From 8e01a40be0a7ba61ece12870332b35a1fa3bfcd5 Mon Sep 17 00:00:00 2001
From: zwl <1051256694@qq.com>
Date: 星期五, 02 一月 2026 10:26:41 +0800
Subject: [PATCH] 1.新增agv状态请求离开 2.修复无法自动生成移库任务
---
src/main/java/com/zy/asrs/entity/MesReturn.java | 20 +
src/main/java/com/zy/asrs/service/impl/AgvTaskServiceImpl.java | 12
src/main/java/com/zy/asrs/entity/TransParent.java | 2
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 314 ++++++++----------
src/main/java/com/zy/asrs/entity/WrkMast.java | 2
src/main/resources/mapper/WrkMastMapper.xml | 5
src/main/java/com/zy/asrs/entity/WrkMastLog.java | 3
src/main/java/com/zy/common/model/MatDto.java | 10
/dev/null | 23 -
src/main/java/com/zy/core/thread/SiemensCrnThread.java | 8
src/main/java/com/zy/asrs/enums/RcsRetMethodEnum.java | 4
src/main/java/com/zy/asrs/service/AgvTaskService.java | 2
src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java | 489 ++++++++++++++++++++++--------
src/main/java/com/zy/asrs/service/impl/WrkMastLogServiceImpl.java | 25 +
src/main/java/com/zy/core/MainProcess.java | 4
src/main/resources/application.yml | 7
16 files changed, 588 insertions(+), 342 deletions(-)
diff --git a/src/main/java/com/zy/asrs/entity/MesReturn.java b/src/main/java/com/zy/asrs/entity/MesReturn.java
new file mode 100644
index 0000000..cb7611d
--- /dev/null
+++ b/src/main/java/com/zy/asrs/entity/MesReturn.java
@@ -0,0 +1,20 @@
+package com.zy.asrs.entity;
+
+import com.alibaba.fastjson.annotation.JSONField;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+// MES鎺ュ彛杩斿洖缁撴灉
+@Data
+public class MesReturn {
+
+ // 1锛氭垚鍔燂紱2锛氬け璐�
+ @JsonProperty("Success")
+ @JSONField(name = "Success")
+ private String Success;
+ // 澶辫触娑堟伅
+ @JsonProperty("Message")
+ @JSONField(name = "Message")
+ private String Message;
+
+}
\ No newline at end of file
diff --git a/src/main/java/com/zy/asrs/entity/TransParent.java b/src/main/java/com/zy/asrs/entity/TransParent.java
index 58d5ca8..441f856 100644
--- a/src/main/java/com/zy/asrs/entity/TransParent.java
+++ b/src/main/java/com/zy/asrs/entity/TransParent.java
@@ -12,7 +12,7 @@
private String taskno;
// 浠诲姟鍚嶇О锛寃cs_task_header琛ㄤ腑鐨則ask_name
private String taskname;
- // AGV缂栫爜
+ // 涓嬪彂鐢宠鏄細1.婊戝潡搴� 2.杩炴帴鍣ㄥ簱
@JsonProperty("AgvCode")
@JSONField(name = "AgvCode")
private String AgvCode;
diff --git a/src/main/java/com/zy/asrs/entity/WrkMast.java b/src/main/java/com/zy/asrs/entity/WrkMast.java
index ecce007..3822da9 100644
--- a/src/main/java/com/zy/asrs/entity/WrkMast.java
+++ b/src/main/java/com/zy/asrs/entity/WrkMast.java
@@ -26,7 +26,7 @@
private static final long serialVersionUID = 1L;
@ApiModelProperty(value= "")
- @TableId(value = "id", type = IdType.AUTO)
+ @TableId(value = "id", type = IdType.INPUT)
private Long id;
/**
diff --git a/src/main/java/com/zy/asrs/entity/WrkMastLog.java b/src/main/java/com/zy/asrs/entity/WrkMastLog.java
index 1d37309..a58bb64 100644
--- a/src/main/java/com/zy/asrs/entity/WrkMastLog.java
+++ b/src/main/java/com/zy/asrs/entity/WrkMastLog.java
@@ -29,6 +29,9 @@
@ApiModelProperty(value= "缂栧彿")
private Long id;
+ @ApiModelProperty("鏃ュ織ID")
+ private Long logId;
+
/**
* 宸ヤ綔鍙�
*/
diff --git a/src/main/java/com/zy/asrs/enums/RcsRetMethodEnum.java b/src/main/java/com/zy/asrs/enums/RcsRetMethodEnum.java
index 6a0784a..cdeb12f 100644
--- a/src/main/java/com/zy/asrs/enums/RcsRetMethodEnum.java
+++ b/src/main/java/com/zy/asrs/enums/RcsRetMethodEnum.java
@@ -6,7 +6,9 @@
TASK_OUT_BIN("outbin", "璧板嚭鍌ㄤ綅"),
APPLY_IN_STATION("applyInStation", "鍏ョ珯璇锋眰"),
- APPLY_OFF_STATION("applyOutStation", "绂荤珯璇锋眰"),
+// APPLY_OFF_STATION("applyOutStation", "绂荤珯璇锋眰"),
+ APPLY_IN_OFF_STATION("applyInOffStation", "鍙栬揣绂荤珯璇锋眰"),
+ APPLY_OFF_STATION("applyOutOffStation", "鏀捐揣绂荤珯璇锋眰"),
ARRIVE_ON_STATION("arriveOnStation", "鍒扮珯瀹屾垚"),
ARRIVE_OFF_STATION("arriveOffStation", "绂荤珯瀹屾垚"),
diff --git a/src/main/java/com/zy/asrs/service/TaskService.java b/src/main/java/com/zy/asrs/service/AgvTaskService.java
similarity index 74%
rename from src/main/java/com/zy/asrs/service/TaskService.java
rename to src/main/java/com/zy/asrs/service/AgvTaskService.java
index eaad23f..3ba2b1b 100644
--- a/src/main/java/com/zy/asrs/service/TaskService.java
+++ b/src/main/java/com/zy/asrs/service/AgvTaskService.java
@@ -5,5 +5,5 @@
import org.springframework.stereotype.Service;
@Service
-public interface TaskService extends IService<AgvTask> {
+public interface AgvTaskService extends IService<AgvTask> {
}
diff --git a/src/main/java/com/zy/asrs/service/impl/AgvTaskServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/AgvTaskServiceImpl.java
new file mode 100644
index 0000000..442ad12
--- /dev/null
+++ b/src/main/java/com/zy/asrs/service/impl/AgvTaskServiceImpl.java
@@ -0,0 +1,12 @@
+package com.zy.asrs.service.impl;
+
+import com.baomidou.mybatisplus.service.impl.ServiceImpl;
+import com.zy.asrs.entity.AgvTask;
+import com.zy.asrs.mapper.TaskMapper;
+import com.zy.asrs.service.AgvTaskService;
+import org.springframework.stereotype.Service;
+
+@Service
+public class AgvTaskServiceImpl extends ServiceImpl<TaskMapper, AgvTask> implements AgvTaskService {
+
+}
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 986bd05..473fa61 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -101,6 +101,8 @@
@Autowired
private HikUtils hikUtils;
+ @Autowired
+ private AgvTaskServiceImpl agvTaskService;
/**
* 缁勬墭
@@ -129,6 +131,38 @@
//LED
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "";
+ if (staProtocol.isFrontError()) {
