From 2cf9b53834bf61455fffd322b0201b3d0080577a Mon Sep 17 00:00:00 2001
From: 1 <1@123>
Date: 星期六, 10 五月 2025 17:06:49 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/asrs/task/TaskLogScheduler.java        |    8 +-
 src/main/java/com/zy/core/thread/RgvThread.java             |   10 ++-
 src/main/java/com/zy/asrs/controller/RgvController.java     |   23 +++++++
 src/main/java/com/zy/asrs/entity/TaskWrk.java               |   13 ++++
 src/main/java/com/zy/asrs/controller/OpenController.java    |    2 
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java |    6 +-
 src/main/resources/application-prod.yml                     |    8 +-
 src/main/java/com/zy/core/model/protocol/RgvProtocol.java   |    4 
 pom.xml                                                     |   12 ++--
 src/main/resources/application.yml                          |    8 +-
 src/main/webapp/views/deviceOperate/rgvOperate.html         |    1 
 src/main/java/com/zy/asrs/entity/param/CarryParam.java      |   31 ++++++++++
 12 files changed, 99 insertions(+), 27 deletions(-)

diff --git a/pom.xml b/pom.xml
index 2b6fe46..bf09a9c 100644
--- a/pom.xml
+++ b/pom.xml
@@ -61,12 +61,12 @@
 <!--        </dependency>-->
 
         <!-- 鏄惧紡鎺掗櫎slf4j-simple -->
-        <dependency>
-            <groupId>org.slf4j</groupId>
-            <artifactId>slf4j-simple</artifactId>
-            <version>1.7.30</version>
-            <scope>provided</scope> <!-- 鎴栫洿鎺ュ垹闄よ渚濊禆 -->
-        </dependency>
+<!--        <dependency>-->
+<!--            <groupId>org.slf4j</groupId>-->
+<!--            <artifactId>slf4j-simple</artifactId>-->
+<!--            <version>1.7.30</version>-->
+<!--            <scope>provided</scope> &lt;!&ndash; 鎴栫洿鎺ュ垹闄よ渚濊禆 &ndash;&gt;-->
+<!--        </dependency>-->
         <dependency>
             <groupId>com.dameng</groupId>
             <artifactId>DmJdbcDriver8</artifactId>
diff --git a/src/main/java/com/zy/asrs/controller/OpenController.java b/src/main/java/com/zy/asrs/controller/OpenController.java
index 16769ba..55a8a63 100644
--- a/src/main/java/com/zy/asrs/controller/OpenController.java
+++ b/src/main/java/com/zy/asrs/controller/OpenController.java
@@ -343,7 +343,7 @@
 //        List<WMSAndAGVInterfaceParam> params1 =new ArrayList<>();
         for (CarryParam param:params){
             param.updateIoTyoe(param.getIoType());//涓埅涓嬪彂  1锛氬嚭搴擄紝2锛氱Щ搴� 3锛氬叆搴�   ====杞崲涓�====>  1锛氬叆搴擄紝2锛氬嚭搴擄紝3锛氱Щ搴�
-
+            param.updateLocNo();
             if (Cools.isEmpty(param)){
                 return R.error("鍙傛暟涓虹┖锛�");
             } else if (Cools.isEmpty(param.getTaskNo())){
diff --git a/src/main/java/com/zy/asrs/controller/RgvController.java b/src/main/java/com/zy/asrs/controller/RgvController.java
index e85e4de..83e6cd1 100644
--- a/src/main/java/com/zy/asrs/controller/RgvController.java
+++ b/src/main/java/com/zy/asrs/controller/RgvController.java
@@ -75,6 +75,29 @@
         return R.ok().add(res);
     }
 
+    @PostMapping("/run/del")//Take  Put  Walk
+    @ManagerAuth(memo = "灏忚溅琛岃蛋")
+    public R rgvRunDel(@RequestParam(defaultValue = "0")  Integer rgvNo
+    ) {
+        if (rgvNo==null || rgvNo==0){
+            return R.error("璇烽�夋嫨灏忚溅");
+        }
+        RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNo);
+        TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
+
+        try {
+            ConcurrentHashMap<String, TaskProtocol> allTaskProtocol = taskProtocolCache.getAllTaskProtocol();
+            for (TaskProtocol taskProtocol : allTaskProtocol.values()){
+                taskProtocolCache.removeTaskProtocol(taskProtocol.getTaskNoDirection());
+            }
+
+        } catch (Exception e) {
+            return R.error("浠诲姟鍒犻櫎澶辫触"+e.getMessage());
+        }
+
+        return R.ok("浠诲姟娓呯┖鎴愬姛");
+    }
+
     @PostMapping("/run/walk")//Take  Put  Walk
     @ManagerAuth(memo = "灏忚溅琛岃蛋")
     public R rgvRunWalk(@RequestParam(defaultValue = "0")  Integer rgvNo,
diff --git a/src/main/java/com/zy/asrs/entity/TaskWrk.java b/src/main/java/com/zy/asrs/entity/TaskWrk.java
index 181892b..34c077c 100644
--- a/src/main/java/com/zy/asrs/entity/TaskWrk.java
+++ b/src/main/java/com/zy/asrs/entity/TaskWrk.java
@@ -376,4 +376,17 @@
         }
     }
 
