From 5ae3b6c3d604f16c2ecc5057d720d5d79c8c091b Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期日, 23 十一月 2025 14:21:33 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 99 +++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 86 insertions(+), 13 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 412410d..0a2b19e 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -111,6 +111,8 @@
private BasArmMastService basArmMastService;
@Autowired
private ApiLogService apiLogService;
+ @Autowired
+ private BasDevpOptService basDevpOptService;
@Value("${wms.url}")
private String wmsUrl;
@@ -201,6 +203,7 @@
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
}
staProtocol.setWorkNo(wrkNo);
+ staProtocol.setErrCode(errMsg);
News.info("寮傚父鍒ゆ柇{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
wrkNo++;
staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -229,6 +232,7 @@
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
}
staProtocol.setWorkNo(wrkNo);
+ staProtocol.setErrCode(errMsg);
News.info("鏉＄爜鍒ゆ柇{}鍏ュ簱鍥為��锛歿}锛屼换鍔″彿锛歿}", inSta.getStaNo(), errMsg,wrkNo);
wrkNo++;
staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -299,7 +303,6 @@
}
try {
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-
SearchLocParam param = new SearchLocParam();
param.setBarcode(barcode);
param.setIoType(1);
@@ -334,6 +337,10 @@
staProtocol.setWorkNo(wrkNo);
staProtocol.setStaNo(inSta.getBackSta().shortValue());
devpThread.setPakMk(staProtocol.getSiteId(), false);
+ switch (jsonObject.getInteger("code")){
+ case 700: staProtocol.setErrCode("鏈粍鎵�");break;
+ case 500: staProtocol.setErrCode("宸ヤ綔妗�/搴撳瓨鏉＄爜鏁版嵁宸插瓨鍦�");break;
+ }
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
News.info("浠诲姟涓嬪彂鍒ゆ柇{}鍏ュ簱鍥為��锛歿}锛岄敊璇紪鍙穥},浠诲姟鍙凤細{}", inSta.getStaNo(), errMsg,jsonObject.getInteger("code"),wrkNo);
wrkNo++;
@@ -2029,7 +2036,7 @@
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
BasErrLog basErrLog = new BasErrLog(
- null, // 缂栧彿
+ crnProtocol.getUuid(), // 缂栧彿
wrkMast.getWrkNo(), // 宸ヤ綔鍙�
now, // 鍙戠敓鏃堕棿
null, // 缁撴潫鏃堕棿
@@ -2077,7 +2084,7 @@
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
BasErrLog basErrLog = new BasErrLog(
- null, // 缂栧彿
+ crnProtocol.getUuid(), // 缂栧彿
null, // 宸ヤ綔鍙�
now, // 鍙戠敓鏃堕棿
null, // 缁撴潫鏃堕棿
@@ -2259,7 +2266,8 @@
WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
if (null == wrkMast) {
if(staProtocol.getWorkNo() > 9999){ //寮傚父閫�鍑�
- MessageQueue.offer(SlaveType.Led, 2, new Task(3, "寮傚父閫�鍑�"));
+ String err = basDevpOptService.getErr(staProtocol.getWorkNo());
+ MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, err));
}
continue;
}
@@ -2390,6 +2398,8 @@
// 鍛戒护闆嗗悎
boolean reset = true;
for (Integer staNo : led.getStaArr()) {
+// System.out.println("staArr = " + staNo);
+
// 鑾峰彇鍙夎溅绔欑偣
StaProtocol staProtocol = devpThread.getStation().get(staNo);
if (staProtocol == null) { continue; }