+ errMsg = "鍓嶈秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isBackError()) {
+ errMsg = "鍚庤秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isHighError()) {
+ errMsg = "楂樿秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isLeftError()) {
+ errMsg = "宸﹁秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isRightError()) {
+ errMsg = "鍙宠秴闄�";
+ back = true;
+ }
+ if (!back && staProtocol.isWeightError()) {
+ errMsg = "瓒呴噸";
+ back = true;
+ }
+ if (!back && staProtocol.isBarcodeError()) {
+ errMsg = "鎵爜澶辫触";
+ back = true;
+ }
+
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (!staProtocol.isLoading()) {
continue;
@@ -137,14 +171,39 @@
if (staProtocol.isAutoing()
&& staProtocol.isInEnable()
&& !staProtocol.isEmptyMk()
- && staProtocol.getWorkNo() == 9999
+ && staProtocol.getWorkNo() >9990
+ && staProtocol.isEmptyOutType()
&& staProtocol.isPakMk()) {
News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛�");
+ Short wrkNo = 9981;
+ Short bark = 303;
+ if(staProtocol.getSiteId()==304){
+ wrkNo = 9982;
+ bark = 306;
+ }else if(staProtocol.getSiteId()==307){
+ wrkNo = 9983;
+ bark = 307;
+ }
+
+ if (back) {
+ // led 寮傚父鏄剧ず
+ if (ledThread != null) {
+ String errorMsg = errMsg;
+ MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
+ }
+ log.error("杈撻�佺嚎寮傚父缁勬墭閫�鍥�={}",errMsg);
+ staProtocol.setWorkNo( wrkNo);
+
+ staProtocol.setStaNo(bark);
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ continue;
+ }
String barcode = barcodeThread.getBarcode();
if (!Cools.isEmpty(barcode)) {
News.info("" + mark + " - 1" + " - {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
- if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
+ if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)|| "00000000".equals(barcode)) {
// staProtocol.setWorkNo((short) 9992);
// staProtocol.setStaNo(inSta.getBackSta().shortValue());
// devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -155,6 +214,12 @@
String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
}
+ log.error("杈撻�佺嚎寮傚父缁勬墭閫�鍥�={}",errMsg);
+ staProtocol.setWorkNo( wrkNo);
+
+ staProtocol.setStaNo(bark);
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
continue;
}
} else {
@@ -169,6 +234,12 @@
String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
}
+ log.error("杈撻�佺嚎寮傚父缁勬墭閫�鍥�={}",errMsg);
+ staProtocol.setWorkNo( wrkNo);
+
+ staProtocol.setStaNo(bark);
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
continue;
}
@@ -283,6 +354,12 @@
String errorMsg = jsonObject.getString("msg");
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
}
+ log.error("杈撻�佺嚎寮傚父缁勬墭閫�鍥�={}",errMsg);
+ staProtocol.setWorkNo( wrkNo);
+
+ staProtocol.setStaNo(bark);
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
}
} catch (Exception e) {
@@ -540,7 +617,7 @@
if (staProtocol.isAutoing()
&& staProtocol.isLoading()
&& staProtocol.isInEnable()
- && staProtocol.getWorkNo() > 0
+ && staProtocol.getWorkNo() == 9991
&& staProtocol.isPakMk()) {
News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛�");
@@ -549,7 +626,21 @@
if (barcodeThread == null) {
continue;
}
+
+ String name="401";
+ if (staProtocol.getSiteId()==402){
+ name = "402";
+ }
+ String bar = "";
+ Config name1 = configService.selectOne(new EntityWrapper<Config>().eq("name", name));
+ if (!Cools.isEmpty(name1)) {
+ bar = name1.getValue();
+ }
+
String barcode = barcodeThread.getBarcode();
+ if (barcode.equals("00000000")){
+ barcode = bar;
+ }
if (!Cools.isEmpty(barcode)) {
News.info("" + mark + " - 1" + " - {}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", insta.getBarcode(), barcode);
if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
@@ -606,7 +697,8 @@
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) {
+
+ if (!wrkMastLogService.save(wrkMast.getWrkNo())) {
throw new CoolException("淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
}
@@ -704,7 +796,7 @@
staProtocol = staProtocol.clone();
}
- if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
+ if (staProtocol.isAutoing() && staProtocol.isLoading()) {
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
@@ -718,9 +810,6 @@
.eq("loc_no", wrkMast.getSourceLocNo()));
short staNo = wrkMast.getStaNo().shortValue();
- if (wrkMast.getStaNo() == 1004) {
- staNo = 2003;
- }
// 涓嬪彂绔欑偣淇℃伅
staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
@@ -1168,14 +1257,14 @@
}
//鏌ヨ鍦ㄥ簱淇℃伅
LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
- .eq("loc_sts", "R")
+ .in("loc_sts", "R","P")
.eq("loc_no", wrkMast.getSourceLocNo()));
if (Cools.isEmpty(locMast)) {
News.error("鍑哄簱 ===>> 搴撲綅涓病鏈夎繖绗旇祫鏂�", wrkMast.getSourceLocNo());
continue;
}
//鍫嗗灈鏈烘帴椹崇珯鐐规病鏈夌┖鏂欐灦
- if(staProtocol.getSiteId()==307&&!staProtocol.isEmptyOutType()&&(Cools.isEmpty(wrkMast.getCtnType())||wrkMast.getCtnType()==0)){
+ if(!staProtocol.isEmptyOutType()&&(Cools.isEmpty(wrkMast.getCtnType())||wrkMast.getCtnType()==0)){
//璇锋眰wms涓嬪彂agv鎼繍绌烘枡鏋跺埌鍫嗗灈鏈烘帴椹崇珯鐐逛换鍔�
try {
HashMap<String,Object> hashMap=new HashMap<>();
@@ -1198,17 +1287,17 @@
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
}
}
- Boolean config = true;
- if (staProtocol.getSiteId()==307 && !staProtocol.isEmptyOutType()){
- config = false;
- }
-
- // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
+ // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��&& staProtocol.isOutEnable()
if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
- && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable() && config) {
