCK_URL, JSONObject.toJSONString(params));
+ JSONObject jsonObject = JSON.parseObject(blockResponse);
+ if (!StringUtils.isEmpty(blockResponse) && (jsonObject.getString("code").equals("SUCCESS") || jsonObject.getInteger("code") == 200)) {
+ String PauseResponse = RcsServiceImpl.sendPost(PAUSE_URL, JSONObject.toJSONString(params));
+ JSONObject pauseJsonObject = JSON.parseObject(PauseResponse);
+ if (!StringUtils.isEmpty(PauseResponse) && (jsonObject.getString("code").equals("SUCCESS") || jsonObject.getInteger("code") == 200)) {
+ return 1;
+ }else
+ return 2;
+ }else
+ return 2;
+ }else {
+ String URL = "";
+ URL = HX_URL + hx_url;
+ String PauseResponse = RcsServiceImpl.sendPost(URL, JSONObject.toJSONString(params));
+ JSONObject jsonObject = JSON.parseObject(PauseResponse);
+ if (!StringUtils.isEmpty(PauseResponse) && (jsonObject.getString("code").equals("SUCCESS") || jsonObject.getInteger("code") == 200)) {
+ return 1;
+ }else
+ return 2;
+ }
+
+ }
}
--
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