@@ -3302,6 +3312,9 @@
// 鑾峰彇RGV淇℃伅
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
if (rgvProtocol.getStatusType1() != RgvStatusType.IDLE && rgvProtocol.getModeType() != RgvModeType.AUTO) {
continue;
}
@@ -3518,6 +3531,7 @@
basRgv.setPakAll("1");
basRgvService.updateById(basRgv);
rgvThread.setPakMk(true);
+
}
// List<WrkMastSta> wrkMastStaPakingNum = wrkMastStaService.selectPakingWrkNum(basRgv.getRgvNo());
// if(wrkMastStaPakingNum.size() <1){
@@ -3537,6 +3551,7 @@
// 鑾峰彇鍫嗗灈鏈轰俊鎭�
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+
if (rgvProtocol == null) {
continue;
}
@@ -3547,6 +3562,9 @@
continue;
}
if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
+ rgvThread.setPaking(true);
+ }
+ if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0 && rgvProtocol.getStatusType1() == RgvStatusType.IDLE){
rgvThread.setPaking(true);
}
if(rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing()){
@@ -3704,7 +3722,7 @@
if(wrkMastSta3 != null ){
List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
- if(wrkMastStaPaking.size() < 1 ){//宸叉湁鏍囪涓嶅啀鏍囪
+ if(wrkMastStaPaking.size() < 1 && !wrkMastSta3.getWrkNo().equals(wrkMastSta.getWrkNo())){//宸叉湁鏍囪涓嶅啀鏍囪
wrkMastSta3.setMk(1);
basRgv.setPakAll("0");
basRgvService.updateById(basRgv);
@@ -3836,8 +3854,13 @@
wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//鑻�1鍙峰伐浣嶆湁浠诲姟缁�2鍙峰伐浣�
wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
boolean sign = false;
+
sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //鍛戒护涓嬪彂
if (sign){
+ if(wrkMastSta.getMk() == 1){//鑻ュ凡鎵ц
+ basRgv.setPakAll("1");
+ basRgvService.updateById(basRgv);
+ }
if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
basRgv.setPakToCrn("0");
basRgvService.updateById(basRgv);
@@ -3847,7 +3870,7 @@
}
}
}
- if(wrkMastSta3 != null ){
+ if(wrkMastSta3 != null && !wrkMastSta3.getWrkNo().equals(wrkMastSta.getWrkNo())){
List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
if(wrkMastStaPaking.size() < 1){
wrkMastSta3.setMk(1);
@@ -3855,7 +3878,7 @@
basRgvService.updateById(basRgv);
try{
wrkMastStaMapper.updateById(wrkMastSta3);
- log.error("閿佸畾鐩搁殧绔欑偣浠诲姟");
+ log.error("閿佸畾鐩搁殧绔欑偣浠诲姟:"+ wrkMastSta3.getWrkNo());
}catch (Exception e){
log.error("閿佸畾鐩搁殧绔欑偣浠诲姟澶辫触");
}
@@ -4356,7 +4379,7 @@
//arm浠诲姟瀹屾垚鑷姩缁勬墭
ReturnT<String> result = new PostMesDataUtils().postMesData("arm浠诲姟瀹屾垚鑷姩缁勬墭",wmsUrl, wmsComb, combParam);
if (result.getCode()==200){
- basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLineSou(),3,4);
+ basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLineSou(),3,5);
} else {
armTaskAssignmentCallApiLogSave(staProtocol, "鑷姩缁勬墭澶辫触", staProtocol.getSiteId()+"鐮佸灈浣嶇疆锛�===銆嬭嚜鍔ㄧ粍鎵樺け璐ワ紝绛夊緟閲嶈瘯", false);
// log.error("鏈烘鑷傛姄鍙栦换鍔″畬鎴愶細"+JSON.toJSON(basArmMastList)+"===銆嬭嚜鍔ㄧ粍鎵樺け璐ワ紝绛夊緟閲嶈瘯");
@@ -4525,7 +4548,7 @@
new EntityWrapper<BasArmMast>()
.eq("arm_no", basArm.getArmNo())
