From aa8638651f5f488ccc714a6e73e5b351bdfbde2e Mon Sep 17 00:00:00 2001
From: lsh <lsh@163.com>
Date: 星期一, 27 十月 2025 17:57:51 +0800
Subject: [PATCH] *
---
src/main/java/com/zy/core/model/DevpSlave.java | 4 +
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 175 ++++++++++++++++++++++++++++++++++++++++++-
src/main/java/com/zy/asrs/entity/WrkMast.java | 7 +
src/main/resources/mapper/WrkMastMapper.xml | 1
src/main/java/com/zy/core/MainProcess.java | 4 +
src/main/java/com/zy/asrs/entity/BasAgvMast.java | 16 +++
6 files changed, 201 insertions(+), 6 deletions(-)
diff --git a/src/main/java/com/zy/asrs/entity/BasAgvMast.java b/src/main/java/com/zy/asrs/entity/BasAgvMast.java
index a31a216..3d04eff 100644
--- a/src/main/java/com/zy/asrs/entity/BasAgvMast.java
+++ b/src/main/java/com/zy/asrs/entity/BasAgvMast.java
@@ -5,6 +5,8 @@
import com.baomidou.mybatisplus.annotations.TableField;
import java.text.SimpleDateFormat;
import java.util.Date;
+
+import com.core.common.SnowflakeIdWorker;
import org.springframework.format.annotation.DateTimeFormat;
import java.text.SimpleDateFormat;
import java.util.Date;
@@ -29,7 +31,7 @@
* ID
*/
@ApiModelProperty(value= "ID")
- @TableId(value = "task_no", type = IdType.AUTO)
+ @TableId(value = "id", type = IdType.AUTO)
private Long id;
/**
@@ -138,7 +140,17 @@
@TableField("io_type")
private Integer ioType;
- public BasAgvMast() {}
+ public BasAgvMast() {
+ SnowflakeIdWorker snowflakeIdWorker = SpringUtils.getBean(SnowflakeIdWorker.class);
+ this.timestamp = snowflakeIdWorker.nextId();
+
+ this.priority = 1L;
+ this.status = 0;
+
+ Date now = new Date();
+ this.appeTime = now;
+ this.modiTime = now;
+ }
public BasAgvMast(Integer taskNo,Long timestamp,Integer sourceStaNo,Integer staNo,String sourceLocNo,String locNo,Long priority,Integer floorNo,Integer status,Date errorTime,String errorMemo,Date appeTime,Date modiTime,String modiUser) {
this.taskNo = taskNo;
diff --git a/src/main/java/com/zy/asrs/entity/WrkMast.java b/src/main/java/com/zy/asrs/entity/WrkMast.java
index e896efc..fb5927a 100644
--- a/src/main/java/com/zy/asrs/entity/WrkMast.java
+++ b/src/main/java/com/zy/asrs/entity/WrkMast.java
@@ -308,6 +308,13 @@
@TableField("full_plt")
private String fullPlt;
+ /**
+ * 绌烘搷浣� / 鍙栬揣鏃犵 //鍜屽緱 AGV浠诲姟鐢熸垚鏍囪
+ */
+ @ApiModelProperty(value= "AGV浠诲姟鐢熸垚鏍囪")
+ @TableField("take_none")
+ private String takeNone;
+
public String getWrkSts$(){
BasWrkStatusMapper mapper = SpringUtils.getBean(BasWrkStatusMapper.class);
BasWrkStatus entity = mapper.selectById(this.wrkSts);
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 59c4749..abf6c0a 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -4,9 +4,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.mapper.Wrapper;
-import com.core.common.Cools;
-import com.core.common.DateUtils;
-import com.core.common.R;
+import com.core.common.*;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.entity.param.AgvTaskAssignmentParam;
@@ -4591,6 +4589,173 @@
response, bool);
}
+ /*
+ * agv浠诲姟鐢熸垚 Full
+ * */
+ public synchronized void agvTaskCreateFull() {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鍑哄簱鍙�
+ for (DevpSlave.Sta outStaAgv : devp.getOutStaAgvFull()) {
+ // 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.getStaNo());
+ 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() ) {
+ WrkMast wrkMast = wrkMastService.selectByWrkNo(staProtocol.getWorkNo());
+ if (Cools.isEmpty(wrkMast) || Cools.isEmpty(wrkMast.getTakeNone()) || !wrkMast.getTakeNone().equals("1")){
+ continue;
+ }
+
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("task_no", staProtocol.getWorkNo()));
+ if (!basAgvMastList.isEmpty()) {
+ wrkMast.setTakeNone("2");
+ wrkMastMapper.updateById(wrkMast);
+ continue;
+ }
+
+ // 浠诲姟鐢熸垚鍖� --------------------------------------------------------------------------
+
+ BasAgvMast basAgvMast = new BasAgvMast();
+
+
+ try {
+ LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(wrkMast.getBarcode());
+ param.setIoType(1);
+ param.setSourceStaNo(outStaAgv.getStaNo());
+ param.setLocType1(locTypeDto.getLocType1());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/agv/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+