+    public String getPut(String point){
+        String[] split = point.split("-");
+        if (split.length == 5){
+//            String locNo = String.format("%02d", ) +
+//                    String.format("%03d", split[3]) +
+//                    String.format("%02d", split[4]);
+
+            return split[2]+"0"+split[3]+split[4];
+        } else {
+            return point;
+        }
+    }
+
 }
diff --git a/src/main/java/com/zy/asrs/entity/param/CarryParam.java b/src/main/java/com/zy/asrs/entity/param/CarryParam.java
index 9685b01..4766197 100644
--- a/src/main/java/com/zy/asrs/entity/param/CarryParam.java
+++ b/src/main/java/com/zy/asrs/entity/param/CarryParam.java
@@ -25,6 +25,10 @@
     //澶囨敞
     private String meno;
 
+    public void updateLocNo(){
+        startPoint = getPut(startPoint);
+        targetPoint = getPut(targetPoint);
+    }
     public void updateIoTyoe(Integer ioTypeOld){
         switch (ioTypeOld){
             case 1:
@@ -41,4 +45,31 @@
         }
     }
 
+    public String getPut(String point){
+        String[] split = point.split("-");
+        if (split.length == 5){
+//            String locNo = String.format("%02d", ) +
+//                    String.format("%03d", split[3]) +
+//                    String.format("%02d", split[4]);
+
+            return split[2]+"0"+split[3]+split[4];
+        } else {
+            return point;
+        }
+    }
+
+    public static String zerofill(String msg, Integer count){
+        if (msg.length() == count){
+            return msg;
+        } else if (msg.length() > count){
+            return msg.substring(0, 16);
+        } else {
+            StringBuilder msgBuilder = new StringBuilder(msg);
+            for (int i = 0; i<count-msg.length(); i++){
+                msgBuilder.insert(0,"0");
+            }
+            return msgBuilder.toString();
+        }
+    }
+
 }
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 7918153..ed4d6fb 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1455,7 +1455,7 @@
                                 if (rgvStn.getStaNo().equals(staNoNow)) {
                                     TaskWrk taskWrk = deviceDetection(rgvStn);
                                     if (taskWrk != null) {
-                                        BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
+                                        BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                         if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                             sign = taskGenerate(rgvSlave, rgvStn, 0);
                                         }
@@ -1488,7 +1488,7 @@
                                     if (rgvStn.getStaNo().equals(staNoNow)) {
                                         TaskWrk taskWrk = deviceDetection(rgvStn);
                                         if (taskWrk != null) {
-                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
+                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                             if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                                 sign = taskGenerate(rgvSlave, rgvStn, 0);
                                             }
@@ -1522,7 +1522,7 @@
                                     if (rgvStn.getStaNo().equals(staNoNow)) {
                                         TaskWrk taskWrk = deviceDetection(rgvStn);
                                         if (taskWrk != null) {
-                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", taskWrk.getTargetPointConvert()));
+                                            BasDevpPosition basDevpPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", BarcodeUtils.getOutStaNo(taskWrk.getOriginTargetPoint())));
                                             if (RouteUtils.CheckIfItIsWithinTheRange(rangeList, basDevpPosition.getPlcPosition(), basDevpPositions, itSmall)) {
                                                 sign = taskGenerate(rgvSlave, rgvStn, 0);
                                             }
diff --git a/src/main/java/com/zy/asrs/task/TaskLogScheduler.java b/src/main/java/com/zy/asrs/task/TaskLogScheduler.java
index aa32429..c9c05e4 100644
--- a/src/main/java/com/zy/asrs/task/TaskLogScheduler.java
+++ b/src/main/java/com/zy/asrs/task/TaskLogScheduler.java
@@ -62,9 +62,11 @@
             HashMap<String, Object> map = new HashMap<>();
             try {
                 map.put("taskNo",taskWrk.getTaskNo());
-                map.put("status",taskWrk.getStatus());
-                map.put("ioType",taskWrk.getIoType());
-                map.put("barcode",taskWrk.getBarcode());
+                map.put("taskStatus",taskWrk.getStatus());
+                map.put("ioType",taskWrk.getIoTypeWms());
+                map.put("barCode",taskWrk.getBarcode());
+                map.put("reportTime",new Date());
+                map.put("weight",taskWrk.getScWeight().doubleValue());
                 response = new HttpHandler.Builder()
                         .setUri(wmsUrl)
                         .setPath(taskStatusFeedbackPath)
diff --git a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
index 821ec56..43d9bfb 100644
--- a/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/RgvProtocol.java
@@ -85,12 +85,12 @@
     /**
      * 杞﹁韩
      */
-    public Long carBodyJiaoMing = 0L;
+    public Long carBodyJiaoMing = 2000L;
 
     /**
      * 杞﹁韩
      */
-    public Long carBodyKunPeng = 0L;
+    public Long carBodyKunPeng = 15000L;
 