.eq("sorting_line", basArm.getSortingLineSou())
- .eq("sku", basArmMast.getSku())
+ .eq("matnr", basArmMast.getMatnr())
.eq("order_no", basArmMast.getOrderNo())
.eq("binding_tags", basArmMast.getBindingTags())
);
@@ -4550,7 +4573,7 @@
.eq("status", 2)
.eq("binding_tags", basArmMast.getBindingTags())
);
- Double anfmeSignOne = basArmMastService.selectBasArmMastSignValue(basArmMastOne.getOrderNo(), basArmMastOne.getSku(),basArmMastOne.getBindingTags());
+ Double anfmeSignOne = basArmMastService.selectBasArmMastSignValue(basArmMastOne.getOrderNo(), basArmMastOne.getMatnr(),basArmMastOne.getBindingTags());
if (anfmeSignOne>1D){
armTaskAssignmentCallApiLogSave(staProtocol, "鏉＄爜鏁版嵁宸插瓨鍦紒锛侊紒", staProtocol.getSiteId()+"鐮佸灈浣嶇疆锛屾潯鐮佹暟鎹鍦ㄨ嚜鍔ㄧ粍鎵�===>>" + barcode, false);
@@ -4559,12 +4582,12 @@
}
}
- OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getSku());
+ OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getMatnr());
if (Cools.isEmpty(orderDetlValueResultUtil)){
continue;
}
- Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getSku(),basArmMast.getBindingTags());
+ Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getMatnr(),basArmMast.getBindingTags());
orderDetlValueResultUtil.setAnfme(anfmeSign);
//璁㈠崟涓嬪彂
try{
@@ -4755,7 +4778,9 @@
// News.info("{}鍙风珯鐐瑰瓨鍦ㄤ换鍔℃墽琛屼腑锛岃绛夊緟浠诲姟鎵ц瀹屾瘯锛歿}", outStaAgv.getStaNo(), barcode);
continue;
}
-
+ if(barcode.equals("0")){
+ continue;
+ }
List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>().eq("barcode", barcode));
if (!locMastList.isEmpty()) {
News.info("{}鍙风珯鐐规潯鐮佷俊鎭噸澶嶏細{}", outStaAgv.getStaNo(), barcode);
@@ -4861,6 +4886,52 @@
}
}
+ /*
+ * agv浠诲姟鐢熸垚 寮傚父閫佸埌鍏ュ簱鍙�
+ * */
+ public synchronized void agvTaskCreateException() {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ Integer outStaAgv = 1041;
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(outStaAgv);
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (!staProtocol.isLoading()){
+ continue;
+ }
+
+ if (staProtocol.isAutoing() && staProtocol.getWorkNo() > 10000) {
+
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("sta_no", 1037));
+ if (!basAgvMastList.isEmpty()) {
+ News.info("{}鍙风珯鐐瑰瓨鍦ㄤ换鍔℃墽琛屼腑锛岀瓑寰呬换鍔℃墽琛屽畬姣�!!!", outStaAgv);
+ continue;
+ }
+ // 浠诲姟鐢熸垚鍖� --------------------------------------------------------------------------
+
+ BasAgvMast basAgvMast = new BasAgvMast();
+ try {
+ basAgvMast.setTaskNo(staProtocol.getWorkNo());
+ basAgvMast.setSourceStaNo(1041);
+ basAgvMast.setStaNo(1037);
+ basAgvMast.setDevpId(devp.getId());
+ basAgvMast.setIoType(3);//杈撻��==銆嬭緭閫佺嚎绔欑偣 3
+ basAgvMastService.insert(basAgvMast);
+ break;
+ } catch (Exception e) {
+ News.error(JSON.toJSONString(e.getMessage()));
+ }
+ }
+ }
+ }
+
/*
* agv浠诲姟涓嬪彂:AGV搴撲綅==銆嬭緭閫佺嚎绔欑偣
@@ -4904,6 +4975,8 @@
}
}
+
+
/*
* agv浠诲姟涓嬪彂:AGV搴撲綅==銆婣GV搴撲綅
* */
--
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