From 5270e2368d6561b32720b4f712cca132ae87300f Mon Sep 17 00:00:00 2001
From: 野心家 <1051256694@qq.com>
Date: 星期六, 04 十一月 2023 10:06:36 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/tzskwcs_3' into tzskwcs_3
---
src/main/java/com/zy/common/utils/NavigateMapUtils.java | 18 ++-
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 250 ++++++++++++++++++++++++++++---------------------
src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java | 25 ++++
3 files changed, 179 insertions(+), 114 deletions(-)
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 bcdd0f3..6eda059 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -473,117 +473,155 @@
continue;
}
- try {
- // 璁块棶 WMS 鑾峰彇鍏ュ簱搴撲綅
- LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
- SearchLocParam param = new SearchLocParam();
- param.setWrkNo(wrkMast.getWrkNo());
- param.setIoType(wrkMast.getIoType());
- param.setSourceStaNo(pickSta.getStaNo());
-// param.setLocType1(locTypeDto.getLocType1());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/pakin/loc/v1")
- .setJson(JSON.toJSONString(param))
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
- Integer code = jsonObject.getInteger("code");
- if (code.equals(200)) {
- StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+ // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
+ if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
+ throw new CoolException(wrkMast.getWrkNo() + "淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
+ }
-// // 鑾峰彇鐩爣绔�
-// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
-// .eq("type_no", wrkMast.getIoType() - 50)
-// .eq("stn_no", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
-// .eq("crn_no", dto.getCrnNo()); // 鍫嗗灈鏈哄彿
-// StaDesc staDesc = staDescService.selectOne(wrapper);
-// if (Cools.isEmpty(staDesc)) {
-// News.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
-// continue;
-// }
-// // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
-// Integer staNo = staDesc.getCrnStn();
+ String sourceLocNo = wrkMast.getSourceLocNo().trim();
+ LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//鑾峰彇鍥炲簱鎻愬崌鏈虹洰鏍囩珯
+ if (liftStaProtocol == null) {
+ continue;
+ }
- // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
-// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
-// throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
-// }
- // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
- if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException(wrkMast.getWrkNo() + "淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
- }
-
- String sourceLocNo = wrkMast.getSourceLocNo().trim();
- LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//鑾峰彇鍥炲簱鎻愬崌鏈虹洰鏍囩珯
- if (liftStaProtocol == null) {
- continue;
- }
-
- // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
- wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
- wrkMast.setSourceStaNo(pickSta.getStaNo()); // 婧愮珯
+ // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
+ wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
+ wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
+ wrkMast.setSourceStaNo(pickSta.getStaNo()); // 婧愮珯
// wrkMast.setStaNo(dto.getStaNo()); // 鐩爣绔�
// wrkMast.setCrnNo(dto.getCrnNo());
- wrkMast.setStaNo(liftStaProtocol.getStaNo());//鐩爣绔�
- wrkMast.setLocNo(sourceLocNo); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
- wrkMast.setShuttleNo(null); // 绌挎杞︽竻绌�
- wrkMast.setLiftNo(null);// 鎻愬崌鏈烘竻绌�
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
- }
- if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
- throw new CoolException(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
- }
-
- // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
- LocMast locMast = locMastService.selectById(sourceLocNo);
- locMast.setLocSts("Q");
- locMast.setModiTime(new Date());
- if (!locMastService.updateById(locMast)) {
- throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
- }
-
-// // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
-// staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
-// staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-// if (!result) {
-// News.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
-// }
-
- barcodeThread.setBarcode("");//娓呯悊鏉＄爜
-
- } else if (code == 500){