+ && staProtocol.isEmptyOutType()) {
// 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ //鍒ゆ柇鏄惁鏈夋鍦ㄦ墽琛屼腑鐨凙GV浠诲姟
+ List<AgvTask> agvTasks = agvTaskService.selectList(new EntityWrapper<AgvTask>().eq("wrk_sts", 302).eq("source_sta_no", staProtocol.getSiteId()));
+ if (agvTasks != null && agvTasks.size() > 0) {
+ continue;
+ }
// 鍫嗗灈鏈烘帶鍒惰繃婊�
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
// continue;
@@ -1288,16 +1377,6 @@
}
break;
}
- }else if ((staProtocol.getSiteId()==304 || staProtocol.getSiteId()==301) && staProtocol.isAutoing()
- && (staProtocol.isLoading() || staProtocol.getWorkNo() != 0)) {
- if (staProtocol.getSiteId() == 304){
- wrkMast.setSourceStaNo(301);
-
- }else {
- wrkMast.setSourceStaNo(304);
- }
- wrkMast.setModiTime(new Date());
- wrkMastMapper.updateById(wrkMast);
}
}
@@ -1805,10 +1884,7 @@
// 绔欑偣鏉′欢鍒ゆ柇
if (staProtocol.isAutoing()
&& staProtocol.isInEnable()
- && staProtocol.isEmptyMk()
- && (staProtocol.getWorkNo() ==0)
&& staProtocol.isPakMk()
-// && staProtocol.getEmptyInType() == 1
) {
News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛岋細绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�");
@@ -1841,7 +1917,6 @@
try {
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-
SearchLocParam param = new SearchLocParam();
param.setIoType(10);
param.setSourceStaNo(emptyInSta.getStaNo());
@@ -2021,9 +2096,8 @@
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
// 鍛戒护闆嗗悎
List<LedCommand> commands = new ArrayList<>();
-// // 宸ヤ綔妗ｉ泦鍚�
-// List<WrkMast> wrkMasts = new ArrayList<>();
- List<Integer> workNoList = new ArrayList<>();
+ // 宸ヤ綔妗ｉ泦鍚�
+ List<WrkMast> wrkMasts = new ArrayList<>();
for (Integer staNo : led.getStaArr()) {
// 鑾峰彇鍙夎溅绔欑偣
StaProtocol staProtocol = devpThread.getStation().get(staNo);
@@ -2032,48 +2106,20 @@
} else {
staProtocol = staProtocol.clone();
}
- Integer wrkNo = null;
- Integer ioType = null;
- Integer targetStaNo = null;
- String sourceLocNo = null;
- String locNo = null;
- String barcode = null;
-
// 鑾峰彇宸ヤ綔妗ｆ暟鎹�
WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
// if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
if (null == wrkMast) {
- List<WrkMastLog> wrkMastLogs = wrkMastLogService.selectList(new EntityWrapper<WrkMastLog>()
- .eq("wrk_no", staProtocol.getWorkNo())
- .orderBy("modi_time", false)
- );
- if (wrkMastLogs.isEmpty()) {
- continue;
- }
-
- WrkMastLog wrkMastLog = wrkMastLogs.get(0);
- wrkNo = wrkMastLog.getWrkNo();
- ioType = wrkMastLog.getIoType();
- sourceLocNo = wrkMastLog.getSourceLocNo();
- locNo = wrkMastLog.getLocNo();
- targetStaNo = wrkMastLog.getStaNo();
- barcode = wrkMastLog.getBarcode();
- }else {
- wrkNo = wrkMast.getWrkNo();
- ioType = wrkMast.getIoType();
- sourceLocNo = wrkMast.getSourceLocNo();
- locNo = wrkMast.getLocNo();
- targetStaNo = wrkMast.getStaNo();
- barcode = wrkMast.getBarcode();
+ continue;
}
- News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛�:鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�");
- workNoList.add(wrkNo);
+ News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛�:鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�");
+ wrkMasts.add(wrkMast);
// 缁勮鍛戒护
LedCommand ledCommand = new LedCommand();
- ledCommand.setWorkNo(wrkNo);
- ledCommand.setIoType(ioType);
+ ledCommand.setWorkNo(wrkMast.getWrkNo());
+ ledCommand.setIoType(wrkMast.getIoType());
// 鍑哄簱妯″紡
- switch (ioType) {
+ switch (wrkMast.getIoType()) {
case 1:
ledCommand.setTitle("鍏ㄦ澘鍏ュ簱");
break;
@@ -2106,104 +2152,34 @@
ledCommand.setTitle("骞舵澘鍏ュ簱");
break;
default:
- News.error("" + mark + " - 1" + " - 浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkNo, ioType);
+ News.error(""+mark+" - 1"+" - 浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
break;
}
- ledCommand.setSourceLocNo(sourceLocNo);
- ledCommand.setLocNo(locNo);
- ledCommand.setStaNo(targetStaNo);
- ledCommand.setBarcode(barcode);
+ ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
+ ledCommand.setLocNo(wrkMast.getLocNo());
+ ledCommand.setStaNo(wrkMast.getStaNo());
// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
- if (ioType != 110 && ioType != 10) {
- List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkNo);
-
- if (!wrkDetls.isEmpty()) {
- WrkDetl wrkDetl = wrkDetls.get(0);
- double anfme = 0D;
- double weight = 0D;
- for (WrkDetl detl : wrkDetls) {
- anfme += detl.getAnfme();
- weight += detl.getWeight();
- wrkDetl.setAnfme(anfme);
- wrkDetl.setWeight(weight);
- }
-
- List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>()
- .eq("loc_no", wrkMast.getSourceLocNo()));
- double totalAnfme = 0D;
- double totalWeight = 0D;
- for (LocDetl locDetl : locDetls) {
- totalAnfme += locDetl.getAnfme();
- totalWeight += locDetl.getWeight();
- }
- wrkDetl.setStockNum(totalAnfme);
- wrkDetl.setStockNum2(totalWeight);
-
- ledCommand.getMatDtos().add(new MatDto(
- wrkDetl.getMatnr()
- , wrkDetl.getMaktx()
- , wrkDetl.getAnfme()
- , wrkDetl.getWeight()
- , wrkDetl.getStockNum()
- , wrkDetl.getStockNum2()
- , wrkDetl.getSpecs()
- , wrkDetl.getSku()
- , wrkDetl.getZpallet()
- , wrkDetl.getModel()
- , wrkDetl.getSupp()
- , wrkDetl.getKpCstmrName()
- , wrkDetl.getOrderNo()
- , wrkDetl.getCstateid$()
- ));
-
- }else {
- List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectTodayByWrkNo(wrkNo);
- if(!wrkDetlLogs.isEmpty()) {
- WrkDetlLog wrkDetlLog = wrkDetlLogs.get(0);
-
- double anfme = 0D;
- double weight = 0D;
- for (WrkDetlLog detl : wrkDetlLogs) {
- anfme += detl.getAnfme();