     /**
      * 鏄惁鍚敤
diff --git a/src/main/java/com/zy/core/thread/RgvThread.java b/src/main/java/com/zy/core/thread/RgvThread.java
index 38b1d23..1e6df7b 100644
--- a/src/main/java/com/zy/core/thread/RgvThread.java
+++ b/src/main/java/com/zy/core/thread/RgvThread.java
@@ -48,11 +48,11 @@
     //    private RgvProtocol rgvProtocol;
     private TaskProtocolCache taskProtocolCache = new TaskProtocolCache();
     // # 杞ㄩ亾鎬婚暱
-    private Long trackEntireLength = 100L;
+    private Long trackEntireLength = 215000L;
     //# 杞ㄩ亾鍩哄噯鐐�
-    private Long trackBenchmark = 100L;
+    private Long trackBenchmark = 1L;
     //  # 閬胯璺濈
-    private Long avoidDistance = 100L;
+    private Long avoidDistance = 4000L;
 
     /**
      * 宸ヤ綅1澶嶄綅淇″彿
@@ -520,8 +520,10 @@
                 RgvProtocol rgvProtocol = RgvStatusCache.getRgvStatus(slave.getId());
                 if (rgvProtocol == null) {
                     rgvProtocol = new RgvProtocol();
-                    rgvProtocol.setRgvNo(slave.getId());
                 }
+                rgvProtocol.setRgvNo(slave.getId());
+                rgvProtocol.setCarBodyJiaoMing(slave.getCarBodyJiaoMing());
+                rgvProtocol.setCarBodyKunPeng(slave.getCarBodyKunPeng());
 
                 rgvProtocol.setRgvPos((long)siemensNet.getByteTransform().TransInt32(result.Content, 0));
                 rgvProtocol.setRgvPosDestination((long)siemensNet.getByteTransform().TransInt32(result.Content, 4));
diff --git a/src/main/resources/application-prod.yml b/src/main/resources/application-prod.yml
index 198453c..0e0b5a0 100644
--- a/src/main/resources/application-prod.yml
+++ b/src/main/resources/application-prod.yml
@@ -83,8 +83,8 @@
     rack: 0
     slot: 0
     otherId: 2
-    carBodyJiaoMing: 4100
-    carBodyKunPeng: 4100
+    carBodyJiaoMing: 2000
+    carBodyKunPeng: 15000
     #RGV婧愮珯鐐�
     rgvInSta[0]:
       devpPlcId: ${wcs-slave.devp[0].id}
@@ -159,8 +159,8 @@
     rack: 0
     slot: 0
     otherId: 1
-    carBodyJiaoMing: 4100
-    carBodyKunPeng: 4100
+    carBodyJiaoMing: 2000
+    carBodyKunPeng: 15000
     #RGV婧愮珯鐐�
     rgvInSta[0]:
       devpPlcId: ${wcs-slave.devp[0].id}
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 66e6afd..546cab4 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -49,13 +49,13 @@
 
 constant-parameters:
   # 杞ㄩ亾鎬婚暱
-  trackEntireLength: 190000
+  trackEntireLength: 215000
   # 杞ㄩ亾鍩哄噯鐐�
   trackBenchmark: 1
   # 杞ㄩ亾杞崲涓虹背姣斾緥
   trackProportion: 10000
   # 閬胯璺濈
-  avoidDistance: 4100
+  avoidDistance: 5100
 
 wms:
   # 鏄惁寮�鍚笂鎶�
@@ -65,13 +65,13 @@
   #url: 10.32.53.195:8080
   # WMS绯荤粺ip
   #  url: 10.210.157.109:8090
-  url: 10.210.157.26:9027
+  url: 10.10.10.205:9027
   # 鍏ュ簱浠诲姟鐢宠鎺ュ彛
   #inboundTaskApplyPath: api/InterFace/inboundTaskApply
   inboundTaskApplyPath: sugood/inboundTaskApply
   #  inboundTaskApplyPath: open/asrs/inboundTaskApply
   # 浠诲姟鐘舵�佸弽棣堟帴鍙�
-  taskStatusFeedbackPath: external/wcs/wmsHeartBeat
+  taskStatusFeedbackPath: external/wcs/taskStatusFeedback
   # 璐т綅鐘舵�佹洿鏂版帴鍙�
   locationUpdatePath: api/InterFace/get_InterFace_TestStorage
   # 绉诲簱鐢宠鎺ュ彛
diff --git a/src/main/webapp/views/deviceOperate/rgvOperate.html b/src/main/webapp/views/deviceOperate/rgvOperate.html
index 5fefa32..4621705 100644
--- a/src/main/webapp/views/deviceOperate/rgvOperate.html
+++ b/src/main/webapp/views/deviceOperate/rgvOperate.html
@@ -55,6 +55,7 @@
 							<el-button @click="requestOperate('take')" type="primary">鍙栬揣</el-button>
 							<el-button @click="requestOperate('put')" type="primary">鏀捐揣</el-button>
 							<el-button @click="requestOperate('walk')" type="warning">琛岃蛋</el-button>
+							<el-button @click="requestOperate('del')" type="warning">浠诲姟娓呯┖</el-button>
 						</div>
 					</div>
 				</el-card>

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