- if (ledThread != null) {
- String errorMsg = jsonObject.getString("msg");
- if (!Cools.isEmpty(errorMsg)) {
- MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
- }
- }
- News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
- } else {
-// staProtocol.setWorkNo((short) 32002);
-// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- String errorMsg = jsonObject.getString("msg");
-// String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
- MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
- }
- }
-
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ wrkMast.setStaNo(liftStaProtocol.getStaNo());//鐩爣绔�
+ wrkMast.setLocNo(sourceLocNo); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
+ wrkMast.setShuttleNo(null); // 绌挎杞︽竻绌�
+ wrkMast.setLiftNo(null);// 鎻愬崌鏈烘竻绌�
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ throw new CoolException(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
}
+ if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
+ throw new CoolException(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
+ }
+
+ // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
+ LocMast locMast = locMastService.selectById(sourceLocNo);
+ locMast.setLocSts("Q");
+ locMast.setModiTime(new Date());
+ if (!locMastService.updateById(locMast)) {
+ throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
+ }
+ barcodeThread.setBarcode("");//娓呯悊鏉＄爜
+
+// try {
+// // 璁块棶 WMS 鑾峰彇鍏ュ簱搴撲綅
+// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+// SearchLocParam param = new SearchLocParam();
+// param.setWrkNo(wrkMast.getWrkNo());
+// param.setIoType(wrkMast.getIoType());
+// param.setSourceStaNo(pickSta.getStaNo());
+//// param.setLocType1(locTypeDto.getLocType1());
+// String response = new HttpHandler.Builder()
+// .setUri(wmsUrl)
+// .setPath("/rpc/pakin/loc/v1")
+// .setJson(JSON.toJSONString(param))
+// .build()
+// .doPost();
+// JSONObject jsonObject = JSON.parseObject(response);
+// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
+// Integer code = jsonObject.getInteger("code");
+// if (code.equals(200)) {
+// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+//
+//// // 鑾峰彇鐩爣绔�
+//// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
+//// .eq("type_no", wrkMast.getIoType() - 50)
+//// .eq("stn_no", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
+//// .eq("crn_no", dto.getCrnNo()); // 鍫嗗灈鏈哄彿
+//// StaDesc staDesc = staDescService.selectOne(wrapper);
+//// if (Cools.isEmpty(staDesc)) {
+//// News.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
+//// continue;
+//// }
+//// // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
+//// Integer staNo = staDesc.getCrnStn();
+//
+// // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
+//// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
+//// throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
+//// }
+// // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
+// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
+// throw new CoolException(wrkMast.getWrkNo() + "淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
+// }
+//
+// String sourceLocNo = wrkMast.getSourceLocNo().trim();
+// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//鑾峰彇鍥炲簱鎻愬崌鏈虹洰鏍囩珯
+// if (liftStaProtocol == null) {
+// continue;
+// }
+//
+// // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
+// wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
+// wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
+// wrkMast.setSourceStaNo(pickSta.getStaNo()); // 婧愮珯
+//// wrkMast.setStaNo(dto.getStaNo()); // 鐩爣绔�
+//// wrkMast.setCrnNo(dto.getCrnNo());
+// wrkMast.setStaNo(liftStaProtocol.getStaNo());//鐩爣绔�
+// wrkMast.setLocNo(sourceLocNo); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
+// wrkMast.setShuttleNo(null); // 绌挎杞︽竻绌�
+// wrkMast.setLiftNo(null);// 鎻愬崌鏈烘竻绌�
+// wrkMast.setModiTime(new Date());
+// if (wrkMastMapper.updateById(wrkMast) == 0) {
+// throw new CoolException(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
+// }
+// if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
+// throw new CoolException(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
+// }
+//
+// // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
+// LocMast locMast = locMastService.selectById(sourceLocNo);