- weight += detl.getWeight();
- wrkDetlLog.setAnfme(anfme);
- wrkDetlLog.setWeight(weight);
+ if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
+ List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
+ try{
+ if (wrkMast.getIoType()>100){
+ for (WrkDetl wrkDetl : wrkDetls){
+ LocDetl locDetl = locDetlService.selectMatnrSpecs(wrkDetl.getMatnr(), wrkDetl.getSpecs(), wrkMast.getSourceLocNo());
+ wrkDetl.setWeight(locDetl.getAnfme());
}
-
- List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>()
- .eq("loc_no", sourceLocNo));
- double totalAnfme = 0D;
- double totalWeight = 0D;
- for (LocDetl locDetl : locDetls) {
- totalAnfme += locDetl.getAnfme();
- totalWeight += locDetl.getWeight();
+ }else {
+ for (WrkDetl wrkDetl : wrkDetls){
+ wrkDetl.setWeight(wrkDetl.getAnfme());
}
- wrkDetlLog.setStockNum(totalAnfme);
- wrkDetlLog.setStockNum2(totalWeight);
-
- ledCommand.getMatDtos().add(new MatDto(
- wrkDetlLog.getMatnr()
- , wrkDetlLog.getMaktx()
- , wrkDetlLog.getAnfme()
- , wrkDetlLog.getWeight()
- , wrkDetlLog.getStockNum()
- , wrkDetlLog.getStockNum2()
- , wrkDetlLog.getSpecs()
- , wrkDetlLog.getSku()
- , wrkDetlLog.getZpallet()
- , wrkDetlLog.getModel()
- , wrkDetlLog.getSupp()
- , wrkDetlLog.getKpCstmrName()
- , wrkDetlLog.getOrderNo()
- , wrkDetlLog.getCstateid$()
- ));
}
+ }catch (Exception e){
+ log.error("宸ヤ綔妗ｆ鏄庣粏杈撳叆鐢佃鏈哄け璐�1锛氬紓甯镐俊鎭�==銆�"+e);
}
-
+ wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getWeight(),wrkDetl.getSpecs(),wrkDetl.getSku())));
}
commands.add(ledCommand);
}
- Set<Integer> workNos = new HashSet<>(workNoList);
+ Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
// 鑾峰彇LED绾跨▼
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
// 鐩稿悓宸ヤ綔鍙烽泦鍚堝垯杩囨护
@@ -2234,22 +2210,19 @@
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
News.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
continue;
- } else {
+ }else {
ledThread.setLedMk(false);
}
}
try {
// 淇敼涓绘。led鏍囪
- for (Integer wrkNo : workNoList) {
- WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", wrkNo));
- if (wrkMast != null) {
- wrkMast.setOveMk("Y");
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.errorNoLog("" + mark + " - 4" + " - 鏇存柊宸ヤ綔妗ｅけ璐�");
- throw new CoolException("鏇存柊宸ヤ綔妗ｅけ璐�");
- }
+ for (WrkMast wrkMast : wrkMasts) {
+ wrkMast.setOveMk("Y");
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ News.errorNoLog(""+mark+" - 4"+" - 鏇存柊宸ヤ綔妗ｅけ璐�");
+ throw new CoolException("鏇存柊宸ヤ綔妗ｅけ璐�");
}
}
@@ -2262,7 +2235,7 @@
}
}
- News.infoNoLog("" + mark + " - 0" + " - 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣ㄦ墽琛屽畬鎴�");
+ News.infoNoLog(""+mark+" - 0"+" - 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣ㄦ墽琛屽畬鎴�");
}
/**
@@ -2270,7 +2243,7 @@
*/
public synchronized void ledReset(Integer mark) {
- News.warnNoLog("" + mark + " - 0" + " - 寮�濮嬫墽琛�:鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅");
+ News.warnNoLog(""+mark+" - 0"+" - 寮�濮嬫墽琛�:鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅");
for (LedSlave led : slaveProperties.getLed()) {
// 鑾峰彇杈撻�佺嚎plc绾跨▼
@@ -2294,13 +2267,13 @@
if (reset && !ledThread.isLedMk()) {
ledThread.setLedMk(true);
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
- News.error("" + mark + " - 1" + " - {}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+ News.error(""+mark+" - 1"+" - {}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
} else {
}
}
}
- News.infoNoLog("" + mark + " - 0" + " - 鎵ц瀹屾垚锛氬叾浠� ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅");
+ News.infoNoLog(""+mark+" - 0"+" - 鎵ц瀹屾垚锛氬叾浠� ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅");
}
/**
@@ -2436,7 +2409,6 @@
int workNo = commonService.getWorkNo(0);
// 淇濆瓨宸ヤ綔妗�
WrkMast wrkMast = new WrkMast();
- wrkMast.setId();
wrkMast.setWrkNo(workNo);
wrkMast.setIoTime(new Date());
wrkMast.setWrkSts(11L); // 宸ヤ綔鐘舵�侊細11.鐢熸垚鍑哄簱ID
diff --git a/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java
index 2347bfc..83f63c0 100644
--- a/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/RcsServiceImpl.java
@@ -4,15 +4,13 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
-import com.core.common.R;
import com.zy.asrs.entity.*;
import com.zy.asrs.enums.RcsRetMethodEnum;
+import com.zy.asrs.service.AgvTaskService;
import com.zy.asrs.service.RcsService;
-import com.zy.asrs.service.TaskService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
-import com.zy.core.model.Task;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
@@ -29,12 +27,8 @@
import java.net.URL;
import java.net.URLConnection;
import java.nio.charset.StandardCharsets;
-import java.util.ArrayList;
import java.util.Date;
-import java.util.List;
import java.util.Objects;
-import java.util.regex.Matcher;
-import java.util.regex.Pattern;
@Slf4j
@Service
@@ -43,8 +37,11 @@
@Value("${hik.url}")
private String HIK_URL;
+ @Value("${mes.url}")
+ public String MES_URL;
+
@Autowired
- private TaskService taskService;
+ private AgvTaskService agvTaskService;
/**
@@ -56,6 +53,7 @@
*/
@Override
public RcsReturn reporterTask(RcsReporterTask rcsReporterTask) {
+ log.info("娴峰悍AGV绔欑偣浠诲姟璇锋眰={}", JSONObject.toJSONString(rcsReporterTask));
RcsReturn rcsReturn = new RcsReturn();
@@ -71,70 +69,29 @@
String slotCode = values.getString("slotCode");
EntityWrapper<AgvTask> wrapper = new EntityWrapper<>();
wrapper.eq("task_no", robotTaskCode);
- AgvTask task = taskService.selectOne(wrapper);
- if(!Cools.isEmpty(task)){
+ AgvTask task = agvTaskService.selectOne(wrapper);