+ basAgvMast.setTaskNo(wrkMast.getWrkNo());
+ basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
+ basAgvMast.setLocNo(dto.getLocNo());
+ basAgvMast.setDevpId(devp.getId());
+ basAgvMast.setIoType(2);
+
+ basAgvMastService.insert(basAgvMast);
+
+
+ wrkMast.setTakeNone("2");
+ wrkMastMapper.updateById(wrkMast);
+ } else {
+ News.error(JSON.toJSONString(staProtocol));
+ }
+ } catch (Exception e) {
+ News.error(JSON.toJSONString(e.getMessage()));
+ }
+ }
+ }
+ }
+ }
+
+ /*
+ * agv浠诲姟鐢熸垚 Empty
+ * */
+ public synchronized void agvTaskCreateEmpty() {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 閬嶅巻鍑哄簱鍙�
+ for (DevpSlave.Sta outStaAgv : devp.getOutStaAgvEmpty()) {
+ // 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.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (!staProtocol.isLoading()){
+ continue;
+ }
+
+ String barcode = staProtocol.getBarcode();
+ if(!Cools.isEmpty(barcode)) {
+ if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
+ News.info("{}鍙风珯鐐规壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", outStaAgv.getStaNo(), barcode);
+ continue;
+ }
+ } else {
+ News.info("{}鍙风珯鐐规壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", outStaAgv.getStaNo(), barcode);
+ continue;
+ }
+ if (staProtocol.isAutoing()) {
+
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()));
+ if (!basAgvMastList.isEmpty()) {
+ 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;
+ }
+
+ 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);
+ continue;
+ }
+ // 浠诲姟鐢熸垚鍖� --------------------------------------------------------------------------
+
+ BasAgvMast basAgvMast = new BasAgvMast();
+
+
+ try {
+ LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
+
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(barcode);
+ param.setIoType(1);
+ param.setSourceStaNo(outStaAgv.getStaNo());
+ param.setLocType1(locTypeDto.getLocType1());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/agv/loc/v1")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code").equals(200)) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+
+ basAgvMast.setTaskNo(outStaAgv.getStaNo());
+ basAgvMast.setSourceStaNo(outStaAgv.getStaNo());
+ basAgvMast.setLocNo(dto.getLocNo());
+ basAgvMast.setDevpId(devp.getId());
+ basAgvMast.setIoType(2);
+
+ basAgvMastService.insert(basAgvMast);
+ } else {
+ News.error(JSON.toJSONString(staProtocol));
+ }
+ } 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
@@ -4685,7 +4850,9 @@
staProtocol = staProtocol.clone();
}
- if (!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo())){
+ if ((!Cools.isEmpty(staProtocol.getWorkNo()) && staProtocol.getWorkNo().equals(basAgvMast.getTaskNo()))
+ ||
+ (basAgvMast.getSourceStaNo().equals(2033))){
AgvTaskAssignmentParam agvTaskAssignmentParam = new AgvTaskAssignmentParam(basAgvMast);
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index 02eb215..96fb0f9 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -198,6 +198,10 @@
mainService.agvTaskAssignment2();//0===銆�1 杈撻�佺嚎绔欑偣==銆婣GV搴撲綅 2
mainService.agvTaskAssignment3();//0===銆�1 杈撻�佺嚎绔欑偣==銆嬭緭閫佺嚎绔欑偣 3
+
+ mainService.agvTaskCreateFull();//浠诲姟鐢熸垚
+ mainService.agvTaskCreateEmpty();//浠诲姟鐢熸垚
+
} catch (Exception e) {
e.printStackTrace();
}
diff --git a/src/main/java/com/zy/core/model/DevpSlave.java b/src/main/java/com/zy/core/model/DevpSlave.java
index 62e3fe2..0a0e7ca 100644
--- a/src/main/java/com/zy/core/model/DevpSlave.java
+++ b/src/main/java/com/zy/core/model/DevpSlave.java
@@ -29,6 +29,10 @@
private List<Sta> armSta = new ArrayList<>();
+ private List<Sta> outStaAgvFull = new ArrayList<>();
+
+ private List<Sta> outStaAgvEmpty = new ArrayList<>();
+
@Data
public static class Sta {
diff --git a/src/main/resources/mapper/WrkMastMapper.xml b/src/main/resources/mapper/WrkMastMapper.xml
index 1b90099..78edc77 100644
--- a/src/main/resources/mapper/WrkMastMapper.xml
+++ b/src/main/resources/mapper/WrkMastMapper.xml
@@ -59,6 +59,7 @@
<!-- <result column="Pdc_type" property="PdcType" />-->
<result column="ctn_no" property="ctnNo" />
<result column="full_plt" property="fullPlt" />
+ <result column="take_none" property="takeNone" />
</resultMap>
--
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