+// locMast.setLocSts("Q");
+// locMast.setModiTime(new Date());
+// if (!locMastService.updateById(locMast)) {
+// throw new CoolException("淇敼搴撲綅鐘舵�佸け璐�");
+// }
+//
+//// // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
+//// staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+//// staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+//// devpThread.setPakMk(staProtocol.getSiteId(), false);
+//// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//// if (!result) {
+//// News.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
+//// }
+//
+// barcodeThread.setBarcode("");//娓呯悊鏉＄爜
+//
+// } else if (code == 500){
+// if (ledThread != null) {
+// String errorMsg = jsonObject.getString("msg");
+// if (!Cools.isEmpty(errorMsg)) {
+// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+// }
+// }
+// News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
+// } else {
+//// staProtocol.setWorkNo((short) 32002);
+//// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
+//// devpThread.setPakMk(staProtocol.getSiteId(), false);
+//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+//
+// // led 寮傚父鏄剧ず
+// if (ledThread != null) {
+// String errorMsg = jsonObject.getString("msg");
+//// String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
+// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
+// }
+// }
+//
+// } catch (Exception e) {
+// e.printStackTrace();
+// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+// }
}
}
diff --git a/src/main/java/com/zy/common/utils/NavigateMapUtils.java b/src/main/java/com/zy/common/utils/NavigateMapUtils.java
index b11789c..ad25bb3 100644
--- a/src/main/java/com/zy/common/utils/NavigateMapUtils.java
+++ b/src/main/java/com/zy/common/utils/NavigateMapUtils.java
@@ -24,10 +24,6 @@
try {
NavigateMapData navigateMapData = new NavigateMapData(lev);
-// if (!redisUtil.tryLock("realtimeBasMap_" + lev)) {
-// return false;//鍔犻攣澶辫触
-// }
-
Object o = redisUtil.get("realtimeBasMap_" + lev);
if (o == null) {
return false;
@@ -37,6 +33,18 @@
ArrayList arrayList = JSON.parseObject(basMap.getData(), ArrayList.class);
List<List<MapNode>> lists = navigateMapData.filterMap(NavigationMapType.NONE.id, arrayList, lev, null, null);//鑾峰彇鍏ㄩ儴鍦板浘鏁版嵁
+ //妫�娴嬭矾寰勬槸鍚﹁閿佸畾
+ if (lock) {
+ for (NavigateNode node : nodes) {
+ List<MapNode> listX = lists.get(node.getX());
+ MapNode mapNode = listX.get(node.getY());
+ if (mapNode.getValue() == -999) {
+ return false;//璺緞琚攣瀹氳繃锛岀姝㈠啀娆￠攣瀹�
+ }
+ }
+ }
+
+ //灏濊瘯閿佸畾/瑙ｉ攣璺緞
NavigateMapData mapData = new NavigateMapData(nodes.get(0).getZ());
List<List<MapNode>> realMap = mapData.getJsonData(-1, null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
for (NavigateNode node : nodes) {
@@ -62,8 +70,6 @@
basMap.setUpdateTime(new Date());
//灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
redisUtil.set("realtimeBasMap_" + lev, JSON.toJSONString(basMap));
-// //瑙ｉ攣
-// redisUtil.unlock("realtimeBasMap_" + lev);
return true;
} catch (Exception e) {
e.printStackTrace();
diff --git a/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java b/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java
index d7f5d6a..552b933 100644
--- a/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java
+++ b/src/main/java/com/zy/common/utils/NyShuttleOperaUtils.java
@@ -114,7 +114,10 @@
allNode.addAll(nodes);
}
- navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startPoint), allNode, true);//閿佸畾璺緞
+ boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startPoint), allNode, true);//閿佸畾璺緞
+ if (!result) {
+ return null;//璺緞閿佸畾澶辫触
+ }
return result(commands, calc);
}
@@ -149,7 +152,25 @@
allNode.addAll(nodes);
}
- navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startPoint), allNode, true);//閿佸畾璺緞
+ //閿佸畾璺緞鏃跺墧闄ょ櫧鍚嶅崟鑺傜偣
+ ArrayList<NavigateNode> nodes = new ArrayList<>();
+ for (NavigateNode node : allNode) {
+ boolean flag = false;
+ for (int[] white : whites) {
+ if (node.getX() == white[0] && node.getY() == white[1]) {
+ flag = true;//瀛樺湪鐧藉悕鍗曡妭鐐�
+ break;//璺宠繃鐧藉悕鍗曡妭鐐�
+ }
+ }
+
+ if (!flag) {
+ nodes.add(node);
+ }
+ }
+ boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(startPoint), nodes, true);//閿佸畾璺緞
+ if (!result) {
+ return null;//璺緞閿佸畾澶辫触
+ }
return result(commands, calc);
}
--
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