+ if (!Cools.isEmpty(task)) {
try {
- // q3,q8=1
- if ("1".equals(carrierType)) { //AGV
-
- switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
- //鏀捐揣鐢宠
- case APPLY_PUT: {
+ switch (Objects.requireNonNull(RcsRetMethodEnum.getEnum(method))) {
+ //鏀捐揣鐢宠
+ case APPLY_PUT: {
+ if(task.getStaNo().equals("401")||task.getStaNo().equals("402")||task.getStaNo().equals("307")) {
Integer sourceStaNo = Integer.valueOf(task.getStaNo());
SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
//wcs鍙嶉rcs缁х画鎵ц
if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType()) {
- RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
- rcsTaskContinue.setRobotTaskCode(task.getTaskNo());
- rcsTaskContinue.setTriggerType("TASK");
- rcsTaskContinue.setTriggerCode(task.getTaskNo());
+ if(task.getTaskType().equals("AGV琛ョ┖鏂欐灦")){
+ RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
+ rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ rcsTaskContinue.setTriggerType("TASK");
+ rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
- String url =HIK_URL + "api/robot/controller/task/extend/continue";
- String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
- if (!StringUtils.isEmpty(response) && response.contains("code")){
- RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
- if("200".equals(rcsReturn1.getCode())) {
- //鍑哄彂PLC绔欑偣鐨勬壂鐮佸櫒鎵爜
- boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));
- log.info("AGV鏀捐揣瀹屾垚锛岀粰绔欑偣鍐�9991宸ヤ綔鍙�,涓嬪彂浠诲姟:{},绔欑偣:{},agv浠诲姟鍙�:{}",result,task.getStaNo(),task.getTaskNo());
- if (result) {
- // 杩斿洖RCS
- rcsReturn.setCode("SUCCESS");
- rcsReturn.setMessage("");
- JSONObject data = new JSONObject();
- data.put("robotTaskCode", robotTaskCode);
- rcsReturn.setData(data);
- }else {
- // 杩斿洖RCS
- rcsReturn.setCode("Err_Internal");
- rcsReturn.setMessage("");
- JSONObject data = new JSONObject();
- data.put("robotTaskCode", robotTaskCode);
- rcsReturn.setData(data);
- }
+ String url = HIK_URL + "api/robot/controller/task/extend/continue";
+ String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
+ if (!StringUtils.isEmpty(response) && response.contains("code")) {
+ log.info("鍏佽AGV鏀捐揣鎴愬姛");
}
- }
- }
- }
- break;
-
- //鏀捐揣瀹屾垚 --銆媋gv宸茬粡绂诲紑
- case TASK_END: {
- Integer sourceStaNo = Integer.valueOf(task.getStaNo());
- SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
- //鏀捐揣瀹屾垚 --銆媋gv宸茬粡绂诲紑 --銆嬬粰PLC绔欑偣鍐�9991宸ヤ綔鍙�
- if (staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() ==0) {
- staProtocol.setWorkNo((short) 9991);
- staProtocol.setStaNo(Short.valueOf(task.getStaNo()));
- boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
- log.info("AGV鏀捐揣瀹屾垚锛岀粰绔欑偣鍐�9991宸ヤ綔鍙�,涓嬪彂浠诲姟:{},绔欑偣:{},agv浠诲姟鍙�:{}",result,task.getStaNo(),task.getTaskNo());
- if(result){
- // 鏇存柊浠诲姟鐘舵�佺瓑鍐呴儴閫昏緫
- task.setWrkSts(304L); // 301 浠诲姟涓嬪彂銆�302 浠诲姟鎵ц銆�303 浠诲姟涓柇銆�304 浠诲姟缁撴潫
- task.setModiTime(new Date());
- taskService.updateById(task);
// 杩斿洖RCS
rcsReturn.setCode("SUCCESS");
rcsReturn.setMessage("");
@@ -142,42 +99,27 @@
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
}else {
- // 杩斿洖RCS
- rcsReturn.setCode("Err_Internal");
- rcsReturn.setMessage("");
- JSONObject data = new JSONObject();
- data.put("robotTaskCode", robotTaskCode);
- rcsReturn.setData(data);
- }
- }
- }
- break;
- //rcs璇锋眰wms鍙栬揣鐢宠
- case APPLY_PICK: {
- Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
- SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
- //鍒ゆ柇绔欑偣鏄惁鏈夋枡鏋跺拰鎵樼洏
- if (staProtocol != null && staProtocol.isLoading()
- && staProtocol.isEmptyOutType()
- && staProtocol.getWorkNo() >0 && staProtocol.getWorkNo() <9990) {
- RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
- rcsTaskContinue.setRobotTaskCode(task.getTaskNo());
- rcsTaskContinue.setTriggerType("TASK");
- rcsTaskContinue.setTriggerCode(task.getTaskNo());
-
- String url =HIK_URL + "api/robot/controller/task/extend/continue";
- String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
- if (!StringUtils.isEmpty(response) && response.contains("code")){
- RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
- if("200".equals(rcsReturn1.getCode())) {
+ //鍑哄彂PLC绔欑偣鐨勬壂鐮佸櫒鎵爜
+ boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(3, staProtocol));
+ if (result) {
+ log.info("鍏ュ簱绔欑偣={}瑙﹀彂鎵爜鎴愬姛", staProtocol.getSiteId());
// 杩斿洖RCS
rcsReturn.setCode("SUCCESS");
rcsReturn.setMessage("");
JSONObject data = new JSONObject();
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
- }else {
+ RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
+ rcsTaskContinue.setRobotTaskCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ rcsTaskContinue.setTriggerType("TASK");
+ rcsTaskContinue.setTriggerCode(task.getTaskNo()+"-"+(task.getCtnType()-1));
+
+ String url = HIK_URL + "api/robot/controller/task/extend/continue";
+ String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
+ if (!StringUtils.isEmpty(response) && response.contains("code")) {
+ log.info("鍏佽AGV鏀捐揣鎴愬姛");
+ }
+ } else {
// 杩斿洖RCS
rcsReturn.setCode("Err_Internal");
rcsReturn.setMessage("");
@@ -187,27 +129,65 @@
}
}
}
+ }else {
+ TransParent transParent = new TransParent();
+ transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ transParent.setStationId(task.getStaNo());
+ transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ int i = applyInStation(transParent);
+ if (i == 1) {
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
}
- break;
- //rcs鍙栬揣瀹屾垚锛屽凡閫�鍑鸿緭閫佺嚎
- case PICK_COMPLETE: {
- Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
+
+ }
+ break;
+
+ //鏀捐揣瀹屾垚 --銆媋gv宸茬粡绂诲紑
+ case TASK_END: {
+ if(task.getStaNo().equals("401")||task.getStaNo().equals("402")||task.getStaNo().equals("307")) {
+ Integer sourceStaNo = Integer.valueOf(task.getStaNo());
SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
+ Boolean boo = false;
+ Short wrkNo = 9991;
//鏀捐揣瀹屾垚 --銆媋gv宸茬粡绂诲紑 --銆嬬粰PLC绔欑偣鍐�9991宸ヤ綔鍙�
- if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType() && staProtocol.getWorkNo() >0 && staProtocol.getWorkNo() <9990) {
- staProtocol.setWorkNo((short) 0);
- staProtocol.setStaNo((short) 0);
+ //琛ョ┖鏂欐灦 --銆媋gv宸茬粡绔嬪簱 --銆嬬粰PLC绔欑偣鍐�9995宸ヤ綔鍙�
+ if (task.getTaskType().equals("AGV琛ョ┖鏂欐灦") && staProtocol != null && !staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0) {
+ boo = true;
+ wrkNo = 9995;
+ } else if (!task.getTaskType().equals("AGV琛ョ┖鏂欐灦") && staProtocol != null && staProtocol.isLoading() && staProtocol.isEmptyOutType() && staProtocol.getWorkNo() == 0) {
+ boo = true;
+ }
+ if (boo) {
+ staProtocol.setWorkNo(wrkNo);//绌烘枡鏋跺埌浣嶄俊鍙风偣
+ staProtocol.setStaNo(Short.valueOf("0"));
boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
- log.info("AGV鍙栬揣瀹屾垚锛岀粰绔欑偣鍐�0宸ヤ綔鍙�,涓嬪彂浠诲姟:{},绔欑偣:{},agv浠诲姟鍙�:{}",result,task.getStaNo(),task.getTaskNo());
- if(result){
+ log.info("AGV鏀捐揣瀹屾垚锛岀粰绔欑偣鍐�9991宸ヤ綔鍙�,涓嬪彂浠诲姟:{},绔欑偣:{},agv浠诲姟鍙�:{}", result, task.getStaNo(), task.getTaskNo());
+ if (result) {
+ // 鏇存柊浠诲姟鐘舵�佺瓑鍐呴儴閫昏緫
+ task.setWrkSts(304L); // 301 浠诲姟涓嬪彂銆�302 浠诲姟鎵ц銆�303 浠诲姟涓柇銆�304 浠诲姟缁撴潫
+ task.setModiTime(new Date());
+ agvTaskService.updateById(task);
// 杩斿洖RCS
rcsReturn.setCode("SUCCESS");
rcsReturn.setMessage("");
JSONObject data = new JSONObject();
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
- }else {
+ } else {
// 杩斿洖RCS
rcsReturn.setCode("Err_Internal");
rcsReturn.setMessage("");
@@ -215,16 +195,232 @@
data.put("robotTaskCode", robotTaskCode);
rcsReturn.setData(data);
}
+ } else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+ }else {
+ // 鏇存柊浠诲姟鐘舵�佺瓑鍐呴儴閫昏緫
+ task.setWrkSts(304L); // 301 浠诲姟涓嬪彂銆�302 浠诲姟鎵ц銆�303 浠诲姟涓柇銆�304 浠诲姟缁撴潫
+ task.setModiTime(new Date());
+ agvTaskService.updateById(task);
+ // 杩斿洖RCS
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+ }
+ break;
+ //rcs璇锋眰wms鍙栬揣鐢宠
+ case APPLY_PICK: {
+ if(task.getSourceStaNo().equals("401")||task.getSourceStaNo().equals("402")||task.getSourceStaNo().equals("307")) {
+ Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
+ SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
+ //鍒ゆ柇绔欑偣鏄惁鏈夋枡鏋跺拰鎵樼洏
+ if (staProtocol != null && (staProtocol.isLoading() || task.getTaskType().equals("AGV绌烘枡鏋跺洖缂撳瓨鍖�"))
+ && staProtocol.isEmptyOutType()) {
+ RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
+ rcsTaskContinue.setRobotTaskCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ rcsTaskContinue.setTriggerType("TASK");
+ rcsTaskContinue.setTriggerCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ String url = HIK_URL + "api/robot/controller/task/extend/continue";
+ String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
+ if (!StringUtils.isEmpty(response) && response.contains("code")) {
+ RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
+ if ("200".equals(rcsReturn1.getCode())) {
+ // 杩斿洖RCS
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ } else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+ }
+ }
+ }else {
+ TransParent transParent = new TransParent();
+ transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ transParent.setStationId(task.getStaNo());
+ transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ int i = applyInStation(transParent);
+ if (i == 1) {
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
}
}
- break;
+ }
+ break;
+ //rcs鍙栬揣瀹屾垚锛屽凡閫�鍑鸿緭閫佺嚎
+ case PICK_COMPLETE: {
+ Integer sourceStaNo = Integer.valueOf(task.getSourceStaNo());
+ SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = siemensDevpThread.getStation().get(sourceStaNo).clone();
+ //鏀捐揣瀹屾垚 --銆媋gv宸茬粡绂诲紑 --銆嬬粰PLC绔欑偣鍐�9991宸ヤ綔鍙�
+ if (staProtocol != null && !staProtocol.isLoading() && !staProtocol.isEmptyOutType()) {
+ staProtocol.setWorkNo((short) 0);
+ staProtocol.setStaNo((short) 0);
+ boolean result = MessageQueue.offer(SlaveType.Devp, 1, new com.zy.core.model.Task(2, staProtocol));
+ log.info("AGV鍙栬揣瀹屾垚锛岀粰绔欑偣鍐�0宸ヤ綔鍙�,涓嬪彂浠诲姟:{},绔欑偣:{},agv浠诲姟鍙�:{}", result, task.getStaNo(), task.getTaskNo());
+ if (result) {
+ // 杩斿洖RCS
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ } else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
- default: {
}
+ }
+ break;
+ //AGV鍙栬揣绂荤珯璇锋眰
+ case APPLY_IN_OFF_STATION:{
+ //濡傛灉鏄珛搴撶珯鐐圭洿鎺ュ厑璁哥绔�
+ if(task.getSourceStaNo().equals("401")||task.getSourceStaNo().equals("402")||task.getSourceStaNo().equals("307")) {
+ RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
+ rcsTaskContinue.setRobotTaskCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ rcsTaskContinue.setTriggerType("TASK");
+ rcsTaskContinue.setTriggerCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+
+ String url = HIK_URL + "api/robot/controller/task/extend/continue";
+ String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
+ if (!StringUtils.isEmpty(response) && response.contains("code")) {
+ RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
+ if ("200".equals(rcsReturn1.getCode())) {
+ // 杩斿洖RCS
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ } else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+ }
+ }else{
+ //濡傛灉鏄伐浣嶉渶瑕佸儚mes璇锋眰绂荤珯
