From 770a7701c1473993c0e8148377c4f44dfec31e20 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期二, 28 十一月 2023 16:34:19 +0800
Subject: [PATCH] #接口+高度位变更为检测小车+扫码
---
src/main/java/com/zy/asrs/service/impl/OpenServiceImpl.java | 102 +++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 99 insertions(+), 3 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/OpenServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/OpenServiceImpl.java
index 1819c4a..2741292 100644
--- a/src/main/java/com/zy/asrs/service/impl/OpenServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/OpenServiceImpl.java
@@ -8,11 +8,20 @@
import com.zy.asrs.domain.enums.TaskStatusType;
import com.zy.asrs.entity.TaskWrk;
import com.zy.asrs.entity.ToWmsDTO;
+import com.zy.asrs.entity.param.TaskOverParam;
import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
import com.zy.asrs.entity.param.taskCreateParam;
import com.zy.asrs.service.OpenService;
import com.zy.asrs.service.TaskWrkService;
import com.zy.common.utils.HttpHandler;
+import com.zy.core.DevpThread;
+import com.zy.core.cache.MessageQueue;
+import com.zy.core.cache.SlaveConnection;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.DevpSlave;
+import com.zy.core.model.Task;
+import com.zy.core.model.protocol.StaProtocol;
+import com.zy.core.properties.SlaveProperties;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
@@ -25,9 +34,14 @@
@Autowired
private TaskWrkService taskWrkService;
+ @Autowired
+ private SlaveProperties slaveProperties;
@Value("${wms.url}")
private String wmsUrl;
+ public ArrayList<String> wharfCode1 = new ArrayList<String>(){{
+ add("J-1101"); add("J-1103"); add("J-1105"); add("J-1107"); add("J-1109"); add("J-1111");
+ }};
@Override
public void taskCreate(taskCreateParam param) {
@@ -74,9 +88,8 @@
ToWmsDTO toWmsDTO = new ToWmsDTO();
Map<String, Object> map = new HashMap<>();
map.put("x-api-key","7a15b5db-29b6-552c-8cff-0cfec3756da2");
- List<Integer> list = new ArrayList<>();
- list.add(1);
- list.add(4);
+ List<Integer> list = getInEnableRoadway();
+
//TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
toWmsDTO.setWarehouseId("1688469798893297665");
toWmsDTO.setContainerCode(param.getContainerCode());
@@ -105,4 +118,87 @@
}
}
+
+ @Override
+ public void getAgvTaskOver(TaskOverParam param) {
+ Map<String,Integer> map = new HashMap<>();
+ map.put("J-1101",102);map.put("J-1102",101);
+ map.put("J-1103",106);map.put("J-1104",105);
+ map.put("J-1105",110);map.put("J-1106",109);
+ map.put("J-1107",114);map.put("J-1108",113);
+ map.put("J-1109",118);map.put("J-1110",117);
+ map.put("J-1111",122);map.put("J-1112",121);
+
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(map.get(param.getWharfCode()));
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ Short workNo = staProtocol.getWorkNo();
+ for (DevpSlave.Sta inSta : devp.getInSta()) {
+ if (inSta.getBackSta().equals(map.get(param.getWharfCode()))){
+ if (wharfCode1.contains(param.getWharfCode())){
+ if (!staProtocol.isLoading() && !staProtocol.isCar()){
+ //AGV鍑哄簱瀹屾垚浠ュ悗
+ }
+
+ }else {
+ if (staProtocol.isLoading() && !staProtocol.isCar() && workNo == 0){
+ //AGV鍏ュ簱瀹屾垚浠ュ悗
+ staProtocol.setWorkNo((short) 9998);
+ staProtocol.setStaNo(inSta.getStaNo().shortValue());
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ if (result) {
+
+ } else {
+ throw new RuntimeException("agv杩斿洖瀹屾垚鍚庯紝鍛戒护涓嬪彂澶辫触");
+ }
+ }
+ }
+ }
+ }
+
+
+
+ }
+
+ }
+
+ public List<Integer> getInEnableRoadway(){
+ int[] roadway = null;
+ List<Integer> list = new ArrayList<>();
+ Map<Integer,Integer> map = new HashMap<>();
+ map.put(103,1);
+ map.put(107,2);
+ map.put(111,3);
+ map.put(115,4);
+ map.put(119,5);
+ map.put(123,6);
+ map.put(300,7);
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鍏ュ簱鍙�
+ for (DevpSlave.Sta inSta : devp.getInSta()) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(inSta.getBackSta());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ Short workNo = staProtocol.getWorkNo();
+ if (workNo == 0 && !staProtocol.isLoading()){
+ list.add(map.get(inSta.getStaNo()));
+ }
+ }
+ }
+ //roadway = list.stream().mapToInt(Integer::intValue).toArray();
+ return list;
+ }
}
--
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