+ TransParent transParent = new TransParent();
+ transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ transParent.setStationId(task.getStaNo());
+ transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ int i = applyOutStation(transParent);
+ if (i == 1) {
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+ }
+ break;
+ }
+ //AGV鏀捐揣绂荤珯璇锋眰
+ case APPLY_OFF_STATION:{
+ //濡傛灉鏄珛搴撶珯鐐圭洿鎺ュ厑璁哥绔�
+ if(task.getStaNo().equals("401")||task.getStaNo().equals("402")||task.getStaNo().equals("307")) {
+ RcsTaskContinue rcsTaskContinue = new RcsTaskContinue();
+ rcsTaskContinue.setRobotTaskCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+ rcsTaskContinue.setTriggerType("TASK");
+ rcsTaskContinue.setTriggerCode(task.getTaskNo() + "-" + (task.getCtnType() - 1));
+
+ String url = HIK_URL + "api/robot/controller/task/extend/continue";
+ String response = sendPost(url, JSONObject.toJSONString(rcsTaskContinue));
+ if (!StringUtils.isEmpty(response) && response.contains("code")) {
+ RcsReturn rcsReturn1 = JSONObject.parseObject(response, RcsReturn.class);
+ if ("200".equals(rcsReturn1.getCode())) {
+ // 杩斿洖RCS
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ } else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+ }
+ }else{
+ //濡傛灉鏄伐浣嶉渶瑕佸儚mes璇锋眰绂荤珯
+ TransParent transParent = new TransParent();
+ transParent.setTaskno(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ transParent.setTaskname(task.getTaskNo()+"-"+(task.getCtnType()-1));
+ transParent.setStationId(task.getStaNo());
+ transParent.setAgvCode("2");//杩炴帴鍣ㄥ簱
+ int i = applyOutStation(transParent);
+ if (i == 1) {
+ rcsReturn.setCode("SUCCESS");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }else {
+ // 杩斿洖RCS
+ rcsReturn.setCode("Err_Internal");
+ rcsReturn.setMessage("");
+ JSONObject data = new JSONObject();
+ data.put("robotTaskCode", robotTaskCode);
+ rcsReturn.setData(data);
+ }
+ }
+
break;
}
+
+ default: {
+ }
+ break;
}
+
} catch (Exception e) {
log.error("RCS鍙嶉浠诲姟杩涘害澶勭悊寮傚父 - {}", rcsReporterTask, e);
@@ -241,7 +437,7 @@
/**
* 鍚戞寚瀹� URL 鍙戦�丳OST鏂规硶鐨勮姹�
*
- * @param url 鍙戦�佽姹傜殑 URL
+ * @param url 鍙戦�佽姹傜殑 URL
* @param param 璇锋眰鍙傛暟锛岃姹傚弬鏁板簲璇ユ槸 name1=value1&name2=value2 鐨勫舰寮忋��
* @return 鎵�浠ｈ〃杩滅▼璧勬簮鐨勫搷搴旂粨鏋�
*/
@@ -249,8 +445,7 @@
PrintWriter out = null;
BufferedReader in = null;
StringBuilder result = new StringBuilder();
- try
- {
+ try {
log.info("sendPost - {} - {}", url, param);
URL realUrl = new URL(url);
URLConnection conn = realUrl.openConnection();
@@ -273,46 +468,70 @@
out.flush();
in = new BufferedReader(new InputStreamReader(conn.getInputStream(), StandardCharsets.UTF_8));
String line;
- while ((line = in.readLine()) != null)
- {
+ while ((line = in.readLine()) != null) {
result.append(line);
}
log.info("recv - {}", result);
- }
- catch (ConnectException e)
- {
+ } catch (ConnectException e) {
log.error("璋冪敤HttpUtils.sendPost ConnectException, url=" + url + ",param=" + param, e);
- }
- catch (SocketTimeoutException e)
- {
+ } catch (SocketTimeoutException e) {
log.error("璋冪敤HttpUtils.sendPost SocketTimeoutException, url=" + url + ",param=" + param, e);
- }
- catch (IOException e)
- {
+ } catch (IOException e) {
log.error("璋冪敤HttpUtils.sendPost IOException, url=" + url + ",param=" + param, e);
- }
- catch (Exception e)
- {
+ } catch (Exception e) {
log.error("璋冪敤HttpsUtil.sendPost Exception, url=" + url + ",param=" + param, e);
- }
- finally
- {
- try
- {
- if (out != null)
- {
+ } finally {
+ try {
+ if (out != null) {
out.close();
}
- if (in != null)
- {
+ if (in != null) {
in.close();
}
- }
- catch (IOException ex)
- {
+ } catch (IOException ex) {
log.error("璋冪敤in.close Exception, url=" + url + ",param=" + param, ex);
}
}
return result.toString();
}
+
+ /**
+ * 鍏ョ珯璇锋眰锛氳浆鍙慉GV->鍏ョ珯璇锋眰->缁橫ES
+ *
+ * @param apply
+ * @return
+ */
+ public int applyInStation(TransParent apply) {
+ String path = "AGVTransportPalletNotice";
+ String url = MES_URL + path;
+ String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
+ if (!StringUtils.isEmpty(response) && response.contains("Success")) {
+ MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
+ if ("1".equals(mesReturn.getSuccess())) {
+ return 1;
+ }
+ }
+
+ return 0;
+ }
+
+ /**
+ * 绂荤珯璇锋眰锛氳浆鍙慉GV->绂荤珯璇锋眰->缁橫ES
+ *
+ * @param apply
+ * @return
+ */
+ public int applyOutStation(TransParent apply) {
+
+ String url = MES_URL + "AGVDepartureRequest";
+ String response = RcsServiceImpl.sendPost(url, JSONObject.toJSONString(apply));
+ if (!StringUtils.isEmpty(response) && response.contains("Success")) {
+ MesReturn mesReturn = JSONObject.parseObject(response, MesReturn.class);
+ if ("1".equals(mesReturn.getSuccess())) {
+ return 1;
+ }
+ }
+
+ return 0;
+ }
}
diff --git a/src/main/java/com/zy/asrs/service/impl/TaskServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/TaskServiceImpl.java
deleted file mode 100644
index 1191a64..0000000
--- a/src/main/java/com/zy/asrs/service/impl/TaskServiceImpl.java
+++ /dev/null
@@ -1,23 +0,0 @@
-package com.zy.asrs.service.impl;
-
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
-import com.baomidou.mybatisplus.service.impl.ServiceImpl;
-import com.core.common.Cools;
-import com.core.common.DateUtils;
-import com.core.exception.CoolException;
-import com.zy.asrs.entity.AgvTask;
-import com.zy.asrs.entity.WaitPakin;
-import com.zy.asrs.mapper.TaskMapper;
-import com.zy.asrs.service.TaskService;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.stereotype.Service;
-import org.springframework.transaction.annotation.Transactional;
-
-import java.util.Date;
-import java.util.List;
-import java.util.concurrent.TimeUnit;
-
-@Service
-public class TaskServiceImpl extends ServiceImpl<TaskMapper, AgvTask> implements TaskService {
-
-}
diff --git a/src/main/java/com/zy/asrs/service/impl/WrkMastLogServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/WrkMastLogServiceImpl.java
index 5d9b9c3..c45c107 100644
--- a/src/main/java/com/zy/asrs/service/impl/WrkMastLogServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/WrkMastLogServiceImpl.java
@@ -1,17 +1,40 @@
package com.zy.asrs.service.impl;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.core.exception.CoolException;
+import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.mapper.WrkMastLogMapper;
import com.zy.asrs.entity.WrkMastLog;
import com.zy.asrs.service.WrkMastLogService;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
+import com.zy.asrs.service.WrkMastService;
+import org.springframework.beans.BeanUtils;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+
+import java.util.Objects;
@Service("wrkMastLogService")
public class WrkMastLogServiceImpl extends ServiceImpl<WrkMastLogMapper, WrkMastLog> implements WrkMastLogService {
+ @Autowired
+ private WrkMastService wrkMastService;
+ @Autowired
+ private WrkMastLogService wrkMastLogService;
@Override
public boolean save(Integer workNo) {
- return this.baseMapper.save(workNo) > 0;
+ WrkMast mast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", workNo));
+ if (Objects.isNull(mast)) {
+ throw new CoolException("鏁版嵁閿欒锛氫换鍔′笉瀛樺湪锛侊紒");
+ }
+ WrkMastLog mastLog = new WrkMastLog();
+ BeanUtils.copyProperties(mast, mastLog);
+ mastLog.setLogId(mast.getId());
+
+ if (!wrkMastLogService.insert(mastLog)) {
+ throw new CoolException("浠诲姟鏃ュ織淇濆瓨澶辫触锛侊紒");
+ }
+ return true;
}
}
diff --git a/src/main/java/com/zy/common/model/MatDto.java b/src/main/java/com/zy/common/model/MatDto.java
index 02eb13c..b35f62a 100644
--- a/src/main/java/com/zy/common/model/MatDto.java
+++ b/src/main/java/com/zy/common/model/MatDto.java
@@ -71,4 +71,14 @@
this.orderNo = orderNo;
this.cstateid = cstateid;
}
+
+ public MatDto(String matNo, String maktx, Double count,Double total,String specs,String sku) {
+ this.specs = specs;
+ this.matnr = matNo;
+ this.maktx = maktx;
+ this.maknx = maktx;
+ this.count = count;
+ this.total = total;
+ this.sku = sku;
+ }
}
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 94e7286..65307b6 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -42,12 +42,12 @@
}
// 婕旂ず
- mainService.crnDemoOfLocMove1();
+// mainService.crnDemoOfLocMove1();
// 鍏ュ嚭搴撴ā寮忓垏鎹㈠嚱鏁�
// mainService.ioConvert();
// 鍏ュ簱 ===>> 鍏ュ簱绔欏埌鍫嗗灈鏈虹珯锛屾牴鎹潯鐮佹壂鎻忕敓鎴愬叆搴撳伐浣滄。
mainService.generateStoreWrkFile(1); // 缁勬墭
- mainService.generateStoreWrkFile0(2); // WMS鍏ュ簱
+// mainService.generateStoreWrkFile0(2); // WMS鍏ュ簱
Thread.sleep(500);
// 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
mainService.stnToCrnStnPick(3);
diff --git a/src/main/java/com/zy/core/thread/SiemensCrnThread.java b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
index 7dcfcd4..cc31d77 100644
--- a/src/main/java/com/zy/core/thread/SiemensCrnThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -181,10 +181,10 @@
crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28));
crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32));
crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36));
- crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40));
- crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44));
- crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48));
- crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52));
+ crnProtocol.setxDistance((short) siemensNet.getByteTransform().TransSingle(result.Content, 40));
+ crnProtocol.setyDistance((short) siemensNet.getByteTransform().TransSingle(result.Content, 44));
+ crnProtocol.setxDuration((short) siemensNet.getByteTransform().TransSingle(result.Content, 48));
+ crnProtocol.setyDuration((short) siemensNet.getByteTransform().TransSingle(result.Content, 52));
OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 917f1c4..7e9fa0b 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -36,6 +36,13 @@
wms:
url: 127.0.0.1:8083/ljqwms
+#mes瀵规帴
+mes:
+
+ url: http://192.9.100.173:8088/prod-api/basicmodel/WmsFit/Api/
+ #榛樿鎺ュ彛鎿嶄綔浜哄憳id
+ defaultUserId: 30
+
#娴峰悍瀵规帴
hik:
switch: false
diff --git a/src/main/resources/mapper/WrkMastMapper.xml b/src/main/resources/mapper/WrkMastMapper.xml
index 6cb9a59..2744ade 100644
--- a/src/main/resources/mapper/WrkMastMapper.xml
+++ b/src/main/resources/mapper/WrkMastMapper.xml
@@ -4,7 +4,8 @@
<!-- 閫氱敤鏌ヨ鏄犲皠缁撴灉 -->
<resultMap id="BaseResultMap" type="com.zy.asrs.entity.WrkMast">
- <id column="wrk_no" property="wrkNo" />
+ <id column="id" property="id" />
+ <result column="wrk_no" property="wrkNo" />
<result column="inv_wh" property="invWh" />
<result column="ymd" property="ymd" />
<result column="mk" property="mk" />
@@ -104,7 +105,7 @@
</select>
<select id="selectPickStep" resultMap="BaseResultMap">
- select top 1 * from asr_wrk_mast where barcode=#{barcode} and wrk_sts=14 and (io_type=103 or io_type=107 or io_type=104)
+ select top 1 * from asr_wrk_mast where barcode=#{barcode} and wrk_sts=20 and (io_type=103 or io_type=107 or io_type=104)
</select>
<select id="selectPakOutStep1" resultMap="BaseResultMap">
--
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